Abstract: Systems and methods for performing robotic endoscopic surgical procedures, according to a surgical plan prepared on a preoperative set of three dimensional images. The system comprises a surgical robot whose coordinate system is related to that of fluoroscope images generated intraoperatively, by using a three dimensional target having radio-opaque markers, attached in a predetermined manner to the robot or to another element to which the robot is attached, such as the spinal bridge or an attachment clamp. The robot is mounted directly or indirectly on a bone of the patient, thereby nullifying movement of the bone, or a bone tracking system may be utilized. The coordinate system of the intraoperative fluoroscope images may be related to the preoperative images, by comparing anatomical features between both image sets. This system and method enables the endoscope to be directed by the robot along the exact planned path, as determined by the surgeon.

Abstract: An imaging method for radiologically guiding an instrument during medical interventions on an object comprising: providing a first image of said object followed by providing updated images on-the-fly during the intervention to an operator by measuring an undersampled set of projections of said object and reconstructing said updated image based on changes between said first image or an update of said first image and said undersampled set of projections. The invention further relates to particular uses of the method and a system for radiologically guiding medical interventions on an object, comprising means to provide a first image of the object; an imaging apparatus measuring undersampled sets of projections; processing means in communication with the imaging apparatus for providing updated images on-the-fly during the intervention by reconstructing said updated image based on changes between said first image or an update of said first image and said undersampled set of projections.

Abstract: A guidewire (100) for use with interventional magnetic resonance imaging has a guidewire body (102) having a distal end and a proximal end and reserving a space therein, a dipole antenna (108) disposed in the space reserved within the guidewire body, the dipole antenna being adapted to be electrically connected to a signal processing system through a first signal channel (110) through the proximal end of the guidewire body, and a loop antenna (112) disposed in the space reserved within the guidewire body toward the distal end of the guidewire body, the loop antenna (112) being adapted to be electrically connected to the signal processing system through a second signal channel (114) through the proximal end of the guidewire body. The dipole antenna and the loop antenna are each constructed to receive magnetic resonance imaging signals independently of each other and to transmit received signals through the first and second signal channels, respectively, to be received by the signal processing system.

Abstract: A head fixation assembly includes a head fixation frame, a plurality of upper head fixation members, a plurality of lower head fixation members, and at least one drive mechanism. The head fixation frame includes a pair of upwardly extending spaced-apart arms defining a free space therebetween. At least one upper head fixation member extends from each of the respective arms of the head fixation frame, with each upper head fixation member adjustable relative to the head fixation frame and adapted to engage a patient's head within the free space of the head fixation frame. The lower head fixation members extend from the head fixation frame between the pair of arms, with each member adjustable relative to the head fixation frame and adapted to engage an underside of the patient's head within the free space of the head fixation frame.

Abstract: A first plurality of MR signals from a patient's tissue at respectively corresponding successive first time increments extending over a first time interval including a substantial majority of a subject's cardiac cycle is acquired and analyzed to define a second time interval, shorter than the first time interval, during the cardiac cycle whereat there is a relatively steep rise in signal magnitudes as a function of time (e.g., corresponding with systole and diastole events of the cardiac cycle). A second plurality of MR signals is then acquired from tissue of the patient at respectively corresponding successive second time increments during the second time interval, the second time increments being substantially shorter than said first time increments. Image data representing at least one contrast-free image of flowing fluid vessels is generated based on the second plurality of MR signals.

Abstract: A needle-coupled parallel mechanism is provided. The needle-coupled parallel mechanism is structurally improved so as to have a broad working area and a high precision. The needle-coupled parallel mechanism comprises a fixedly positioned frame, a main shaft, three first links, three second links, and a needle. The main shaft is arranged so as to be movable relative to the frame. One end of each of the first links is connected to the frame between both ends of the main shaft and the other end thereof is connected to one end of the main shaft. One end of each of the second links is connected to the frame between both ends of the main shaft and the other end thereof is connected to the other end of the main shaft. The needle is linearly movably coupled to the main shaft to perform a predetermined operation on a target object. Each of the first links and the second links has at least three joints selected from a prismatic joint, a 1-axis revolute joint, a 2-axis revolute joint and a spherical joint.

