Abstract: A surgical robotic system includes a sensor unit, a controller, and a robotic subsystem. The robotic subsystem is in communication with the sensor unit and the controller. Additionally, the robotic subsystem includes a plurality of robotic arms that each have an end effort at a distal end thereof. The robotic subsystem also includes a camera assembly that has at least two cameras and an autofocus unit that automatically focuses a lens of each of the cameras.

Abstract: A method of positioning posterior resection guides in a three-dimensional coordinate system using robotic arms to perform partial knee arthroplasties comprises connecting a first tracking device for a surgical tracking system of the robotic arm to a femur, connecting a second tracking device for the surgical tracking system of the robotic arm to a tibia, manually positioning the tibia relative to the femur to a desired orientation to perform a posterior resection, manually determining a position for the posterior resection guide to perform the posterior resection, digitizing a reference point for the posterior resection guide in the three-dimensional coordinate system for a location of a feature of the posterior resection guide, moving the posterior resection guide to the location in the three-dimensional coordinate system with the robotic arm, and resecting a posterior portion of a condyle of the femur using the posterior resection guide to guide a cutting instrument.

Abstract: Electrophysiological activity can be mapped using sub-intervals of electrophsyiological signals. An electroanatomical mapping system receives a plurality of electrophsyiological signals (402), each of which spans an activation interval. For each signal, the system identifies an initial event time within the activation interval, such as by identifying a time of maximum signal energy (404), and defines a sub-interval about the initial event time (406). The system then analyzes the sub-interval to identify one or more electrophysiological characteristics of the electrophysiological signal (408) and adds a corresponding electrophysiology data point to an electrophysiology map (410). Advantageously, the sub-interval can extend outside of the activation interval, such that the instant teachings allow for capture and analysis of deflections that occur at or near the boundaries of the activation interval.

Abstract: An ultrasound probe captures real-time images of patient anatomy, which are analyzed by a processor to extract salient features pertaining to an anatomical structure. By tracking the location and orientation of the ultrasound probe, a model of that anatomical structure can be created. A visual indication of the position of segments of the anatomical structure can be presented holographically to a user of an augmented reality headset to provide information extracted from the ultrasound imaging, such as holographic display of a model of the anatomical structure at the approximate location of the visual field of the headset corresponding to the physical location of the actual anatomy being viewed by a user, without presenting the entirety of the ultrasound image to the user.

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 method comprises monitoring movement of an elongate device and receiving user input commanding motion of the elongate device. The method also comprises determining a mode of operation based on at least one of the monitored movement or the received user input and adjusting a property of the elongate device based on a profile associated with the mode of operation. Adjusting the property of the elongate device includes maintaining the property of the elongate device substantially the same during a first interval, reducing a rigidity of the elongate device at a first rate during a second interval and reducing the rigidity of the elongate device at a second rate, different from the first rate, during a third interval.

Abstract: A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly.

Abstract: Systems, devices, and methods for planning an endoscopic tissue acquisition procedure for acquiring tissue from an anatomical target are disclosed. An endoscopic system comprises a steerable elongate instrument and a processor. The steerable elongate instrument can be positioned and navigated in a patient anatomy and acquire tissue from an anatomical target via a biopsy tool associated with the steerable elongate instrument. The processor can receive an image of the anatomical target, apply the received image to a trained machine-learning (ML) model to determine a tissue acquisition plan that includes a recommended biopsy tool and operational parameters for navigating the steerable elongate instrument or maneuvering the recommended biopsy tool. The tissue acquisition plan can be presented to a user, or used to facilitate a robot-assisted tissue acquisition procedure.

Abstract: A magnetometer-based metal detection device and methods of use are described. The device includes a proximal portion, a central body and a distal portion, and at least one magnetometer positioned within or on the distal portion. The at least one magnetometer includes at least one sensor capable of sensing a magnetic field in three orthogonal axes. Also described is a method of calibrating the device to achieve rotational invariance, and a method of determining a directionality or directional line along which a target metal object lies.

Abstract: According to one embodiment of the present disclosure, there is disclosed a method of reconstructing images of the inside of the body that is performed by a computing device including at least one processor. The method includes: obtaining basic data including the pose information of an end of an endoscopic scope and a captured image of the inside of the body; and generating a three-dimensional (3D) final image of the inside of the body by reconstructing the basic data using feature points including the image information of the surface of the inside of the body for the basic data.

