Abstract: A system is configured to perform operations includes accessing a set of model points of a model of an anatomic structure of a patient, the model points being associated with a model space. A set of measured points of the anatomic structure of the patient are collected, the measured points being associated with a patient space. The set of model points are registered to the set of measured points using a first set of initial parameters to generate a first transformation. One or more sets of perturbed initial parameters are generated based on the first set of initial parameters. One or more perturbed registration processes are performed to register the set of model points to the set of measured points using the one or more sets of perturbed initial parameters respectively to generate corresponding perturbed transformations. A registration quality indicator is generated based on the first transformation and the one or more perturbed transformations.

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within an anatomic region and including an image capture device. The system can receive a three-dimensional (3D) model of the anatomic region, the 3D model including a model landmark corresponding to an anatomic landmark in the anatomic region. The system can obtain, via the image capture device, a plurality of images of the anatomic landmark, at least some of the images representing different views of the anatomic landmark. Based on the images, the system can determine a set of transformation parameters for aligning the anatomic landmark with the model landmark. The system can use the set of transformation parameters as a seed for registering the 3D model to the anatomic region.

Abstract: A system includes a processor(s) and a memory having computer readable instructions stored thereon. The instructions, when executed by the processor(s), cause the system to obtain preoperative image data of one or more anatomical passageways of a patient anatomy. The preoperative image data includes an image of a target. The instructions cause the system to display the preoperative image data including the image of the target in a graphical user interface on a display system and receive intraoperative image data from an external imaging system. The instructions cause the system to identify a portion of the intraoperative image data corresponding to an instrument disposed in one or more of the anatomical passageways, identify a portion of the intraoperative image data corresponding to the target, and update the display of the preoperative image data including the target in the graphical user interface based on the intraoperative image data.

Abstract: A method comprises navigating a patient's anatomy with a medical instrument, the instrument comprising a sensing tool. The method further includes correlating a position of the instrument with a model of the patient's anatomy. The method further includes, while navigating the patient's anatomy, updating the model based on data obtained by the sensing tool.

Abstract: Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

Abstract: Devices, systems, methods, and computer program products for performing a medical procedure are disclosed herein. In some embodiments, a system for performing a medical procedure in an anatomic region includes a medical instrument configured to be inserted within the anatomic region, the medical instrument including an image capture device. The system can also include a positional sensor associated with the medical instrument. The system can be configured to receive a model of the anatomic region. The system can obtain image data from the image capture device and a set of coordinate points from the positional sensor. The system can generate a registration between the model and the anatomic region based on the image data and the coordinate points.

Abstract: Disclosed are systems and methods for mitigating oversampling of data points collected by a medical device. In some aspects, a system is configured to receive data points of a sampled survey point cloud detected by a sensor of the medical device during surveying of an anatomic structure; determine, during the surveying, at least one parameter associated with (i) the medical device and/or (ii) the received data points detected by the sensor, including a change of translational and/or rotational motion of the medical device, a distance from a data point to a nearest neighbor within the sampled survey point cloud, or a density of the data points of a subset of the sampled survey point cloud corresponding to sub-region of the anatomic structure; analyze the parameter(s) by comparing it to a threshold; and record individual data points in a registration point cloud when the analyzed parameter(s) satisfies the respective threshold.

Abstract: A medical system includes a catheter and a processor. The catheter includes a first channel and a distal end portion associated with a catheter frame of reference. The processor is configured to receive a first image captured by a first imaging device provided by the catheter within a patient anatomy, and receive a second image of the patient anatomy captured by a second imaging device from outside the patient anatomy. The second image includes the catheter and the first imaging device. The processor is further configured to determine a relative pose between the first imaging device and the distal end of the catheter based on the second image, determine a target location associated with a target structure in the first image, and transform the target location in an image frame of reference associated with the first image to the catheter frame of reference based on the relative pose.

Abstract: A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first flouroscopic image data and the configuration of the first fiducial marker. In some embodiments, determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the first fiducial marker.

