Abstract: A surgical implant planning computer positions an implant device relative to a bone of a patient. An initial image of a bone is obtained. An initial location data structure is obtained that contains data defining mapping between locations on the implant device and corresponding locations relative to the bone in the initial image. A target image of the bone of the patient is obtained. A transformation matrix is generated that transforms a contour of a portion of the bone in the initial image to satisfy a defined rule for conforming to a contour of a corresponding portion of the bone in the target image. A transformed location data structure is generated based on applying the transformation matrix to the initial location data structure. A graphical representation of the implant device is displayed overlaid at locations on the target image of the bone determined based on the transformed location data structure.

Abstract: A virtual model a planned instrument attachment can be provided to ensure correct selection of a physical instrument attachment. An XR headset controller can generate a shape and a pose of the virtual model of the planned instrument attachment based on predetermined information associated with the planned instrument attachment and based on a pose of an instrument relative to the XR headset. An XR headset can display the virtual model on a see-through display screen of the XR headset that is configured to allow at least a portion of a real-world scene to pass therethrough.

Abstract: A tool for positioning a workpiece with a surgical robot. The tool comprises a mount adapted to attach to the surgical robot. A first assembly is provided and extends along an axis. A pivot bearing is coupled to the mount and supports the first assembly for rotation and translation about the axis and for at least partial articulation relative to the mount. A second assembly is provided and comprises an interface adapted to attach to the workpiece. One of the first assembly and the second assembly comprises a coupler and the other of the first assembly and the second assembly comprises a receiver shaped to engage the coupler to align the second assembly and the first assembly along the axis.

Abstract: An attachment mechanism for a rotating surgical tool includes a mounting body defining a tool passage therein and configured for connection to a non-rotational component of the surgical tool, such that the tool passage is concentric about a rotational component of the surgical tool. The attachment mechanism further includes a ring arranged around the tool passage and rotatably connected to the mounting body. A mounting arm is attached to the ring such that rotation of the ring relative to the mounting body sets a desired circumferential position of the mounting arm relative to the tool passage, the mounting arm being configured to receive a tracking system emitter. An engagement mechanism is operable between the ring and the mounting body to maintain the desired circumferential position of the mounting arm.

Abstract: A system and method for navigating to a target site in a patient is provided. The system includes an extended working channel and a tool usable with an electromagnetic navigation system. In particular, the extended working channel and the tool contain an electromagnetic sensor configured to provide location information within a patient of the extended working channel and the tool to the electromagnetic navigation system. The distance from the tool and the target site can then be determined and displayed to a clinician on a display device.

Abstract: The present invention relates to an integrated system and method for in-situ 3-axis scanning and detecting defects in a CFRP composite (150) being loaded under static and cyclic test conditions. The system comprises a test system integrated with (10) a scanning system (20) that comprises a probe assembly (52) to generate eddy current on the surface of the CFRP composite (150) mounted on the test system, and a 3D scanner assembly (60) for movement of the probe assembly (50) over the entire surface area of the CFRP composite (150) along X-axis, Y-axis and Z-axis. An operator console (70) is connected to the test system and the scanning system (20) for controlling (3) mechanical test process in the test system and for controlling 3-dimensional movement of the probe assembly (52) along X-axis, Y-axis and Z-axis in a synchronous manner.

Abstract: A head-mounted display device interfaces with a medical device configured to perform an invasive procedure on a patient. The display device includes a frame for mounting on a person's head, a display, a wireless transceiver configured to communicate with a network, and a processing circuit. The processing circuit is coupled to the frame, the display and the wireless transceiver and receives input data relating to the medical device. The processing circuit retrieves from a memory an instruction relating to the medical device based on the input data and displays the instruction relating to the medical device on the display.

Abstract: Disclosed is a system and method for tracking an instrument. The instrument may be tracked with one or more trackable members. The trackable members may be held relative to a handle to which the instrument is attached.

Abstract: Methods, systems, and techniques are provided to a position determination device for determining a position of an instrument within a tubular structure. The position determination device comprises a first curvature values providing unit for providing first curvature values being indicative of first curvatures of the tubular structure at several first locations along the tubular structure and a second curvature values providing unit for providing second curvature values being indicative of second curvatures of the instrument at several second locations along the instrument. A position determination unit determines the position of the instrument within the tubular structure based on the first and second curvature values.