Abstract: Systems, methods and devices for surgical procedurelization via a modular energy system are disclosed herein. In various aspects, the systems, methods and devices include an energy module, a header module communicably coupled to the energy module, and a display screen capable of rendering a graphical user interface (GUI). The GUI may be configured to display a plurality of steps that correspond with actions performed by a user while operating the modular energy system. In some aspects, the steps displayed are steps of a predetermined procedural checklist corresponding with a mental model followed by the user while performing a surgical procedure. In some aspects, the steps displayed are steps of an output verification process.

Abstract: A tool stabilization mechanism is disclosed including a stabilizing device connected to a tool and movable between a deployed position and a non-deployed position, and an actuator for actuating the stabilizing device to move between the deployed position and the non-deployed position. In some forms the tool stabilization mechanism is integrated into a borescope unit, while in other forms it may be an accessory attachable to conventional borescope units. Related methods to the above are also disclosed herein.

Abstract: Disclosed are systems, devices, and methods for navigating a tool inside a luminal network. An exemplary method includes receiving image data of a patient's chest, identifying the patient's lungs, determining locations of a luminal network in the patient's lungs, identifying a target location in the patient's lungs, generating a pathway to the target location, generating a three-dimensional (3D) model of the patient's lungs, the 3D model showing the luminal network in the patient's lungs and the pathway to the target location, determining a location of a tool based on an electromagnetic (EM) sensor included in the tool as the tool is navigated within the patient's chest, displaying a view of the 3D model showing the determined location of the tool, receiving cone beam computed tomography (CBCT) image data of the patient's chest, updating the 3D model based on the CBCT image data, and displaying a view of the updated 3D model.

Abstract: A medical image processing system includes an acquisition unit that acquires a real-time 3D surgical image of an operation site stereoscopically viewable by a surgeon and a 3D model image that is a stereoscopic CG image associated with the 3D surgical image, and a superimposition unit that performs enhancement such that the location of the 3D model image at predetermined spatial positions is enhanced with respect to the 3D surgical image or the 3D model image at the start of superimposition of the 3D model image at the predetermined spatial positions when the 3D surgical image is stereoscopically viewed on the basis of information set for the 3D model image.

Abstract: A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.

Abstract: Apparatus, systems, and methods for percutaneous ablation of a tumor in a sample, object, or subject, and more specifically, for percutaneous tumor ablation with the ability for real-time, intra-operative ablation planning, execution, and/or adjustment, are provided herein. One or more apparatuses, systems, and methods may operate to detect a region of interest in an image, subject to an ablation or radiotherapy process or an ablation or radiotherapy planning; identify a position of a needle in the image; calculate a trajectory and a depth of the needle based on an insertion information of the needle, and display the needle trajectory and the depth on the image.

Abstract: A mixed reality (MR) visualization system includes an MR device comprising a holographic display configured to display a holographic image to an operator, a hand-held ultrasound imaging device configured to obtain a real-time ultrasound image of a subject's anatomy, and a computing device communicatively coupled to the MR device and the hand-held ultrasound imaging device. The computing device includes a non-volatile memory and a processor. The computing device is configured to receive the real-time ultrasound image, determine a real-time 3D position and orientation of the hand-held ultrasound imaging device, generate a modified real-time ultrasound image by modifying the real-time ultrasound image to correspond to the real-time 3D position and orientation of the hand-held ultrasound imaging device, and transmit the modified real-time ultrasound image to the MR device for display as the holographic image positioned at a predetermined location relative to the hand-held ultrasound imaging device.

Abstract: Camera arrays for mediated-reality systems and associated methods and systems are disclosed herein. In some embodiments, a camera array includes a support structure having a center, and a depth sensor mounted to the support structure proximate to the center. The camera array can further include a plurality of cameras mounted to the support structure radially outward from the depth sensor, and a plurality of trackers mounted to the support structure radially outward from the cameras. The cameras are configured to capture image data of a scene, and the trackers are configured to capture positional data of a tool within the scene. The image data and the positional data can be processed to generate a virtual perspective of the scene including a graphical representation of the tool at the determined position.