Abstract: A system may comprise a medical instrument, a tracking subsystem configured to receive position data from the medical instrument, and a control system communicatively coupled to the medical instrument and the tracking subsystem. The control system may be configured to perform operations including accessing a model of an anatomic structure of a patient and receiving an indication that the medical instrument has been delivered to a known anatomical landmark. The operations may also include collecting a plurality of measurement points of the anatomic structure along a measurement path extending from a measurement initiation position proximate the known anatomical landmark within the anatomic structure of the patient as the medical instrument moves along the measurement path. The operations may also include determining a location of the medical instrument relative to the anatomic structure and registering the collected plurality of measurement points to the model of the anatomic structure.

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

Abstract: A method of registering sets of anatomical data for use during a medical procedure is provided herein. The method may include accessing a first set of model points of a patient anatomy of interest and intra-operatively acquiring a second set of model points by visualizing a portion of the anatomical surface in the patient with a vision probe. The method may further include extracting system information, including kinematic information from a robotic arm of a medical system and/or setup information, and generating an initial seed transformation based on the extracted system information. Thereafter, the method may include applying the initial seed transformation to the first set of model points and generating a first registration between the first set of model points and the second set of model points to permit model and actual information to be viewed and used together by an operator.

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

Abstract: A method includes collecting, from an optical fiber shape sensor extending within an instrument coupled to a teleoperational system, spatial information as a reference point of a proximal portion of the instrument is positioned at a plurality of locations along an insertion path and receiving, from a position sensor for a drive system of the teleoperational system, position information when the reference point is at each of the plurality of locations along the insertion path. The method further includes, based on the position information from the position sensor and the spatial information from the optical fiber shape sensor, determining relative position data for the reference point and, based on the relative position data, determining an orientation of an insertion stage defining the insertion path along which the proximal portion of the instrument moves.

Abstract: A computer-assisted medical system comprises a fluoroscopic imager having a full scan range in a surgical coordinate space. The system further comprises one or more processors configured to perform a method. The method includes receiving a first fluoroscopic image data set of a patient anatomy. The first fluoroscopic image data set is obtained from the full scan range of the fluoroscopic imager. The method further includes receiving at least one additional fluoroscopic image data set of the patient anatomy from the fluoroscopic imager operating in a constrained range substantially smaller than the full scan range. The method further includes constructing a first planar tomographic image from the first and at least one additional fluoroscopic image data sets.

Abstract: Disclosed are systems and methods for mitigating oversampling of data points collected by a medical device. In some aspects, a system is configured to receive data points of a sampled survey point cloud detected by a sensor of the medical device during surveying of an anatomic structure; determine, during the surveying, at least one parameter associated with (i) the medical device and/or (ii) the received data points detected by the sensor, including a change of translational and/or rotational motion of the medical device, a distance from a data point to a nearest neighbor within the sampled survey point cloud, or a density of the data points of a sub-set of the sampled survey point cloud corresponding to sub-region of the anatomic structure; analyze the parameter(s) by comparing it to a threshold; and record individual data points in a registration point cloud when the analyzed parameter(s) satisfies the respective threshold.

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display.

Abstract: A system receives a first set of points corresponding to an anatomical feature from a sensor(s) of a medical instrument. Each point in the first set of points represents a position in a first frame. The system receives a second set of points corresponding to the anatomical feature from an imaging system. Each point in the second set of points represents a position in a second frame. The system aligns a first subset of the first set of points with the second set of points based on a first transformation. The system transforms the first set of points based on the first transformation. The system aligns the first subset of the first set of points and a second subset of the first set of points with the second set of points based on a second transformation. The system transforms the first set of points based on the second transformation.

Abstract: A medical system comprises an instrument comprising a position sensor and a radiopaque fiducial. The system further comprises a tracking system to receive position data from the sensor, and a processor coupled to the instrument and the tracking system. The position data is in an instrument reference frame. The processor is configured to: receive external image data of a patient anatomy with the instrument disposed therein—the external image data is in an image reference frame; based on the position data, determine a first orientation of the instrument in the instrument reference frame; identify the radiopaque fiducial in the external image data; based on the identified radiopaque fiducial, determine a second orientation of the instrument in the image reference frame; and register the instrument reference frame to the image reference frame by comparing the first orientation in the instrument reference frame to the second orientation in the image reference frame.