Abstract: A surgical instrument comprises a member defining a longitudinal axis and is connectable with a spinal implant. The member is connected to a handle disposed transverse relative to the axis and rotatable about the axis. An image guide is connected with the member and oriented relative to a sensor to communicate a signal representative of a position of the spinal implant. Systems, implants, spinal constructs and methods are disclosed.

Abstract: Devices and systems can be configured to guide an instrument to a target region. The guide system may include an imaging guide including a first segment, the first segment including a guide region and imaging coils surrounding the guide region; and a platform. The platform may include a first rail, a second rail disposed parallel to the first rail, and a positioning member disposed between the first rail and the second rail. The positioning member may include a positioning frame having an entry region. The positioning frame may be movably disposed with respect to the first and second rails in a first direction and a second direction that is perpendicular to the first direction. The platform may be disposed with respect to the imaging guide so that a position of the entry region is within the guide region.

Abstract: A system for tracking a piece of medical equipment intraoperatively using a collinear array of fiducial markers positioned at known fixed distances relative to each other on the medical equipment and a camera capturing an image on a single image plane. Representations of the fiducial markers are segmented from a captured image, 3D orientation and position of the medical equipment are calculated using the segmented representations, and the orientation and position of the medical equipment are tracked relative to the camera. The orientation and position of the medical equipment may be registered within a 3D virtual space. The system may be used as part of a surgical navigation system.

Abstract: Methods and systems are provided herein for a surgical optical system having a heads up display including, in accordance with various embodiments, an optical device, an image sensor optically coupled to the optical device to acquire image data from a field of view of the optical device, and a display device configured to display an acquired image representing the image data acquired by the image sensor.

Abstract: A surgical instrument adaptor comprises a member including a first mating surface that is removably attachable with a surgical instrument and a second mating surface that is connectable with an actuator. An image guide is attachable with the member and oriented relative to a sensor to communicate a signal representative of a position of the surgical instrument. Systems, surgical instruments, spinal implants and methods are disclosed.

Abstract: Three-dimensional imaging of a breast tissue is achieved by acquiring a series of X-ray projection images from various angles. A three-dimensional image constructed from the projection images by a computer provides information to the operator to select a coordinate point within the breast from which to obtain a biopsy sample. Acquisition of projection images and construction of three-dimensional images is continued during the insertion of the needle into the breast, during positioning the needle towards the coordinate point, during the sampling and after the sampling. The advantages of utilizing tomosynthesis for breast tissue imaging over stereo imaging include better image quality, easier coordinate measurements within a tissue, ease of use of the equipment by the medical personnel, and fewer image artifact problems.

Abstract: The present disclosure is directed to augmented reality navigation systems and methods of their use that, inter alia, address the need for systems and methods of robotic surgical system navigation with reduced distraction to surgeons. Augmented reality navigation systems disclosed herein enable a surgeon to maintain focus on a surgical site and/or surgical tool being used in a surgical procedure while obtaining a wide range of navigational information relevant to the procedure. Navigational information can appear in the augmented reality navigation system as being presented on virtual displays that sit in a natural field of view of a surgeon during a procedure. Navigational information can also appear to be overlaid over a patient's anatomy. Augmented reality navigation systems comprise a head mounted display comprising an at least partially transparent display screen, at least one detector connected to the head mounted display for identifying real-world features, and a computer subsystem.

Abstract: Systems and methods are disclosed for practicing suturing techniques on a training apparatus using a training tool. The training apparatus can include a three-dimensional tracking system to detect a position of the training tool. A processing unit can process the positional data to determine one or more performance parameters. The performance parameters can be output to a display.

Abstract: An apparatus includes a body, an upright member, a frame, and a plurality of field generating elements. The body is configured to be positioned between a patient's back and a backrest of a chair. The upright member extends upwardly from the body. The frame has a curved configuration configured to partially surround a patient's head. The field generating elements are configured to generate an electromagnetic field around a patient's head partially surrounded by the frame.