Abstract: Apparatuses, systems, and methods for displaying a cooperative overlays based on interacting instruments are disclosed herein. In one aspect, a method for displaying cooperative overlays includes communicatively coupling a first augmented reality display device to a surgical hub; generating, by the first augmented reality display device, a first intraoperative display of a surgical field; displaying, by the first intraoperative display, a first data overlay based on operation of a first surgical instrument; interacting the first surgical instrument with a second surgical instrument; and displaying, by the first intraoperative display, an indicator of the interaction based on the interaction between the first and second surgical instruments.

Abstract: An eye surgery surgical system includes a visualization device for visualizing the position of at least one trocar point for a trocar on the sclera of a patient's eye. The trocar serves to introduce a surgical instrument configured for surgical interventions on the fundus of the patient's eye into the patient's eye. The eye surgery surgical system also includes a computer unit which is configured to provide the position of the at least one trocar point to the visualization device. Here, the computer unit contains a trocar point computation routine configured to calculate the position of the at least one trocar point from the location of at least one surgical site in a model of the patient's eye and from geometric data relating to at least one surgical instrument introducible into the patient's eye through the trocar.

Abstract: A system including a biopsy needle device having a cannula with a distal end configured to sever a tissue sample, and a trocar disposed within the cannula having a notch configured to retain a tissue sample, wherein at least one of the cannula and the trocar is divided into at least two segments including different echogenic coatings, an ultrasound probe, and a processor configured and arranged to collect images from the ultrasound probe and color code the at least two segments based on at least one characteristic relating to different echogenic coatings, surface textures, surface contours and dimensions of the biopsy device.

Abstract: Devices, systems, and methods for generating therapy annotations for display on a graphical user interface are disclosed herein. In some embodiments, therapy annotations can correspond to a location of a tip section of a catheter relative to an anatomical structure of a patient when therapy is delivered to the anatomical structure. One or more properties of the therapy annotations can be based at least in part on signals received from sensors distributed about the tip section of the catheter and/or on other characteristics of therapy delivery. The therapy annotations can be displayed alone or in combination with a three-dimensional surface representation of the anatomical structure, a representation of the catheter, and/or other visual indicia, such as a therapy contour, a distance from a nearest therapy site and/or the most recent therapy site, and/or a representation of gaps between two therapy sites.

Abstract: A method, device, and system for evaluating a vessel of a patient, and in particular the hemodynamic impact of a stenosis within the vessel of a patient. Proximal and distal pressure measurements are made using first and second instrument while the first instrument is moved longitudinally in the vessel and the second instrument remains in a fixed position. A series of pressure ratio values are calculated, and a pressure ratio curve is generated. The pressure ratio curve may be output to a display. One or more stepped change in the pressure ratio curve are identified using an Automatic Step Detection algorithm. An image is obtained showing the position of the first instrument within the vessel that corresponds to the identified stepped change. The image is registered to the identified stepped change in the pressure ratio curve. The image may be output to the display.

Abstract: A system (50) for tracking an object (1) comprises a magnetic field source (10) configured to be fixed to this object (1); a magnetometric data collection unit (20) that uses magnetic field sensors (22) fixed at predetermined positions on a support (23) to form an array (21), and that includes a sensor control unit (25) for controlling the magnetic field sensors (22); a data processing unit (30) configured to receive the magnetic field data from the sensor control unit (25) and to calculate from these data position coordinates of the magnetic field source (10) with respect to the array (21) forming a vector of such position coordinates which minimizes the distance between magnetic field values expected at the sensor positions (22) and magnetic field values collected by the collection unit (20), wherein the magnetic field source (10) is arranged to generate a local magnetic field (4), at the magnetic field sensors (22), of intensity set between 5 and 500 microtesla, so that the magnetic field sensors (22) dete

Abstract: A method of relating an object to a coordinate system, the object being supported by a support element, and the object and the support element being housed within a housing, includes engaging a registration element with the object or the support element, conducting an optical surface scan of the object and the registration element, using an optical scanner, to form a three-dimensional surface image of the object, the three-dimensional surface image having the coordinate system associated therewith, with the registration element being associated with the coordinate system, and correlating the object with the registration element in the three-dimensional surface image so as to register the object with the coordinate system. Associated methods and systems are also provided.