Abstract: Configurations are described for conducting minimally invasive medical interventions utilizing elongate instruments and assemblies thereof to stabilize and/or fixate a sacro-iliac joint. In one embodiment, a tool assembly may be advanced from a posterior approach into the SI junction and configured to create a defect defined at least in part by portions of both the sacrum and the ilium, the defect having a three dimensional shape defined in part by at least one noncircular cross sectional shape in a plane substantially perpendicular to the longitudinal axis of the tool assembly. After a defect is created, the tool assembly may be retracted and a prosthesis deployed into the defect.

Abstract: A robotically controlled guide instrument system, comprising an elongate flexible guide instrument; a drive assembly coupled to a proximal portion of the guide instrument and configured to maneuver a distal portion of the guide instrument; a master controller including a user interface that may be manipulated to actuate the drive assembly and thereby maneuver the distal portion the guide instrument; and a closure device detachably coupled to a delivery member carried by the guide instrument, the guide instrument maneuverable to position the closure device proximate an opening of a left atrial appendage of a person's heart such that the prosthesis may be detached from the delivery member and implanted to substantially close off the left atrial appendage.

Abstract: An industrial robot system including a workcell including a load area and a process area. A detector detects when a human enters the load area. A manipulator is located in the workcell. At least one positioner is adapted to hold a workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece. A station exchanger is movable about an axis and adapted to move, upon command, the manipulator or the positioner between the load and process area. Each of the axes is provided with a motor and a drive unit. An axis controller is adapted to switch between executing a first task in which the axes of the positioner and the station exchanger are commanded to a standstill, and a second task in which the axes of the positioner and the station exchanger are allowed to move.

Abstract: A system and method for identifying errors while tracking instrument navigations is enclosed. The method may include assigning a plurality of virtual points to a plurality of sensors. At least one of the virtual points may be a non-fixed virtual point. The assignment of virtual points to sensors may be determined based on the medical instrument, or the medical instrument attachment, being used. Virtual point locations may be determined for the non-fixed virtual point. The locations of the non-fixed virtual point may be determined based on the medical instrument, or the medical instrument attachment, being used. The vector values for vectors terminating at the non-fixed virtual point may be adjusted. The field integrity values for the virtual points may be computed. If a field integrity value is greater than a threshold value, an error signal may be communicated.

Abstract: In a method and magnetic resonance apparatus to assist a person in the alignment of a medical instrument used by the person to conduct a minimally invasive procedure with the instrument introduced into a patient at an entrance point in a predetermined orientation, within the patient receptacle of a magnetic resonance device, measurement data are acquired with the magnetic resonance device to determine a current orientation of the instrument and/or an instrument guide, and the measurement data are evaluated to determine the current orientation. A deviation of the current orientation from the predetermined orientation is determined, and at least one acoustic signal is emitted depending on the deviation to assist the person in orienting the instrument.

Abstract: An MRI-guided interventional system includes a trajectory guide frame for guiding an interventional device with respect to a patient in an MRI-guided procedure and including a base, a platform, a targeting cannula, and a stabilizer mechanism. The platform is mounted on the base and includes a support table and a moving plate that is translatable relative to the support table and the base along a translational axis. The targeting cannula is mounted on the moving plate for movement therewith and includes an elongate guide bore defining a trajectory axis. The stabilizer mechanism is operable to selectively control movement between the support table and the moving plate to stabilize a position of the targeting cannula with respect to the base. The frame is operable to translate the moving plate along the translational axis relative to the base to position the trajectory axis. The translational axis is transverse to the trajectory axis.

Abstract: A method for automatic femur segmentation and condyle line detection. The method includes: scanning a knee of a patient with medical imaging equipment to obtain 3D imaging data with such equipment; processing the obtained 3D imaging data in a digital processor to determine two lines tangent to the bottom of the knee condyles in an axial and a coronal plane; and automatically scanning the patient in the defined plane. The processing includes: determining an approximate location of the knee; using the determined the location to define a volume of interest; segmenting the femur in the defined volume of interest; and determining a bottom point on the femur portion on a right side and a left side of the segmented femur in an axial and a coronal slice to determine the two lines.

