Abstract: A device for generating composite images of dynamically changing surgical anatomy includes circuitry configured to receive, from an endoscopic imaging device, endoscopic image data. The circuitry is configured to receive, from a tomographic imaging device, intra-operative tomographic image data. The circuitry is configured to receive, from a tracking device, spatial tracking data corresponding to the endoscopic imaging device and the tomographic imaging device. The circuitry is configured to generate real-time dynamically changing composite image data by overlaying, based on the spatial tracking data, the intra-operative tomographic image data on the endoscopic image data. The circuitry is configured to output the composite image data to a display.

Abstract: A method includes receiving an anatomical mapping that includes multiple measurements acquired at multiple respective locations within an organ of a patient. An estimated surface of the organ is computed based on the measurements. A three-dimensional (3D) shell of the organ, which extends inwards from the estimated surface of the organ and has a predefined thickness, is defined. A quality of the anatomical mapping is estimated based on the measurements whose locations fall within the 3D shell.

Abstract: An apparatus includes an imaging probe and is configured for dynamically arranging presentation of visual feedback (144) for guiding manual adjustment, via the probe, of a location, and orientation, associated with the probe. The arranging is selectively based on comparisons (321) between fields of view of the probe and respective results of segmenting image data acquired via the probe. In an embodiment, the feedback does not include (175) a grayscale depiction of the image data. Coordinate system trans formations corresponding to respective comparisons may be computed. The selecting may be based upon and dynamically responsive to content of imaging being dynamically acquired via the probe.

Abstract: A method for operating an x-ray device, (e.g., a fluoroscope), is described herein. The method includes: creating planning information for a therapeutic intervention into a body vessel segment based on a reconstruction of the body vessel segment; providing the planning information to a processing unit of the x-ray device; providing the reconstruction of the body vessel segment to the processing unit; creating a recording of the body vessel segment introduced into a recording region of the x-ray device; registering the reconstruction of the body vessel segment with the body vessel segment in the recording region of the x-ray device; displaying the recording of the body vessel segment on a display device of the x-ray device; and superimposing a graphical representation of the planning information on the recording displayed on the display device, in order to increase the efficiency of the therapeutic intervention into the body vessel segment.

Abstract: A positioning device includes an optical sensor, an ultrasonic transceiver and a processor. The optical sensor is configured to obtain a depth image. The ultrasonic transceiver is configured to send an ultrasound and receive an ultrasound reflection. The processor is configured to target a reflective surface in the depth image, recognize a salient feature corresponding to the reflective surface in the ultrasound reflection, estimate a distance between the positioning device and reflective the surface according to a first response time of the salient feature in the ultrasound reflection.

Abstract: According to some embodiments, methods and systems of enhancing a map of a targeted anatomical region comprise receiving mapping data from a plurality of mapping electrodes, receiving high-resolution mapping data from a high-resolution roving electrode configured to be moved to locations between the plurality of mapping electrodes, wherein the mapping system is configured to supplement, enhance or refine a map of the targeted anatomical region or to directly create a high-resolution three-dimensional map using the processor receiving the data obtained from the plurality of mapping electrodes and from the high-resolution roving electrode.

Abstract: The invention describes a method of performing intraoperative navigation during a surgical procedure, which method comprises the steps of arranging a video imaging device on a radioscopic imaging apparatus; obtaining an initial radioscopic image of a target and identifying a desired trajectory in a target; determining a first position of the radioscopic imaging apparatus relative to the target for which a central image axis of a radioscopic imaging unit is aligned with the desired trajectory; positioning the radioscopic imaging apparatus to align a central image axis of the video imaging device with the desired trajectory; and showing a live video feed of the surgical procedure on a monitor to track the position of a surgical implement relative to the desired trajectory.

Abstract: A medical tool includes a rotation mechanism that further includes a warning feature. The warning feature provides an indication when the rotation mechanism has achieved a number of rotations.

Abstract: Methods and systems for mapping and displaying cardiac structures are disclosed. The method includes sensing cardiac electrical signals at a plurality of points and generating a cardiac map of at least a portion of one or more cardiac structures based on at least a portion of the sensed cardiac electrical signals. A surface map having a corresponding first position relative to the cardiac map is generated. The surface map includes a first surface point, where a first cardiac electrical signal feature is represented on the surface map at the first surface point if a corresponding first cardiac electrical signal is sensed at a point that is located within a threshold distance of the first surface point. The cardiac map and the surface map, at the first position, are displayed. The surface map may be repositioned to a second position.