Abstract: The present invention proposes an apparatus and method for assisting a user to plan a puncture trajectory within a region-of-interest of a subject. The apparatus comprises: a data interface (211) configured to receive anatomical data of the region-of-interest of the subject and to output the at least one candidate puncture trajectory, and a data processor (213) for calculating at least one candidate puncture trajectory on basis of the anatomical data, multiple criteria, and a tradeoff among the multiple criteria. The anatomical data of the subject comprises three-dimensional data of the region of interest. The data processor (213) is further configured, upon receiving a first user input for adjusting the tradeoff among the multiple criteria, to adjust the tradeoff among the multiple criteria on basis of the first user input, and to calculate the at least one candidate puncture trajectory on basis of the anatomical data, the multiple criteria and the adjusted tradeoff among the multiple criteria.

Abstract: Provided herein are systems, devices, assemblies, and methods for localization of a tag in a tissue of a patient. For example, provided herein are systems, devices, and methods employing a detection component that is attached to or integrated with a surgical device, where the detection component detects a signal from a tag in a patient, where the tag is activated by remote introduction of a magnetic field.

Abstract: An image registration system 111 for registering a live stream of ultrasound images 112 of a beamforming ultrasound probe 113 with an X-ray image 114 is described. The image registration 111 system identifies, from the X-ray image 114, the position of a medical device 116 represented in the X-ray image 114; and determines, based on ultrasound signals transmitted between the beamforming ultrasound probe 113 and an ultrasound transducer 115 disposed on the medical device 116, a location of the ultrasound transducer 115 respective the beamforming ultrasound probe 113. Each ultrasound image from the live stream 112 is registered with the X-ray 114 image based on the identified position of the medical device 116.

Abstract: In general, devices, systems, and methods for fiducial identification and tracking are provided.

Abstract: Disclosed is a surgical robotic system comprising a robotic arm holding an end-effector and a control unit for controllably moving the robotic arm and maintaining the end-effector in at least one target position relative to a patient. The control unit can, based on a first input continuously applied onto the robotic arm, activate a hand guiding mode wherein the robotic arm is freely movable by the user; based on a second input different from the first input, continuously applied onto the robotic arm, activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory; when the computed trajectory is activated, detect that the end-effector meets a predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm is automatically movable to maintain the end-effector in the target position relative to a tracker attached to the patient.

Abstract: A control unit for a robot system including a robot with a rigid proximal portion having a remote center of motion (RCM), a flexible distal portion, and an image acquisition device. The control unit includes a processor that receives images from the image acquisition device; generates a first deployment path to a first target position based on the images; generates a second deployment path to a second target position from the first target position based on the images; generates first guidance information for positioning the rigid proximal portion along the first deployment path; generates second guidance information for positioning the flexible distal portion along the second deployment path; and deploys the first guidance information to the rigid proximal portion for guiding the rigid proximal portion to the first target position, and deploys the second guidance information to the flexible distal portion for guiding the flexible interface distal portion to the second target position.

Abstract: In one embodiment, an ultrasound imaging system is configured to receive a set of ultrasound images of a target anatomical region. The set of ultrasound images is combined to create a composite tissue frame. The ultrasound imaging system determines whether an interventional instrument is present within the ultrasound images based on a set of trained classification algorithms based on the set of ultrasound images and the composite tissue frame. If an interventional instrument is detected, the ultrasound imaging system further determines whether an additional ultrasound frame should be captured to image the interventional instrument, and the steer angle to be used for the additional ultrasound image. The ultrasound imaging system determines a linear structure corresponding to the interventional instrument, and creates a blended image showing the interventional instrument and the composite tissue frame.

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

Abstract: A system and method for determining a location for a surgical jig in a surgical procedure includes providing a mixed reality headset, a 3D spatial mapping camera, and a computer system configured to transfer data to and from the mixed reality headset and the 3D spatial mapping camera. The system and method also include attaching a jig to a bone, mapping the bone and jig using the 3D spatial mapping camera, and then identifying a location for the surgical procedure using the computer system. Then the system and method use the mixed reality headset to provide a visualization of the location for the surgical procedure.