Abstract: In one aspect, a medical tracking system is described. The medical tracking system includes a first tracking system providing a first tracking region. The first tracking system is configured to track a tracked instrument within the first tracking region. The medical tracking system further includes a second tracking system providing a second tracking region. The second tracking system is configured to track the tracked instrument within the second tracking region. The medical tracking system also includes a processor coupled to the first tracking system and the second tracking system. The processor is configured to determine, based on data received from the first tracking system and data received from the second tracking system, transposition information to map data received from the first tracking system and data received from the second tracking system into a common space.

Abstract: Disclosed is a method for determining the relative arrangement of patient's jaws in a bite position when the patient's occlusion is not defined by natural teeth alone, where the method includes a step of obtaining a digital 3D representation including both surface data relating to dental tissue in one of the patient's jaws and surface data relating to a scan appliance arranged in relation to the jaw, where the scan appliance is configured for at least partly defining the patient's occlusion.

Abstract: A surgical instrument comprises an outer sleeve including an inner surface that defines a cavity. An inner shaft is fixed with the outer sleeve and extending within the cavity. The inner shaft includes a drive engageable with a first mating surface of a bone fastener. An inner sleeve is disposed between the inner shaft and the outer sleeve. The inner sleeve is rotatable relative to the outer sleeve and includes an element connectable with a second mating surface of the bone fastener. Systems, spinal implants and methods are disclosed.

Abstract: A surgical instrument comprises a member connected with a spinal implant defining an axis. A first image guide is connected with the member and oriented relative to a sensor to communicate a signal representative of a position of the member. A second image guide is connected with the member and oriented to represent an angle measuring a second orientation of the axis relative to a first orientation. Systems, implants and methods are disclosed.

Abstract: An attachment mechanism for a rotating surgical tool includes a mounting body defining a tool passage therein and configured for connection to a non-rotational component of the surgical tool, such that the tool passage is concentric about a rotational component of the surgical tool. The attachment mechanism further includes a ring arranged around the tool passage and rotatably connected to the mounting body. A mounting arm is attached to the ring such that rotation of the ring relative to the mounting body sets a desired circumferential position of the mounting arm relative to the tool passage, the mounting arm being configured to receive a tracking system emitter. An engagement mechanism is operable between the ring and the mounting body to maintain the desired circumferential position of the mounting arm.

Abstract: Methods and systems for providing navigational feedback during a surgical procedure. A user interface is displayed on a display for viewing position and orientation of a surgical tool in a surgical field during the surgical procedure. The position and orientation of the surgical tool is tracked by a medical navigation system coupled to the processor. The user interface includes a virtual representation of the surgical tool superimposed on an image of the surgical field. A selected intraoperative position and orientation of the surgical tool is used to intraoperatively create and store a waypoint in memory. Feedback is provided to indicate the stored position and orientation of the waypoint.

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. The motorized surgical arms have a motion limit defining a boundary beyond which the surgical arm cannot pass when the surgical arm is attached to a patient. The teleoperational medical system also includes a control system having a surgical threshold limit stored therein. The surgical threshold limit is an edge of a boundary to be potentially travelled by the surgical arm to suitably perform a surgical procedure. The control system is configured to compare the motion limit to the surgical threshold limit and notify an operator via an output device when the threshold limit is outside a range of motion bounded by the motion limit.

Abstract: In at least one embodiment, a method of surgical navigation is provided. The method includes receiving an external three-dimensional model of a surgical site from the viewpoint of a headset, wherein the external three-dimensional model is derived from reflected light. The method further includes aligning the external three-dimensional model with an internal three-dimensional model of the surgical site from the viewpoint of the headset, wherein the internal three-dimensional model is derived from medical imaging, and generating an aligned view. The method further includes providing the aligned view to the headset, and updating the aligned view in real-time while the headset is moved or the surgical site is moved or modified during a surgical procedure.