Abstract: A method and system for estimating calibration parameters of a medical fluoroscope and more particularly a method and system which automatically determines intrinsic and distortion correction parameters of a fluoroscopy device.

Abstract: An interventional device configured for placement in or near an internal organ or tissue is provided. The interventional device includes a reference portion having three or more sensor elements. In one implementation, the interventional device and associated sensor elements provide dynamic referencing of the internal organ, tissue or associated vasculature after registration of the sensor data with images and/or volumetric representations of the internal organ or tissue.

Abstract: Described herein are example methods, devices and systems for motion compensation in ultrasonic respiration monitoring. A respiration detection system includes a first probe placed on a front side of a patient's body and a second probe placed on a dorsal side of the body. The first probe includes an ultrasound transducer, a first accelerometer unit and a magnetic field sensor unit, and the second probe includes a second accelerometer unit and magnetic field sensor unit. Due to respiration of the patient, the abdominal region of the body moves, creating measurement errors when an ultrasound beam is directed towards an internal structure (internal tissue region) inside the patient's body. Correction for such measurement errors uses input data from the first and second accelerometer units and the magnetic field sensor unit.

Abstract: A method and system are provided for automatically positioning a medical diagnostic device. The method and system use a database of images that includes reference images and user-preferred images to position the medical diagnostic device. The medical diagnostic device in an initial position is moved to a final position based on the images in the database.

Abstract: A method for detecting deformations and errors and/or for generating position data of an instrument (1) with at least one first section (2) with at least one first sensor (4) and at least one second section (3) with at least one second sensor (5), wherein the method encompasses metrologically determining the position of the first and second sensor (4, 5). The method encompasses mathematically determining the position of the second sensor (5) with regard to the first section (2), preferably in at least two ways. Further, an apparatus for executing the method is specified.

Abstract: Systems and methods are disclosed herein that can allow for wirelessly powering and/or communicating with a sterile-packed electronic device without removing the electronic device from its sterile packaging and while maintaining the sterility of the electronic device. In some embodiments, a base station with a power transmitter wirelessly transfers power to a power receiver of the electronic device, for example using inductive, capacitive, or ultrasonic coupling. The base station or another external device can also be used to wirelessly program or interrogate the electronic device. Battery charging circuits and switching circuits for use with said systems and methods are also disclosed.

Abstract: A method and system for motion estimation modeling for cardiac and respiratory motion compensation is disclosed. Specifically, a coronary sinus catheter is tracked in a plurality of frames of a fluoroscopic image sequence; and cardiac and respiratory motion of a left atrium is estimated in each of the plurality of frames based on tracking results of the coronary sinus catheter using a trained motion estimation model.

Abstract: The subject matter includes systems, methods, and prosthetic devices for joint reconstruction surgery. A computer-assisted intraoperating planning method can include accessing a first medical image providing a first view of a joint within a surgical site as well as receiving selection of a first component of a modular prosthetic device implanted in the first bone of the joint. The method continues by displaying a graphical representation of the first component of the modular prosthetic device overlaid on the first medical image, and updating a graphical representation of the first component based on receiving positioning inputs representative of an implant location of the first component relative to landmarks on the first bone visible within the first medical image. The method concludes by presenting a selection interface enabling visualization of additional components of the modular prosthetic device virtually connected to the first component and overlaid on the first medical image.

Abstract: An apparatus for positioning an orthopedic implant, the apparatus includes a magnetic receiver, a processor, and a personal display device. The magnetic receiver is configured to sense respective components of one or more magnetic fields generated by a field-generating device coupled to the orthopedic implant, and to produce corresponding electrical signals indicative of the sensed components of the one or more magnetic fields. The processor is configured to calculate, based on the electrical signals, a position of the orthopedic implant within an organ of a patient. The personal display device is configured to display at least part of the orthopedic implant overlaid on a scene, based on the position calculated by the processor.

Abstract: The present invention provides a mobile robot configured to navigate an operating environment, that includes a machine vision system comprising a camera that captures images of the operating environment using a machine vision system; detects the presence of an occlusion obstructing a portion of the field of view of a camera based on the captured images, and generate a notification when an occlusion obstructing the portion of the field of view of the camera is detected, and maintain occlusion detection data describing occluded and unobstructed portions of images being used by the SLAM application.