Abstract: Localization of a coil is provided for magnetic resonance (MR)-guided intervention. A multi-scale decomposition and characteristic transitions in the power spectra for the coil are used to determine a distribution of likelihood of the coil being at each of various locations and/or to determine a confidence in the position determination. For example, the power spectra along each axis is used to generate a likelihood distribution of the location of the coil. The power spectra are decomposited at different scales. For each scale, the modulus maxima reflecting transitions in the power spectra are matched using various criteria. A likelihood is calculated for each of the matched candidates from characterizations of the matched candidates. The likelihood distribution is determined from a combination of the likelihoods from the various scales.

Abstract: A method of calibrating field location tracking to magnetic resonance tracking is provided. The method of calibration field location tracking includes moving a medical device throughout a plurality of points within a patient volume; tracking the medical device with a field location tracking system and a magnetic resonance tracking system; calculating a plurality of magnetic resonance tracking locations; determining a plurality of field location parameters that correspond to the plurality of magnetic resonance tracking locations; and creating a transfer function that maps the field location parameters to the magnetic resonance tracking locations, wherein the transfer function registers a field location coordinate system to a magnetic resonance coordinate system.

Abstract: A modular multi-transmit head coil for use in Deep Brain Stimulation procedures includes a mounting frame arranged for attachment to the stereotactic head frame of the patient. An integrated MR stereotactic locating phantom is included as part of the coil structure which has attached MR/CT compatible fiducials on it to correlate pre-op, intra-op and post op images. The frame carries a series of modular removable coil elements in a transceive array that are connected to a set of RF power amplifiers that directly drive the coil elements. A control system including suitable software is arranged to control the signals to the coil elements so as to generate a required RF field with all the coil elements in place and with one or more the coil elements removed to allow access to the patent for the installation of the DBS leads.

Abstract: A biopsy system includes a biopsy device, a control module, a control module interface, at least one wireless data communication link, and an encoder. The biopsy device is operable to capture a tissue sample and includes a reusable portion and a disposable portion. The reusable portion includes an MR compatible motor. The disposable portion is adapted to be releasably joined with the reusable portion. The control module interface is configured to provide an interface between the control module and the reusable portion of the biopsy device. The at least one wireless data communication link includes a first data link configured to permit communication of data between the reusable portion of the biopsy device and the control module interface. The encoder is operationally coupled with the MR compatible motor.

Abstract: An MRI-guided interventional system for use with a body of patient and an interventional device includes a base and a targeting cannula. The base is configured to be secured to the body of the patient. The targeting cannula has an elongate guide bore extending axially therethrough and an inlet and an outlet at opposed ends of the guide bore. The guide bore defines a trajectory axis extending through the inlet and the outlet and being configured to guide placement of the interventional device. The frame is operable to move the targeting cannula relative to the base to position the trajectory axis to a desired intrabody trajectory to guide placement of the interventional device in vivo. The inlet tapers from an outer diameter distal from the guide bore to an inner diameter proximate the guide bore to guide and facilitate insertion of the interventional device into the guide bore.

Abstract: A biopsy system comprises a control module, a localization assembly, a biopsy device, and a targeting cube. The biopsy device comprises a holster portion and a probe. The probe and/or other associated components are configured to selectively couple with a targeting cube that is configured to selectively couple with a grid plate having apertures for receiving the targeting cube. The targeting cube comprises a body defined by faces. The targeting cube further comprises guide holes that originate and terminate at the faces and pass through the body of the targeting cube to provide a passageway through the targeting cube. The body of the targeting cube is at least partially comprised of elastomeric material to allow for compression of the body. The elastomeric material may thus provide a secure fit with a wide range of grid plates having openings of various shapes and sizes.