Abstract: A surgical instrument system includes a tool (2) including an elongate shaft which defines the tool axis. The shaft bears a plurality of marker rings (10, 11, 12) arranged in a predetermined pattern on the surface of the shaft so that they extend around the shaft axis. The system includes at least two receiving devices (14) which are spaced apart for receiving stereoscopic signals from the rings on the tool, and a data processor (16) for analyzing the signal from the rings and generating information relating to the position and orientation of the tool relative to the receiving device.

Abstract: Image data can be obtained with an imaging device. A location of the imaging device relative to a subject can be determined. A location of an instrument can be tracked relative to the subject using two or more tracking systems operating with different tracking modalities. Also, the tracked location of the instrument can be illustrated relative to the image data.

Abstract: Techniques and systems for determining a head position of a patient and controlling delivery of electrical stimulation to a target stimulation site based on the determined head position are described. In some examples, movement of the head of the patient may result in movement of a lead, through which the electrical stimulation may be delivered, relative to the target stimulation site. Thus, controlling delivery of the electrical stimulation based on the head position may improve the efficiency and efficacy of the electrical stimulation therapy.

Abstract: A method for calculating a motion vector field (MVF) in a reconstructed CT scan image, comprises: determining a region of interest (ROI) based on a vessel centreline in a first reconstructed CT scan image, wherein a motion vector field (MVF) for the ROI is to be calculated; determining at least two time control points for calculating the MVF; calculating a motion level factor of the ROI; calculating motion amounts of the MVF corresponding to each of the time control points; determining the direction of the MVF of the ROI; and calculating the MVF of the ROI according to the motion level factor, the motion amounts of the MVF corresponding to each of the time control points and the direction of the MVF.

Abstract: To connect conventional or laparoscopic instruments to a robot that can be used for medical applications, there can be a device that has a first and a second circular cylinder segment having a continuous center bore is connected with the angled first segment affixed to the free end of a robot arm. This connection can be by way of an articulated joint that can be rotated by 180°. On one end surface of the second segment, there can be a third segment in the form of a flange, having a bore that is coaxial with the continuous center bore in the second segment. There is also a rolling joint which can be used to allow the device to rotate. Around the bore of the flange, there can be supply technology and data technology connection elements and a locking mechanism for coupling end effectors on and off.

Abstract: A surgical instrument adaptor comprises a member that defines a longitudinal axis. The member is configured for connection to an image guide that is configured to generate a signal representative of a position of a surgical instrument. The member extends between a first end and a second end. The first end includes a first mating part configured for releasable engagement with a mating part of an actuator. The second end includes a second mating part configured for releasable engagement with a mating part of the surgical instrument. Systems and methods are described.

Abstract: An apparatus is utilized for accessing the lumen of a vessel. The apparatus includes a main body and a disposable cartridge. The main body includes a imaging device attachment, wherein the imaging device attachment is utilized to secure an image capturing instrument to the main body; a cartridge carrier coupled to the imaging device attachment, wherein the cartridge carrier is adjustable to achieve a target insertion depth; and a first motor coupled to the cartridge carrier, wherein the first motor adjust the cartridge carrier to achieve the target insertion depth. The disposable cartridge is attached to the cartridge carrier and houses a sheath, needle, or guidewire to be inserted into the vessel to the target insertion depth.

Abstract: The invention provides a magnetic induction system and an operating method for it in which the magnetic force can be made to act deeply and widely in any desired direction. The magnetic induction system of the invention contains multiple magnetic field generation means formed of a superconductive bulk magnet, a drive means for arranging the magnetic field generation means at a desired site and angle, and a drive control means for driving the driving means and controlling the position and the angle of the multiple magnetic field generation means so that a magnetic complex can be inducted to the desired position in a body by the synthetic magnetic field formed by the multiple magnetic field generation means, whereby the magnetic complex is inducted to be concentrated in the cartilage defected part.

Abstract: A head-mounted display (HMD) device is provided with reduced motion blur by reducing row duty cycle for an organic light-emitting diode (LED) panel as a function of a detected movement of a user's head. Further, a panel duty cycle of the panel is increased in concert with the decrease in the row duty cycle to maintain a constant brightness. The technique is applicable, e.g., to scenarios in which an augmented reality image is displayed in a specific location in world coordinates. A sensor such as an accelerometer or gyroscope can be used to obtain an angular velocity of a user's head. The angular velocity indicates a number of pixels subtended in a frame period according to an angular resolution of the LED panel. The duty cycles can be set, e.g., once per frame, based on the angular velocity or the number of pixels subtended in a frame period.

