Abstract: A controller for assisting navigation in an interventional procedure includes a memory that stores instructions and a processor (310) that executes the instructions. When executed by the processor (310), the instructions cause the controller to implement a process that includes obtaining (S410) a three-dimensional model generated prior to an interventional procedure based on segmenting pathways with a plurality of branches in a subject of the interventional procedure. The process also includes determining (S470), during the interventional procedure, whether a current position of a tracked device (250) is outside of the pathways in the three-dimensional model. When the current position of the tracked device (250) is outside of the pathways in the three-dimensional model, the process includes deforming (S480) the three-dimensional model to the current position of the tracked device (250).

Abstract: Computer implemented system (C-SYS) and related methods for controlling one or more devices in a procedure performed in relation to a patient. A shape sensing system is used to acquire shape measurement data. A predictor logic (PL) predicts based on this shape measurements an anatomical location, procedure type, or phase of such a procedure. The System may support navigation of a device in the patient. No imagery need to be acquired during the procedure for navigation. The predictor logic (PL) may be based on a machine learning model. Systems (TS, TDS) and methods for training such as model and for generating training data are also described herein.

Abstract: A controller (122) includes a memory (12220) that stores instructions and a processor (12210) that executes the instructions. When executed, the instructions cause the controller (122) to implement a process that includes obtaining (S405) pre-operative imagery of the tissue in a first modality, registering (S425) the pre-operative imagery of the tissue in the first modality with a set of sensors (195-199) adhered to the tissue, and receiving (S435), from the set of sensors (195-199), sets of electronic signals for positions of the set of sensors (195-199). The process also includes computing (S440) geometry of the positions of the set of sensors (195-199) for each set of the sets of electronic signals and computing (S450) movement of the set of sensors (195-199) based on changes in the geometry of the positions of the set of sensors (195-199) between sets of electronic signals from the set of sensors (195-199).

Abstract: Various embodiments of the present disclosure encompass an optical shape sensing registration system employing an optical shape sensing guidewire (30) translatable within an over-the-wire device (40), and further employing an optical shape sensing registration controller (20) for controlling an autonomous device registration of an over-the-wire device (40). In operation, the optical shape sensing registration controller (20) automatically detects one or more sensing features of the optical shape sensing guidewire (30) (e.g., shape, curvature, temperature, vibration, strain, etc.) from an optical shape sensing of a translation of the optical shape sensing guidewire (30) within the over-the-wire device (40), and then automatically determines one or more registration characteristics of the over-the-wire device (40) (e.g., a device type, a length, a diameter, a color, a hub type, treatment device(s), anatomical image(s), anatomical model(s), anatomical location(s), procedure type etc.

Abstract: A controller (122) includes a memory (12220) that stores instructions and a processor (12210) that executes the instructions. When executed, the instructions cause the controller (122) to implement a process that includes obtaining (S405) pre-operative imagery of the tissue in a first modality, registering (S425) the pre-operative imagery of the tissue in the first modality with a set of sensors (195-199) adhered to the tissue, and receiving (S435), from the set of sensors (195-199), sets of electronic signals for positions of the set of sensors (195-199). The process also includes computing (S440) geometry of the positions of the set of sensors (195-199) for each set of the sets of electronic signals and computing (S450) movement of the set of sensors (195-199) based on changes in the geometry of the positions of the set of sensors (195-199) between sets of electronic signals from the set of sensors (195-199).

Abstract: Various embodiments of the present disclosure encompass an optical shape sensing registration system employing an optical shape sensing guidewire (30) translatable within an over-the-wire device (40), and further employing an optical shape sensing registration controller (20) for controlling an autonomous device registration of an over-the-wire device (40). In operation, the optical shape sensing registration controller (20) automatically detects one or more sensing features of the optical shape sensing guidewire (30) (e.g., shape, curvature, temperature, vibration, strain, etc.) from an optical shape sensing of a translation of the optical shape sensing guidewire (30) within the over-the-wire device (40), and then automatically determines one or more registration characteristics of the over-the-wire device (40) (e.g., a device type, a length, a diameter, a color, a hub type, treatment device(s), anatomical image(s), anatomical model(s), anatomical location(s), procedure type etc.

Abstract: Various embodiments of the present disclosure encompass a visual endoscopic guidance device employing an endoscopic viewing controller (20) for controlling a display of an endoscopic view (11) of an anatomical structure, and a visual guidance controller (130) for controlling of a display one or more guided manipulation anchors (50-52) within the display of the endoscopic view (11) of the anatomical structure. A guided manipulation anchor (50-52) is representative of location marking and/or a motion directive of a guided manipulation of the anatomical structure. The visual guidance controller (130) further controls a display of a hidden feature anchor relative to the display of the endoscopic view (11) of the anatomical structure. The hidden feature anchor (53) being representative of a position (e.g., a location and/or an orientation) of a guided visualization of the hidden feature of the anatomical structure.

Abstract: An OSS animated display system for an interventional device (40) including an integration of one or more optical shape sensors and one or more interventional tools. The OSS animated display system employs a monitor (121) and a display controller (110) for controlling a real-time display on the monitor (121) of an animation of a spatial positional relationship between the OSS interventional device (40) and an object (50). The display controller (110) derives the animation of the spatial positional relationship between the OSS interventional device (40) and the object (50) from a shape of the optical shape sensor(s).

Abstract: An optical shape sensing device includes an elongated outer body with flexible tubing configured to maneuver through a passage; a multicore optical fiber extending through the elongated outer body, and enabling shape sensing by tracking deformation of the multicore optical fiber along a length of the multicore optical fiber; a termination piece attached to a distal tip of the multicore optical fiber, the termination piece having a distal tip; and a force sensing region integrated with the elongated outer body and configured to enable determining of an axial force exerted on a distal end of the elongated outer body. The shape sensing occurs along the multicore optical fiber to the distal tip of the termination piece.