Abstract: A apparatus includes a collection unit which collects a magnetic resonance signal, a unit which controls the collection unit in such a manner that pre-scan is executed in regard to pre-scan slices determined as some of main scan slices, a calculation unit which calculates correction amounts based on data concerning the pre-scan slices obtained by the pre-scan, an estimation unit which estimates a correction amount concerning each slice other the pre-scan slices in the main scan slices based on the correction amounts, and a unit which controls the collection unit in such a manner that each of the main scan slices is scanned while involving correction of each slice that is the pre-scan target with the correction amount thereof calculated by the calculation unit and while involving correction of each slice that is not the pre-scan target with the correction amount thereof estimated by the estimation unit.

Abstract: A sample holding device, adapted for holding a sample, like a rodent or an MR phantom sample in a magnet bore of a magnetic resonance tomography (MRT) device, comprises a sample carrier being adapted for an arrangement in the bore of the MRT device, wherein the sample carrier comprises a carrier platform for accommodating the sample and at least one clamping part with radial locking pieces being adapted for fixing the sample carrier in a hollow enclosure structure, wherein the at least one clamping part is connected with the carrier platform. Furthermore, an MRT device and a method of MRT imaging of a sample are described.

Abstract: An endoscopic imaging device for endoscopy in a body vessel is disclosed. The device comprises an annular illumination tube comprising an annular illumination fiber for illuminating a body vessel during endoscopy. The device further includes a first imaging tube comprising a first imaging fiber for gross examination and navigation through the body vessel. The first imaging fiber is disposed within the annular illumination tube. The device further comprises a second imaging tube comprising a second imaging fiber for cellular imaging. The second illumination fiber is disposed adjacent the first imaging tube and within the annular illumination tube.

Abstract: The invention provides a non-invasive system and method for treatment of the heart. In a first aspect, a method for treatment of an anatomical site related to arrhythmogenesis of a heart of a patient comprises creating a target shape encompassing the anatomical site, directing particle beam radiation or x-ray radiation from outside the patient toward the target shape wherein one or more doses of radiation ablates the target shape and disregarding at least one orientation of cardiac motion while creating the target shape or directing the particle beam or both.

Abstract: A system can be used to navigate or guide an instrument or device into an anatomy of a patient. The navigation can occur with the use of image data acquired of the patient. The image data can be registered to the patient space for navigation. Registration can occur more than once to increase efficiency and speed of the procedure.

Abstract: A light-weight, compact, highly dexterous surgical robot system for performing in vivo minimally invasive surgeries that allows precise control of position and orientation of surgical tools. The surgical robot system has three rotational degrees of freedom and one translational degree of freedom and is composed of seven links joined by three gear pairs and six turning pairs. The surgical robot system maintains an open space where a surgical tool element enters the patient to avoid self-collisions within the robot system during surgeries.

Abstract: In a method to determine a kidney function parameter of kidneys of an examination person with the aid of magnetic resonance tomography, at least one magnetic resonance measurement is implemented for an examination region of the examination person that comprises a urinary bladder of the examination person, to acquire magnetic resonance data from the examination region that include at least image data. The concentration of a urophanic substance in the urinary bladder of the examination person is automatically determined based on the acquired magnetic resonance data. A volume of the urinary bladder is automatically determined based on the acquired image data. A kidney function parameter of the kidneys of the examination person is automatically determined on the basis of the determined concentration of the urophanic substance in the urinary bladder and of the specific volume of the urinary bladder.

Abstract: A biopsy system comprises a control module, a localization assembly, a biopsy device, and a targeting cube. The biopsy device comprises a probe and other components, which selectively couple with a targeting cube that is configured to selectively couple with a grid plate having apertures for receiving the targeting cube. The targeting cube comprises a body defined by faces. The targeting cube further comprises guide holes that originate and terminate at the faces and pass through the body of the targeting cube to provide passageways through the targeting cube. The faces of the targeting cube comprise a tapered profile from a proximal end to a distal end. The tapered profile of the targeting cube may be created by the faces themselves or by protruding elements from the faces. The body of the targeting cube and/or the protruding elements may be at least partially comprised of an elastomeric material.