Abstract: Navigation through a network of body passages, such as through the airways, is improved by a method of displaying information which provides a fly-through visualization of the passageway. As landmarks or waypoints are passed, the view changes to a next segment in a planned pathway to a target. Such a visualization technique avoids tunnel vision, such as that encountered while using real-time endoscopes.

Abstract: A device for spreading active agents comprising: a boom, which is arranged pivotably about a rotation axis; a sensor arrangement for the detection of an angular velocity of the boom about the rotation axis; a sensor for the detection of an angular position of the boom; a control unit processing output signals from the sensor; and an actuator, acting on the present angular position of the boom based on control signals from the control unit. For the determination of an angular position of the boom, the control unit calculates an angular position of the boom in relation to a reference plane by integration of the angular velocity and merges the angular position calculated by means of the angular velocity, with the detected angular position to determine the present angular position of the boom to return the boom to a desired angular position.

Abstract: A positioning unit includes a projector and a control unit and enables a particularly quick and precise positioning of a patient. In an embodiment, the control unit affects a control of the projector as a function of a protocol for a recording of an image of the patient such that the positioning unit is designed for the planar projection of a figure as a positioning aid on the patient couch. An immediately apparent area on the patient couch is then specified by the figure projected in a planar fashion, relative to which the patient can be positioned. The control unit can be used both to temporally control the projection process and also to control the figurative properties of the positioning aid. Furthermore, the control unit can include a device for calculating a control signal so that the control unit brings about control of the projector with the control signal.

Abstract: The invention relates to a surgical instrument comprising a handle portion or mounting portion and a functional portion and/or tip, wherein a display device is provided on the instrument and includes or enables displays which serve to assist in image-guided and/or navigation-assisted surgery. It also relates to a method for navigating a surgical instrument, wherein its position is determined and tracked by means of a medical tracking system and the position data is processed within the framework of medical navigation by means of a medical navigation system, wherein displays for navigation assistance and/or for assisting in image-guided surgery are provided on the instrument or on an element which is positionally assigned to the instrument or fastened to the instrument.

Abstract: An embodiment in accordance with the present invention provides a technique for localizing structures of interest in projection images (e.g., x-ray projection radiographs or fluoroscopy) based on structures defined in a preoperative 3D image (e.g., MR or CT). Applications include, but are not limited to, spinal interventions. The present invention achieves 3D-2D image registration (and particularly allowing use with a preoperative MR image) by segmenting the structures of interest in the preoperative 3D image and generating a simulated projection of the segmented structures to be aligned with the 2D projection image. Other applications include various clinical scenarios involving 3D-2D image registration, such as image-guided cranial neurosurgery, orthopedic surgery, biopsy, and radiation therapy.

Abstract: A method of navigating and positioning an endovascular device in a vasculature is disclosed. Initially, a system including an endovascular device and at least one transducer is inserted into the lumen of a patient. An acoustic signal is then transmitted within the lumen. A reflected signal is pre-processed to extract one or more acoustic features. The one or more acoustic features are processed using a computer readable set of rules to produce an output related to guidance of the instrument within a blood vessel or a position of the instrument within the blood vessel.

Abstract: A method and apparatus for performing registration of medical images includes mapping a virtual coordinate system used by a first medical apparatus and a virtual coordinate system used by a second medical apparatus to one another. The coordinate systems are associated with a real-time medical image captured by the first medical apparatus and a three-dimensional (3D) medical image previously captured by the second medical apparatus, respectively. The method further includes detecting a position of a probe of the first medical apparatus from a coordinate system used by the second medical apparatus, based on a result of the mapping, determining a volume image corresponding to the detected position of the probe from the previously captured 3D medical image, and extracting from the determined volume image a cross-sectional image corresponding to the real-time medical image, where the real-time medical image changes according to a patient's physical movement.

Abstract: A method and system for assessing proximity between an electrode and tissue is provided. The system includes an electronic control unit (ECU). The ECU is configured to acquire values for first and second components of a complex impedance between the electrode and the tissue, and to calculate an electrical coupling index (ECI) responsive to the first and second values. The ECU is further configured to process the ECI to determine the proximity of the electrode to the tissue. The ECU may be configured to calculate an electrical coupling index rate (ECIR) based on the calculated ECI and information relating to the change in location of the electrode, and to assess proximity based on the ECIR. Alternatively, the ECU may be configured to assess the proximity using the calculated ECI, as opposed to the ECIR.