Abstract: A tissue sensing device for use with an electrosurgical knife is proposed which comprises a proximal end portion, a distal end portion and a grip portion there between. The proximal end portion is configured for attachment to a housing of the electrosurgical knife. The distal end portion is configured for movably supporting a blade of the knife. A distal end of an optical fiber is arranged at the distal end portion of the device and a proximal end of the optical fiber is connectable to an optical console, so that optical measurements can be performed at the distal end portion.

Abstract: An intervention system employing an interventional robot (30), an interventional imaging modality (10) and an interventional controller (70). In 5 operation, the interventional controller (70) navigates an anatomical roadmap (82) of an anatomical region of a patient in accordance with an interventional plan to thereby control a navigation of the interventional robot (30) within the anatomical region in accordance with the anatomical roadmap (82).

Abstract: Various embodiments of the present disclosure encompass an endoluminal therapy system employing an endoluminal therapy device (21) and an endoluminal therapy monitoring controller (10). In support an endoluminal procedure, the endoluminal therapy device (21) is controlled to treat a site to be treated within a lumen. The controller (10) is operated to synchronize an activated dwell timing of the endoluminal therapy device (21) within the lumen to a tracked positioning of the endoluminal therapy device (21) contiguous with the site to be treated within the lumen. The controller (10) is further operated to monitor the site to be treated within the lumen induced by the endoluminal therapy device (21) during the synchronization by the controller (10) of the activated dwell timing of the endoluminal therapy device (21) within the lumen to the tracked positioning of the endoluminal therapy device (21) contiguous with the site to be treated within the lumen.

Abstract: A system for controlling a robotic tool includes a memory that stores instructions and a processor that executes the instructions. When executed by the processor, the instructions cause the system to perform a process that includes monitoring sequential motion of tissue in a three-dimensional space. The process also includes projecting locations and corresponding times when the tissue will be at projected locations in the three-dimensional space. An identified location of the tissue in the three-dimensional space is identified based on the projected locations. A trajectory of the robotic tool is set to meet the tissue at the identified location at a projected time corresponding to the identified location.

Abstract: A torque detection vascular therapy system employing a vascular therapy device (101) and a torque detection controller (130). The vascular therapy device (101) is operable to be transitioned from a pre-deployed state to a post-deployed state, and includes a matrix of imageable markers representative of a geometry of the vascular therapy device (101).

Abstract: A tissue sensing device for use with an electrosurgical knife is proposed which comprises a proximal end portion, a distal end portion and a grip portion there between. The proximal end portion is configured for attachment to a housing of the electrosurgical knife. The distal end portion is configured for movably supporting a blade of the knife. A distal end of an optical fiber is arranged at the distal end portion of the device and a proximal end of the optical fiber is connectable to an optical console, so that optical measurements can be performed at the distal end portion.

Abstract: A system may generally comprise a tracking device, an ultrasound device and a processing unit. A position and orientation of the ultrasound device may be traceable by the tracking device. The processing unit may be configured (i) to receive 3D information of a region of interest in relation to a marker, with both the region of interest and the marker being located within a body, (ii) to determine the position of the marker relative to the ultrasound device based on an ultrasound image of the body including the marker, and (iii) to determine the position and orientation of the ultrasound device relative to the tracking device. The system may further comprise a visualization device and the processing unit may further be configured to generate a visualization of the region of interest in relation to an outer surface of the body.

Abstract: A controller (122, 910/920) for interventional procedure optimization includes a processor (12210, 910) and a memory (12220, 920) that stores instructions. When executed by the processor, the instructions cause the controller (12210, 910) to implement a process that includes identifying (S210) anatomical characteristics from pre-interventional imagery of anatomy for each of multiple candidate types of an interventional procedure for the anatomy and comparing (S220) the anatomical characteristics with tool characteristics of candidate tools to use in each of the candidate types. The process also includes generating (S240) a feasibility report for each of the candidate types based on the identifying and the comparing. Each feasibility report includes a feasibility grade for each of the candidate types. The process also includes selecting (S260), based on the feasibility reports, an optimal interventional procedure type among the candidate types.

Abstract: A medical instrument includes a first device (108) including shape-sensed flexible instrument, a second device (102) disposed over the first device and a third device (109) disposed over the first device and a portion of the second device. The second and third devices include a geometric relationship such that a position of the second device and the third device is determined from shape sensing information of the first device and the geometric relationship.

Abstract: A medical navigation system including a controller configured to: generate a three-dimensional (3D) volume based upon acquired image information of a region of interest (ROI), determine a reference path (RP) to an object-of-interest (OOI) situated within the ROI, the RP defining an on-road path (ONP) through at least one natural pathway of an organ subject to cyclical motion and an adjacent off-road path (ORP) through tissue of the organ leading to the OOI, and an exit point situated between the ONP and the ORP, query an SSD within the at least one natural pathway to obtain SSDI, determine a shape and a pose of one or more portions of the SSD in accordance with the SSDI, calculate an error between the RP and the determined shape and pose of the SSD, and/or determine when or where to exit a wall of the natural pathway and begin the ORP based upon the calculated error.

Abstract: The present invention relates to an image processing system (10), comprising: a processor unit (20) arranged to receive imaging data associated with an imaging system (40) and optical shape sensing data associated with an optical shape sensing system (50) registered with the imaging system (40) such that the optical shape sensing data can be positioned in the imaging system; wherein the processor unit (20) is configured to define in the imaging data a region of interest based on the imaging data and/or the optical shape sensing data and further configured to use the optical shape sensing data as markers within the region of interest such that the processor unit applies image enhancement of imaging data on the region of interest based on received optical shape sensing data.