Abstract: A method of determining the size and/or placement of screws or other instruments in pedicles during surgery in a selected spinal area, comprising generating a dimensionally true three-dimensional image of the bony spine in the selected spinal area; hollowing out the vertebra in the three-dimensional image with cortical wall thicknesses selected by a surgeon performing the surgery; determining the narrowest cross section (isthmus) within each pedicle; generating a straight line starting at the center of the isthmus and extending inwardly to a point centered within the anterior cortex so that it is positioned concentrically within the pedicle without touching the walls thereof, the line terminating inside the vertebral body a predetermined distance from the anterior inner cortical wall and extending outwardly in the opposite direction to penetrate the posterior pedicle cortex; expanding the line concentrically and radially to a cross sectional size that is less than that of the isthmus, the line being expanded

Abstract: A biopsy system comprises a biopsy device and a localization grid plate, which is configured to localize part of a patient and defines a plurality of round openings. A probe of the biopsy device and/or other associated other components may be inserted through a selected one of the openings. The grid plate may thus guide the probe and/or other components as such components are inserted into the localized part of the patient; and may further support the probe and/or other components after insertion. The grid plate may thus be used without a targeting cube or other inserted guide. Alternatively, the openings of the grid plate may be configured to receive a targeting guide having a cylindraceous body. The guide body may define passageways for inserting a probe or other components, and may be rotatable to position the passageways to selectively define an insertion axis for the probe.

Abstract: A biopsy system comprises a control module, a localization assembly, a biopsy device, and a targeting cube. The biopsy device comprises a holster portion and a probe. The probe and/or other associated components are configured to selectively couple with a targeting cube that is configured to selectively couple with a grid plate having apertures for receiving the targeting cube. The targeting cube comprises a body defined by faces. The targeting cube further comprises guide holes that originate and terminate at the faces and pass through the body of the targeting cube to provide passageways through the targeting cube. The intersections of the faces of the targeting cube comprise edges that are comprised of elastomeric material. The elastomeric edges allow for compression and may thus provide a secure fit with a wide range of grid plates having openings of various shapes and sizes.

Abstract: A modular multi-transmit head coil for use in Deep Brain Stimulation procedures includes a mounting frame arranged for attachment to the stereotactic head frame of the patient. An integrated MR stereotactic locating phantom is included as part of the coil structure which has attached MR/CT compatible fiducials on it to correlate pre-op, intra-op and post op images. The frame carries a series of modular removable coil elements in a transceive array that are connected to a set of RF power amplifiers that directly drive the coil elements. A control system including suitable software is arranged to control the signals to the coil elements so as to generate a required RF field with all the coil elements in place and with one or more the coil elements removed to allow access to the patent for the installation of the DBS leads.

Abstract: An MRI-guided interventional system includes a frame with a cooperating targeting cannula. The frame is configured to be secured to the body of a patient, and is configured to translate and rotate such that the targeting cannula can be positioned to a desired intrabody trajectory. The frame may include one or more MRI-visible fiducial markers that allow frame location/orientation to be determined within an MRI image. A plurality of user-activatable actuators are configured to translate and rotate the frame relative to the body of a patient so as to position the targeting cannula to a desired intrabody trajectory. The targeting cannula includes an axially-extending guide bore therethrough that is configured to guide placement of an interventional device in vivo. Various instrumentation and equipment, such as stimulation leads, ablation catheters, injection catheters, etc., can be inserted through the targeting cannula to execute diagnostic and/or surgical procedures.

Abstract: Apparatus and methods for assessing tissue characteristics such as the dimensions and volume of an osteolytic lesion are disclosed. The apparatus may utilize ultrasound to provide visual and volumetric feedback related to a lesion or other tissue. Further the apparatus may be utilized to determine whether the lesion has been completely removed and filled with the appropriate amount of graft material.

Abstract: In a method and a magnetic resonance system for positioning a patient support device of the magnetic resonance system, wherein the magnetic resonance system also has a coil device and the patient support device that has a mounting for accommodation of the coil device at a predetermined position, a detector unit is provided for detection of information describing the coil device and a control device controls a drive unit of the support device to move the support device to a determined position in the magnetic resonance apparatus using only information detected by the detector unit.