Abstract: Disclosed herein are techniques for graphically indicating aspects of rotors (such as pivot points of rotors) associated with atrial or ventricular fibrillation. Embodiments can include receiving, using a processor, an electrogram for each of a plurality of spatial locations in a heart, each electrogram comprising time series data including a plurality of electrical potential readings over time. Embodiments can also include generating, from the time series data, one or more of multi-scale frequency (MSF), kurtosis, empirical mode decomposition (EMD), and multi-scale entropy (MSE) datasets, each dataset including a plurality of respective values or levels corresponding to the plurality of spatial locations in the heart.

Abstract: A handheld scanner is provided for use in registering a patient for a medical procedure with a medical navigation system. The handheld scanner has a housing having a main body portion having a first end and a second end and a handle portion having a first end and a second end with the second end attached to the second end of the main body portion with a bridge portion. The handheld scanner further has a circuit board contained in the housing, a processor connected to the circuit board, a light emitter contained in the main body portion and connected to the circuit board, a light detector contained in the main body portion and connected to the circuit board, and a button connected to the circuit board and located on the second end of the handle portion. The button is engageable by a thumb of a hand holding the handle portion.

Abstract: Described herein is an anti-skid surgical instrument for use in preparing holes in bone tissue. The disclosed surgical instrument provides the ability to prepare a precise hole in bone tissue during surgery (e.g., spinal surgeries and pedicle screw placement, intramedullary screw placement). The disclosed surgical instrument accomplishes precise hole placement regardless of whether the angle between the drill axis and surface of the bone tissue is perpendicular. The disclosed technology includes a flat drilling surface which is perpendicular to the surface of the body of the surgical instrument. This reduces the likelihood of the surgical instrument skidding on the surface of the bone tissue and thereby increases the precision of the hole.

Abstract: Systems and method to increase blurriness of visual content may be based on user control, field-of-view, and/or changes in field-of-view. By adding or increasing blurriness at the periphery of the field-of-view, more attention may be drawn to unblurred sections.

Abstract: A method, including acquiring initial signals from selected positions in a heart, computing respective initial local values of a signal propagation metric at the selected positions, and interpolating the initial local values between the selected positions to compute initial interpolated values of the signal propagation metric at intermediate positions, between the selected positions. The method further includes acquiring subsequent signals from the positions, computing respective subsequent local values of the signal propagation metric at the selected positions, and spatially interpolating the subsequent local values of the signal propagation metric between the selected positions to compute subsequent interpolated values of the signal propagation metric at the intermediate positions.

Abstract: An augmented reality providing system and method, an information processing device, and a non-transitory computer readable recording medium recorded with a program are provided. An augmented reality providing system includes a unit for acquiring three-dimensional data, a unit for generating three-dimensional shaping data of a first model from the three-dimensional data, a unit for shaping and outputting a shaped object on the basis of the three-dimensional shaping data, imaging a unit for imaging the shaped object, a unit for calculating a camera parameter from the captured image, a unit for generating a second model including a region of interest that is a non-shaping target from the three-dimensional data, and a unit for determining a depth relationship between the shaped object and the second three-dimensional model on the basis of the camera parameter, and a virtual object of the region of interest in front of the shaped object is displayed.

Abstract: A pre-planning interface displaying step of a method for verifying panoramic images of implants is for displaying a picture, a menu and a cursor on a screen. An implant trajectory pattern adding step is for moving the cursor to select an implant adding item by a user and then generating the implant trajectory pattern in the picture. An implant trajectory pattern adjusting step is for controlling the cursor to adjust a position of the implant trajectory pattern and then move the implant trajectory pattern from a starting position to a target position in the picture. A panoramic image verifying step is for rotating the surgical site pattern around the implant trajectory pattern at a viewing angle according to the target position and the implant trajectory pattern as a central axis, and the viewing angle is greater than 0 degrees and smaller than or equal to 180 degrees.

Abstract: Multi-source, multi-type image registration is provided. Images are received from a plurality of image devices, and images are received from a medical imaging device. A pre-existing diagram of a probe of the medical imaging device is received. A four-dimensional model is determined based on the received images from the image devices. A pose of the probe of the medical imaging device is determined based on the pre-existing diagram of the probe and the received images from the image devices. The plurality of images from the medical imaging device are registered with the four-dimensional model based on a common coordinate system and the determined pose of the probe.