Abstract: Information layering is provided in medical imaging. Two or more types of information are provided in one image. A three-dimensional surface is formed for two-dimensional scanning and/or imaging. The depth or third dimension is mapped to one type of data. Variation in values of this type of data causes variation in the surface away from flat. Data of another type is mapped to the surface, such that each location having a color or gray scale value based on the other type and a depth based on the one type. The surface is rendered using three-dimensional rendering to show the depth information even though both types of data represent a scanned plane. Stereoscopic viewing may allow the user to better visualize the depth information.

Abstract: Methods and apparatuses are provided for reducing sweat production via, for example, the removal, disablement, and incapacitation of sweat glands in the epidermis, dermis and subdermal tissue regions of a patient. In one embodiment, a method of treating a patient is provided which involves identifying a patient having a condition of excessive sweating, positioning an energy delivery device proximate to a skin tissue of the patient and delivering energy to sweat glands to halt secretion of sweat. The energy delivery device may include microwave delivery devices, RF delivery devices, and cryogenic therapy devices. Some embodiments may include using a cooling element for avoiding destruction of non-target tissue and/or a suction device to localize treatment at specific portions of the skin fold.

Abstract: A magnetic resonance (MR) system (10) for guidance of a shaft or needle (16) to a target (14) of a subject (12) is provided. The system includes a user interface (76). The user interface (76) includes a frame (78) positioned on a surface of the subject (12). The frame (78) includes an opening (82) over an entry point of a planned trajectory for the shaft or needle (16). The planned trajectory extends from the entry point to the target (14). The user interface (76) further includes one or more visual indicators (80) arranged on the frame (78) around the opening (82). The one or more visual indicators (80) at least one of: 1) visually indicate deviation of the shaft or needle (16) from the planned trajectory; and 2) visually indicate a current position of a real-time slice of real-time MR images.

Abstract: A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.

Abstract: Effective systems and methods for improving neural communication impairment of a vertebrate being and affecting motor activity of a peripheral body part including a first signal-providing component configured to provide pulsed peripheral stimulation signals at the peripheral body part, a second signal-providing component configured to provide a pulsed motor cortex stimulation signal to a motor cortex area, a substantially DC signal-providing component configured to provide direct current spinal stimulation signal at a neural spinal junction and a controller component configured to control timing of the pulsed peripheral stimulation signals and the pulsed motor cortex stimulation signal.

Abstract: Apparatus associated with improved magnetic resonance imaging (MRI) guided needle biopsy procedures (e.g., breast needle biopsy) are described. One example apparatus includes a support structure configured to support a patient in a face-down prone position where a breast of the patient is positioned in a first free hanging pre-imaging position. The example apparatus includes an immobilization structure configured to reposition the breast into an immobilized position suitable for MRI and for medical instrument access. The immobilization structure may include a biopsy plate, a pressure plate, and MRI coils. The MRI coils are configured to be repositioned from a first position associated with the free hanging pre-imaging position to a second position associated with the immobilized position to facilitate improving the signal to noise ratio associated with signal received from the breast through the MRI coils. The biopsy plate is removable without removing either of the MRI coils.

Abstract: An inventive medical imaging marker includes a base (2) composed of a non-imageable material, three spherical members (10, 11, 12) provided in a predetermined positional relationship in the base (2) and each composed of an imageable material, and auxiliary marker members (20, 21, 22) provided in the base (2) and composed of the imageable material. The auxiliary marker members (20, 21, 22) respectively have linear portions (20L, 21L, 22L) which are disposed parallel to straight lines extending through center points of the three spherical members (10, 11, 12) and each have a predetermined length sufficient to serve as a mark. The center points of the three spherical members (10, 11, 12) can be correctly identified in a captured image with reference to the linear portions (20L, 21L, 22L) of the auxiliary marker members (20, 21, 22) of the inventive medical imaging marker. Thus, reference axes can be correctly defined in the image.