Abstract: A head support assembly includes a base configured to be removably secured to an MRI scanner gantry, a head support frame attached to the base, and a longitudinally extending head coil apparatus adjustably secured to the head support frame. The head support frame includes a pair of elongated arms that extend outwardly in adjacent, spaced-apart, substantially co-planar relationship to form an area for receiving the head of a patient. Each arm includes a respective free end, and a head engagement rod is adjustably associated with each respective arm free end. The head engagement rods are configured to engage a patients head within the head support frame. One or more additional head engagement rods may extend outwardly from the head support frame between the pair of arms.

Abstract: A method for determining the spatial distribution of magnetic resonance signals from an imaging area, wherein nuclear spins are excited in a spatially encoded fashion through multi-dimensional RF pulses, is characterized in that in a definition step, a resolution grid with resolution grid cells is predetermined, and in accordance with a predetermined phase encoding scheme, an excitation pattern is defined for each phase encoding step, in which the amplitudes within the imaging area are set in accordance with a predetermined distribution identically for each phase encoding step. In a preparatory step, the amplitude and phase behavior of the RF pulses to be irradiated is calculated in accordance with a predetermined k-space trajectory for each defined complex excitation pattern.

Abstract: The imaging system can comprise a plurality of elongated rails, a scanhead assembly, and a small animal mount assembly. The scanhead assembly is selectively mounted onto a first rail and is constructed and arranged for movement in a linear bi-directional manner along the longitudinal axis of the first rail. The small-animal mount assembly is selectively mounted onto a second rail and is constructed and arranged for movement in a linear bi-directional manner along the longitudinal axis of the second rail. The second rail being mounted relative to the first rail such that the longitudinal axis of the second rail is at an angle to the longitudinal axis of the first rail. The imaging system can also comprise a needle injection assembly that is selectively mounted onto the third rail and is constructed and arranged for movement in a linear bi-directional manner along the longitudinal axis of the third rail.

Abstract: A patient treatment unit for analyzing and treating abnormality of human or animal tissues, includes a display; a pulse generator circuit that outputs a sequence of electrical pulses at a pulse frequency, the electrical pulses having a pulse width, the pulse generator controlling the pulse frequency and the pulse width of the electrical pulses; a pair of probes for contacting a body of a patient and electrically coupled to the pulse generator; and a voltage and current sensing circuit that senses a voltage or a current via the probes when contacting the body of the patient.

Abstract: A method of operating a surgical system. The method includes obtaining a magnetic resonance imaging (MRI) scan in which magnetic resonance (MR) visible targets are located; registering a robotic arm to the MRI scan using a digitizing tool, the robotic arm including: multiple joints and multiple degrees of freedom; an MR-compatible structural material; multiple MR-compatible joint motors; multiple MR-compatible joint encoders; and an end effector holding an MR-compatible surgical tool having a tool tip; and displaying a location of the tool tip relative to an image from the MRI scan.

Abstract: Certain embodiments of the present invention provide for a system and method for modeling S-distortion in an image intensifier. In an embodiment, the method may include identifying a reference coordinate on an input screen of the image intensifier. The method also includes computing a set of charged particle velocity vectors. The method also includes computing a set of magnetic field vectors. The method also includes computing the force exerted on the charged particle in an image intensifier. Certain embodiments of the present invention include an iterative method for calibrating an image acquisition system with an analytic S-distortion model. In an embodiment, the method may include comparing the difference between the measured fiducial shadow positions and the model fiducial positions with a threshold value. If the difference is less than the threshold value, the optical distortion parameters are used for linearizing the set of acquired images.

Abstract: This document discusses trajectory guides that include an instrument guide with at least one lumen angled with respect to an orthogonal or other through-axis. In one example, patterned lumens on the instrument guide provide a mirror image pattern of trajectory axes intersecting a target plane. In another example, height adjustment of the instrument guide extends these or other targeting techniques to a three-dimensional volume. This document also describes a method of manufacturing such an instrument guide, which is also applicable to manufacturing an instrument guide providing parallel lumens.