Abstract: The present invention relates to a marker for optical medical navigation, comprising a structure (1) with at least one recess (3), and at least one supporting element (2), wherein each supporting element (2) is configured to be accommodated within a particular recess (3) and to support at least one optically detectable element (4), and wherein each recess (3) has a first opening (5) which allows a supporting element (2) to be introduced into the recess (3), wherein the recess (3) has at least two second openings (6) which are different from the first opening (5), wherein each of the at least two second openings (6) is configured to allow the at least one optically detectable element (4) supported by the supporting element (2) to be optically detected.

Abstract: Various aspects of a system and method to process an image for generation of a three-dimensional (3D) view of an anatomical portion are disclosed herein. The system includes an image-processing device configured to receive a plurality of two-dimensional (2D) images associated of an anatomical portion, each with a first field-of-view (FOV) value. A first 3D view of the anatomical portion with a second FOV value, is generated from a 3D reconstruction of the anatomical portion. The 3D reconstruction is obtained by use of a set of 2D image frames selected from the received plurality of 2D images. The second FOV value is greater than the first FOV value of each of the plurality of 2D images of the anatomical portion. A second 3D view is generated, based on the alignment of the generated first 3D view with 3D data associated with a pre-operative state of the anatomical portion.

Abstract: Disclosed are systems, devices, and methods for performing treatment along a lumen network, an exemplary method comprising receiving image data of a patient's lungs, mapping one or more luminal networks inside the patient's lungs based on the received image data, identifying a treatment target in the image data, determining a luminal pathway to the treatment target via at least one of the luminal networks, configuring treatment parameters for treatment of the treatment target and at least one of the luminal networks, navigating a tool inside at least one of the luminal networks to the treatment target, treating the treatment target with a primary treatment modality, and treating the luminal pathway of at least one of the luminal networks leading to or from the treatment target with a secondary treatment modality.

Abstract: A probe having a contact force sensor is inserted into a cardiac chamber and an image of the blood pool is generated. A portion of the blood pool is removed from the image to retain a remaining portion of the blood pool. A determination is made that the distal segment of the probe is within the remaining portion of the blood pool, and responsively to the determination the contact force sensor is manually zeroed.

Abstract: Aspects of the disclosure include sizing catheters and methods for determining the size and other physical parameters of an internal orifice or lumen. Embodiments include a sizing catheter assembly having a handle assembly and a catheter assembly including at least one catheter extending from the handle assembly. The catheter assembly also includes at least two sizers, which can be adjustably spaced from each other. Each of the sizers are configured to conform to respective portions of a lumen of a patient's anatomy. The sizing catheter is configured such that the sizers are configured to specify or determine first and second dimensions of the lumen and also distance between the sizers. The sizers can include valve leaflets or the sizing catheter can include a temporary valve. Additional aspects include software/methods of assessing and determining an appropriate implantable device that can include assessing the biomechanical interaction between the device and the anatomy.

Abstract: An orthopaedic surgical simulator includes a bone (a simulated bone or cadaver bone). The simulator further includes a base, wherein the bone is operatively connected to the base, an optical system mounted proximate the base, wherein the optical system comprises at least one camera and provides a first view and a second view of an incision area associated with the bone. There are fiducial markers on a surgical wire to represent depth of the surgical wire when a tip of the surgical wire is not visible. The simulator further includes a computing device in operative communication with the camera and configured to track position of a surgical wire by determining position of the surgical wire using the fiducial markers on the surgical wire and to generate imagery based on a three-dimensional model of the bone and position of the surgical wire relative to the bone.

Abstract: A measurement system may comprise a sensor wire and a transceiver unit. The sensor wire may comprise an insertable portion configured to be inserted in a blood vessel of a patient's body and two sensors disposed within the insertable portion at a distal end of the sensor wire. The sensors are configured to measure a parameter when inserted inside the patient. The transceiver unit may comprise: a housing adapted to be connected to a proximal end of the sensor wire; and a first communication module within the housing adapted to wirelessly communicate by a communication signal with an external second communication module in order to transfer information to the external second communication module.