Abstract: Devices, kits, assemblies systems and methods for transferring fluid to or from a subject include an elongate guide cannula having opposing proximal and distal ends with an open axially extending lumen. The proximal end includes a connector. The devices also include an elongate needle having opposing proximal and distal ends, the needle having a connector that is configured to attach to the guide cannula connector and is attached to or attachable to a length of flexible tubing, wherein the elongate needle is configured to be slidably inserted into the guide cannula lumen so that the distal end of the needle extends out of the distal end of the distal end of the guide cannula a suitable distance.

Abstract: An image-guided system and method for performing needle biopsy on a moving lung nodule of a body is provided. CT images of the lung nodule are obtained to generate a motion model, based on which an optimal needle advancing path is determined. The motion of the lung nodule and the motion of a fiducial marker attached to the body are correlated. The motion of the fiducial marker is tracked and monitored by a camera to determine a position of the lung nodule based on the correlation. A time for advancing the needle is determined based on a motion attribute of the reference. The needle is advanced by a robotic needle manipulator at the predetermined time along the path to accomplish the needle placement.

Abstract: The present invention relates to a data processing method of determining at least one operating parameter of a medical imaging device, the method being executed by a computer and comprising the following steps: a) acquiring entity geometry data comprising entity geometry information describing a geometry of a corporeal entity to be considered in a medical procedure; b) acquiring imaging device operability data comprising imaging device operability information describing a mode of operation of the medical imaging device; c) determining, based on the entity geometry data and the imaging device operability data, operating parameter data comprising operating parameter information describing a value of at least one operating parameter of the medical imaging device.

Abstract: An apparatus for accessing the lumen of a vessel. The apparatus includes a main body and a disposable cartridge. The main body includes a imaging device attachment, wherein the imaging device attachment is utilized to secure an image capturing instrument to the main body; a cartridge carrier coupled to the imaging device attachment, wherein the cartridge carrier is adjustable to achieve a target insertion depth; and a first motor coupled to the cartridge carrier, wherein the first motor adjust the cartridge carrier to achieve the target insertion depth. The disposable cartridge is attached to the cartridge carrier and houses a sheath, needle, or guidewire to be inserted into the vessel to the target insertion depth.

Abstract: An apparatus for accessing the lumen of a vessel. The apparatus includes a reusable handheld device and a disposable cartridge. The reusable handheld device includes a imaging device attachment utilized to secure an image capturing instrument, an arm coupled to the imaging device attachment, and a depth scale coupled to the arm, wherein the depth scale provides a scale indicating an insertion depth. The disposable cartridge attaches to the reusable handheld device. The disposable cartridge includes a sheath, needle or guidewire coupled to the disposable cartridge. The sheath or needle extends to the insertion depth when fully advanced, thereby allowing the sheath, needle, or guidewire to access the lumen of a vessel.

Abstract: A trajectory frame for use with surgical navigation systems includes a base having a patient access aperture formed therein. A yoke is mounted to the base and is rotatable about a roll axis. A platform is mounted to the yoke and is rotatable about a pitch axis. An elongated guide is secured to the platform and includes opposite proximal and distal end portions and a bore that extends from the proximal end portion to the distal end portion. The guide is configured to removably receive various devices therein for quick release therefrom, including an optical tracking probe (which may be a universal tracker) detectable by a camera-based tracking system or an EM probe detectable by an EM navigation system, a microelectrode probe driver adapter, a drill guide and drill bit, skull fixation device and driver, and a catheter guide.

Abstract: A method, consisting of passing a cylindrical carbon fiber through a press so as to produce a flat ribbon. The method further includes weaving multiple strands of the flat ribbon together to create a cylindrical braid.

Abstract: A trackable medical instrument for use in a computer assisted image guided medical and surgical navigation systems that generate images during medical and surgical procedures, includes a guide member having an emitter array for being tracked by the system and a drive shaft contained within the guide member having a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable axially inside the guide member, the proximal end of the drive shaft having a first connector for interchangeably receiving at least one drive source, and the distal end having a second connector for interchangeably receiving at least one instrument tip.