Abstract: A system for controlling a medical device in a patient. A display system displays an image of a volume of the patient in a virtual three-dimensional space. A stylus is controllable to actuate a virtual element in the virtual space. A navigation system controls the medical device in the patient volume based on a position of the actuated virtual element. This inherently three-dimensional interface allows a physician to actuate the medical device more intuitively than possible using a two-dimensional interface.

Abstract: A method for reconstructing an ear canal from optical coherence tomography (OCT) scan data of an ear comprises extracting frame numbers and line numbers of interference intensities corresponding to one or more markers on an OCT scan guide, receiving reference frame numbers and lines numbers for one or more markers, determining a starting position and direction for the OCT ear scan from the ear scan marker frame and line numbers and the reference marker frame and line numbers, for each scan line, finding a pixel number of a maximum interference intensity value, and determining an offset distance of said pixel from said scan guide, and reconstructing a surface of the ear canal from the distance offset data.

Abstract: A universal coupler for coupling multiple orthopedic instruments is disclosed. The universal coupler includes a body having a boss and an internal bore, a locking shaft having a first portion and a second portion, a trigger including a trigger bore, and a connection portion. The trigger is operable between a first position and a second position, where in the first position the first portion and boss are misaligned and in the second position the first portion and the boss are aligned.

Abstract: An anatomical data registration device may include a dental device. The dental device may configurable to be subject-specific. A dental device may be positionable in a substantially fixed spatial relationship relative to a portion of the subject. An anatomical data registration device may include one or more radiopaque markers. At least one of the radiopaque markers may be positioned in the dental device. The radiopaque marker may be configured to facilitate alignment of two or more images of the portion of the subject. The data registration device may be positionable within a subject's mouth.

Abstract: Provided herein are devices and methods for supporting and positioning a tracking assembly for mounting variously configured medical devices for prostate imaging, biopsy, and other therapeutic applications. In one aspect, a support assembly provides multiple degrees of freedom for positioning a tracking assembly and mounted probe relative to a patient on a patient support structure such as an examination table or a gurney bed and/or maintaining a tracking assembly and mounted probe in a desired location throughout the rendering of imaging, biopsy, or other therapeutic procedures.

Abstract: An adapter can be easily used to assist a surgical navigation system to determine the effector axis or the effector plane of a surgical instrument. The adapter has a body with a geometrical feature, the geometrical feature has a known relation with a navigation tracker device that can be attached to the adapter. When the adapter is held against a surgical instrument in a non-fixed manner, the effector axis or the effector plane of the instrument can be tracked by the surgical navigation system. The method includes a calibration method to determine the known relation between the effector axis or the effector plane and the location of the navigation tracker.

Abstract: An invasive device having an inductive coupling element. One embodiment of the invasive device includes a plurality of receive coils inductively coupled to a communicating coil. The receive coils are selectively tuned and detuned to receive MR signals for providing coordinate information used for device tracking. A second embodiment of the invasive device includes a receive coil having a plurality of winding elements separated from each other by different distances. A method of rapidly acquiring both the invasive device orientation and position information to dynamically adapt MR scan planes to continuously follow the invasive device relative to a target is provided. The target-navigation technique automatically defines the MR scan plane and a time domain multiplexing technique is applied for MR imaging and device tracking. Using these techniques, the acquired MR images shows both the invasive device and the target tissue.

Abstract: A localization mechanism, or fixture, is used in conjunction with a breast coil for breast compression and for guiding a core biopsy instrument during prone biopsy procedures in both open and closed Magnetic Resonance Imaging (MRI) machines. The localization fixture includes a three-dimensional Cartesian positionable guide for supporting and orienting an MRI-compatible biopsy instrument, and, in particular, a sleeve to a biopsy site of suspicious tissues or lesions. A z-stop enhances accurate insertion, prevents over-insertion or inadvertent retraction of the sleeve. The sleeve receives a probe of the MRI-compatible biopsy instrument and may contain various features to enhance its imagability, to enhance vacuum and pressure assist therethrough, etc.

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.