Abstract: A three-dimensional subtraction angiography image data set including a target region of the patient is acquired. A region of interest is selected. An imaging geometry is defined for monitoring the intervention using an X-ray device. The image-obscuring blood vessels that superimpose the region of interest in the imaging geometry and imaging zones that show fractions of the image-obscuring blood vessels in the imaging geometry are determined. Path information relating to the image-obscuring blood vessels is defined. The information relating to the path is input into a two-dimensional forward projection data set. A fluoroscopic image is acquired in the imaging geometry. Pixels showing the image-obscuring blood vessels in the fluoroscopic image are determined using the path information and image intensity information from the fluoroscopic image. A masked image of the image-obscuring blood vessels is subtracted. The fluoroscopic image that has been modified is displayed.

Abstract: A method, including inserting a catheter having at least one electrode into a chamber of a body organ of a patient and recording at a sequence of times respective sets of currents between the at least one electrode and a plurality of patches positioned on skin of the patient. The method further includes, while recording the sets of currents, acquiring x-ray images of the at least one electrode, and determining locations of the catheter from the images. A relation is derived between the locations and the respective sets of currents based on the sets of currents and the images. The method also includes recording subsequent sets of currents between the at least one electrode and the patches, and determining, based on the relation, subsequent locations of the catheter in response to the subsequent set of currents.

Abstract: Methods, apparatuses and computer program products implement embodiments of the present invention that include receiving, from an imaging system operating in an image coordinate system, a three-dimensional image of a body cavity including open space and body tissue, and receiving, from a medical probe having a location sensor and inserted into the body cavity, a signal indicating a location of a distal tip of the medical probe in a sensor coordinate system. The image coordinate system is registered with the sensor coordinate system so as to identify one or more voxels in the three-dimensional image at the indicated location, and when the identified voxels have density values in the received three-dimensional image that do not correspond to the open space, the density values of the identified voxels are updated to correspond to the open space.

Abstract: The present teaching relates to surgical procedure assistance. In one example, a first set of positions of a plurality of sensors are obtained in an image captured prior to a surgical procedure. The plurality of sensors are coupled with a patient's body. One or more second sets of positions of the plurality of sensors are obtained based on information from a tracking device associated with the plurality of sensors. The one or more second sets of positions change in accordance with movement of the patient's body. One or more similarity measures are calculated between the first set of positions and each of the one or more second sets of positions of the plurality of sensors. A timing at which the surgical procedure initiates is determined based on the one or more similarity measures.

Abstract: An apparatus for electromagnetic (EM) tracking or localization is described which includes one or more EM transmitters and receivers (sensors, or trackers), an indication of relative locations of the one or more transmitter and sensor with respect to one or more instrument, optionally, a model of the one or more instrument flexibility, a measurement uncertainty analyzer that reports an uncertainty associated with each measurement, an equation of motion or dynamic model with motion constraints that describes an expected behavior of the one or more instrument, a probabilistic simultaneous localization and mapping (SLAM) algorithm that simultaneously estimates a pose of one or more instrument and updates a field distortion map, or parameters of a field distortion model, a field distortion estimator that uses currently-available information of the field distortion map and estimates field distortion in the vicinity of the one or more instrument, to be used for future measurement compensation, a transient analyzer

Abstract: Exemplary apparatus, systems, methods of making, and methods of using a configuration in an optical arrangement for forward viewing spectrally encoded endoscopy (SEE) probe can be provided. For example, the probe can comprise a light focusing component, a light guiding component, a light reflecting component, and a grating component.

Abstract: A radiation therapy delivery system (10) includes an ultrasound imaging unit (26), a radiation therapy delivery mechanism (12, 56, 70, 88), a plurality of fiducials (22, 90) located internal to the subject, an image fusion unit (40), and a delivery evaluation unit (38). The ultrasound imaging unit (26) includes a transducer (30) that emits ultrasonic sound waves to image in real-time an anatomic portion of a subject (16) in a first coordinate system. The radiation therapy delivery mechanism (12, 56, 70, 88) delivers amounts of therapeutic radiation in the anatomic portion of the subject in a second coordinate system. The fiducials (22, 90) include implants or a trans-rectal ultrasound probe (80). The image fusion unit (40) registers locations of the plurality of fiducials to at least one of the first and the second coordinate system and tracks the locations of the fiducials in real-time.

Abstract: A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value RHTcom for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value RHT?meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.