Abstract: A method of evaluating a vessel of a patient is provided. The method includes outputting, to a display device, a screen display including: a visualization based on pressure measurements obtained from a first instrument and a second instrument positioned within the vessel of the patient while the second instrument is moved longitudinally through the vessel and the first instrument remains stationary within the vessel; and a visual representation of a vessel; receiving a user input to modify the visualization to simulate a therapeutic procedure; and updating the screen display, in response to the user input, including modifying the visualization based on the user input. A system for evaluating a vessel of a patient is also provided. The system includes first and second instruments sized and shaped for introduction into the vessel of the patient; and a processing system communicatively coupled to the first and second instruments and a display device.

Abstract: A navigated surgery system includes at least one processor that is operative to obtain a 2D medical image slice of anatomical structure of a patient. The operations further obtain a 3D graphical model of anatomical structure. The operations determine a pose of a virtual cross-sectional plane extending through the 3D graphical model of the anatomical structure that corresponds to the anatomical structure of the 2D medical image slice. The operations control the XR headset to display the 2D medical image slice of the anatomical structure of the patient, display the 3D graphical model of the anatomical structure, and display a graphical object oriented with the pose relative to the 3D graphical model of the anatomical structure.

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: Systems, devices, and methods for displaying multiple intraluminal images in a luminal assessment are provided. An intraluminal imaging device is provided which is configured to be positioned within a body lumen of a patient and receive imaging data associated with the body lumen. The intraluminal imaging device may be in communication with a controller configured to display two or more transverse images of the body lumen on a single display device. The system may also be configured to automatically measure, display, and compare measurements of features, including misalignment or malapposition of a stent, the diameter and area of the stent at various locations along the stent, as well as the diameter and area of the lumen before the stent is positioned.

Abstract: A system for identifying a location of a lumen of a tubular body structure in a patient's body includes a flexible, longitudinally extending probe configured to be inserted through the lumen in the tubular body structure in the patient. A detection system may include an antenna arranged to receive signals from a longitudinally extending detectable portion of the probe. A processing system may process the received signals and identify a longitudinally extending position of the longitudinally extending detectable portion of the probe in a three dimensional reference frame.

Abstract: An endoscope based system is configured to provide one or more procedure guidance features. The endoscope is paired with an image processing device that performs object detection and other analysis on captured images, and displays an interface to users that includes various visual guidance combined with endoscopic images. Interfaces displayed in different modes may indicate the location and extent of energy delivery tracked by the system, may guide placement of implant devices, may identify the location of nerves within tissue, and may provide step-by-step guidance for navigating the endoscope to certain anatomy. In some implementations, a removable and replaceable sheath may be coupled to the endoscope, and may enable one or more functional features of the endoscope while maintaining a sterile barrier. Sheaths may include an embedded memory that stores procedure configurations and procedure results.

Abstract: A location pad includes two or more field-generators, one or more tracking elements, and a frame. The field-generators are configured to generate respective magnetic fields at least in a region-of-interest (ROI) of an organ of a patient, for measuring a position of a medical instrument in the ROI. The one or more tracking elements are for registering the location pad with the organ. The frame is coupled with tissue that is at least partially surrounding the organ, and the frame is configured to fix (i) the two or more field-generators at respective positions surrounding at least a portion of the ROI, and (ii) the one or more tracking elements at one or more respective predefined positions on the frame.

Abstract: A flexible probe has an assembly in its distal end. The assembly has a distal side and a proximal side. The assembly includes first and second flat spring coils having internal edges that mate with first and second retainers, respectively. The first and second flat coils are disposed in the probe distal end proximal to the electrode and separated by a spacer. The first and second flat coils are configured to deform in response to pressure exerted on the distal tip when the tip engages a wall of the body cavity. A transmitter is disposed on one of the distal side or the proximal side of the assembly and a receiver is disposed on the opposite side. The receiver is configured to receive signals from the transmitter for sensing a position of the receiver relative to the transmitter.

Abstract: An apparatus includes a catheter, a housing configured to house at least a portion of the catheter, and an actuator movably coupled to the housing. The housing has a first port configured to receive a proximal end portion of the catheter and a second port configured to couple the housing to an indwelling vascular access device. A portion of the actuator is disposed within the housing and is configured to be movably coupled to a portion of the catheter. The actuator is configured to be moved a first distance to move a distal end portion of the catheter a second distance greater than the first distance from a first position to a second position. The distal end portion of the catheter is disposed within the housing when in the first position and is distal to the indwelling vascular access device when in the second position.

Abstract: A medical marking device, consisting of a radiotransparent plate having a first plurality of radiopaque elements embedded therein in a first predefined pattern and a second plurality of optical reflectors positioned on a surface in proximity to the plate in a second predefined pattern. The device also includes a sigmoid mounting arm having a first end connected to the radiotransparent plate and a second end containing one or more fastening receptacles.

Abstract: A steerable assembly comprises an elongated body structure with an implement arranged at a distal end thereof, wherein a premagnetized material is arranged closer to the distal end than a proximal end, and is configured to enable steering of the implement through tissue of an animal body responsive to application of a magnetic field eternal to the body. A method for guiding passage of an implement through tissue includes altering strength and/or position of at least one magnetic field source external to an animal body to interact with and effectuate movement of a premagnetized material inserted into the animal body.

Abstract: A medical device for diagnosis or treatment of tissue in a body is provided. The device includes an elongate, tubular shaft configured to be received within the body. The shaft has a proximal portion and a distal portion configured for movement relative to the proximal portion. A flexible member having a predetermined stiffness is disposed between the proximal and distal portions. A plurality of coils are disposed within the shaft with one or more of the coils configured for movement with the distal portion. Electromagnetic fields generated from within or outside of the medical device induce currents in the coils from which movement of the distal portion in response to contact of the distal portion with the tissue may be determined. In one embodiment, several of the coils are connected in series to reduce the space required in the device for conductors.

Abstract: A medical system includes an elongate instrument, a tracking system, and one or more processors. The tracking system is disposed along at least a portion of the elongate instrument. The one or more processors are coupled to the tracking system and are configured to: generate a plurality of linked bounded-surface elements corresponding to a set of connected passageways of a patient anatomy; receive shape information from the tracking system, the shape information indicating a shape of at least a portion of the elongate instrument when the portion is disposed in the set of connected passageways; register the shape information to the plurality of linked bounded-surface elements; and based on the registering, display a composite image including an instrument image of the elongate instrument displayed within a model of the set of connected passageways.

Abstract: A method for automatically monitoring a robot-assisted movement of a medical object through a hollow organ of a medical object of a patient performed by a robotic system is provided. The method includes tracking movement of the medical object using a medical imaging device such that the medical object and/or the hollow organ is at least partially arranged in a recording region that is mappable by the imaging device. The tracking is effected by a relative movement between the recording system of the imaging device and the patient. An image of the recording region is recorded during the tracking. In each case, a further image is recorded at regular intervals. The current image in each case and/or sensor data from a sensor assigned to the robotic system or the object is evaluated to determine whether a situation relevant to decision-making and/or safety with respect to the robotic system is present.

Abstract: Methods and systems for image-based guidance in deep-brain stimulation. An endoscope system includes a waveguide tube, a right-angle prism, a light source, and a photoacoustic transducer. Light from the light source propagates along the length of the waveguide tube via internal reflection within the wall. The right-angle prism is positioned to redirect light emitted at a distal end of the waveguide tube in a direction perpendicular to the length of the waveguide tube. Light emitted in the perpendicular direction causes soundwaves to be generated by the surrounding tissue via photoacoustic effect. Those soundwaves are then conducted through the interior channel of the waveguide tube from the distal end of the waveguide tube to a proximal end of the waveguide tube where the soundwaves are detected by the photoacoustic transducer, which is acoustically coupled to the interior channel of the waveguide tube at the proximal end of the waveguide tube.

Abstract: A medical image diagnosis apparatus for use in a therapeutic procedure to a subject includes processing circuitry. The processing circuitry is configured to determine a status of a current therapeutic procedure; determine at least one proposed preset of settings of the medical image diagnosis apparatus according to the status of the current therapeutic procedure; and perform a control in accordance with the at least one proposed preset.