Abstract: A cannula configuration method involves a generation of a discretized configuration space of a three dimensional image of an anatomical region, the discretized configuration space including a free-space for navigation of a nested cannula within the anatomical region and a forbidden space unreachable by the nested cannula. The method further involves a selection of a tube target location (24) within the free-space, the tube target location (24) being derived from a computation of contiguous tool trajectory nodes of the discretized configuration space representative of a trajectory of a surgical tool extending through the nested cannula from the tube target location (24) within the free-space to a tool target location (23) within the forbidden space. The method further involves a generation of a series of concatenated path shapes between the tube entry location (24) and the tube target location to form a cannula configuration pathway within the free-space.

Abstract: An invasive medical probe includes an insertion tube, having a proximal end and a distal end configured for insertion into a body of a patient. Multiple arms extend distally from the distal end of the insertion tube. Each arm has a distal tip and includes a magnetic transducer and an adhesive element, which is configured to removably attach the distal tip to a tissue surface within the body.

Abstract: A traceable surgical tool is positioned, monitored and displayed in real-time directly with pre-scanned three dimensional CT/MRI slices of a patient. The tool positioning and inclination is obtained by real time combined ultrasound (US)/RF transmissions between at least four transmitting units (TUs) and a mobile unit (MU) attached to or included in the tool. No more than three of the TUs may be coplanar. In some embodiments, at least one TU includes two US transmitters transmitting at different frequencies. Image space coordinates of the CT/MRI scanned patient are mapped by a one-to- one transformation onto real space coordinates of the patient undergoing a surgical procedure. The mapping is aided by, in the real space environment, touching once each of at least three markers fixedly attached to the patient and pre-scanned with the patient in the image space.

Abstract: A reliable endocardial map is obtained by constructing a matrix relationship between a small number of endocardial points and a large number of external receiving points using a multi-electrode chest panel. Inversion of the matrix yields information allowing the endocardial map to be constructed. Subsequent maps are obtained noninvasively using the multi-electrode chest panel, applying new electrical signals to the matrix relationship, and again inverting the matrix to generate new endocardial electrical maps.

Abstract: A self-programmable Medical Monitoring system capable of adapting its monitoring and detection algorithms to each individual patient. The Monitoring device is further capable of uploading new detection algorithms as well as software applications from outside computing devices. Uploaded software applications can configure the Medical Monitoring device for additional applications including but not limited to an ECG, EEG and EMG device. The Monitoring device can operate as stand-alone device or it can communicate wirelessly with one or more outside computing devices.

Abstract: A combined hemostasis valve and drive mechanism is provided. The hemostasis valve has a valve body with a first and second leg. The first leg has a proximal port, a distal port and a lumen extending between the proximal port and the distal port. At least one valve is located in the lumen adjacent the proximal port to permit an interventional device to be passed therethrough. The second leg extends at an angle relative to the first leg and is in fluid communication with the first leg. A rotating male luer lock connector is rotatably connected to the first leg proximate to the distal port. It is configured to secure a guide catheter and has a driven member. The drive mechanism has a drive member removably interfacing with the driven member and a motor operatively connected to the drive member.

Abstract: A measuring system having a first magnetic field sensor, a second magnetic field sensor, a third magnetic field sensor, an encoder, and an evaluation circuit to which the first magnetic field sensor, the second magnetic field sensor, and the third magnetic field sensor are connected. The evaluation circuit is configured to determine the position of the encoder based on a first measurement signal of the first magnetic field sensor and a second measurement signal of the second magnetic field sensor and a third measurement signal of the third magnetic field sensor.

Abstract: Target region filling techniques are described. Techniques are described in which stereo consistency is promoted between target regions, such as by sharing information during computation. Techniques are also described in which target regions of respective disparity maps are completed to promote consistency between the disparity maps. This estimated disparity may then be used as a guide to completion of a missing texture in the target region. Techniques are further described in which cross-image searching and matching is employed by leveraging a plurality of images. This may including giving preference to matches with cross-image consistency to promote consistency, thereby enforcing stereo consistency between stereo images when applicable.

Abstract: A support tool or a supply assembly that delivers a functional fluid to a patient includes an antenna array for receiving or sensing a navigation field. The navigation field can be generated from a localizer. The localizer can be incorporated or included in an implanted device.

Abstract: A CAS system and method for guiding an operator in inserting a femoral implant in a femur as a function of a limb length and orientation of the femoral implant with respect to the femur, comprising a reference tool for the femur, a registration tool, a bone altering tool and a sensing apparatus.

Abstract: A measuring system having a first magnetic field sensor, an encoder, and an evaluation circuit. The first magnetic field sensor and the second magnetic field sensor and the third magnetic field sensor are connected to the encoder. The evaluation circuit has a logic, which is set up to determine the position of the encoder based on a first measurement signal of a first magnetic field sensor and a second measurement signal of a second magnetic field sensor and a third measurement signal of a third magnetic field sensor.

Abstract: Systems, methods, and related computer program products for image-guided radiation treatment (IGRT) are described. Provided according to one preferred embodiment is an IGRT apparatus including a barrel-style rotatable gantry structure that provides high mechanical stability, versatility in radiation delivery, and versatility in target tracking. Methods for treatment radiation delivery using the IGRT apparatus include conical non-coplanar rotational arc therapy and cono-helical non-coplanar rotational arc therapy. A radiation treatment head (MV source) and a treatment guidance imaging system including a kV imaging source are mounted to and rotatable with a common barrel-style rotatable gantry structure, or alternatively the MV and kV sources are mounted to separate barrel-style rotatable gantry structures independently rotatable around a common axis of rotation.

Abstract: An automatic method of determining local activation time (LAT) from at least four multi-channel cardiac electrogram signals including a ventricular channel, a mapping channel and a plurality of reference channels. The method comprises (a) storing the cardiac channel signals, (b) using the ventricular and mapping channel signals and a first reference channel signal to compute LAT values at a plurality of mapping-channel locations, (c) monitoring the timing stability of the first reference channel signal, and (d) if the timing stability of the monitored signal falls below a stability standard, using the signal of a second reference channel to determine LAT values. Substantial loss of LAT values is avoided in spite of loss of timing stability.

Abstract: An ultrasound imaging system has a 3D location system and a data store for recording locations within a patient. Navigation to target locations is facilitated by providing graphical elements superposed on a 2-dimensional image. The size and/or color of the graphical elements are controlled in real time based on distance of the target location(s) from a current image plane. This provides intuitive visual feedback and can be achieved with low computational requirements.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Abstract: A catheter system for accessing the central venous system through an occlusion in the neck region.

Abstract: A method for customizing an interactive boundary based on a patient-specific feature, includes displaying a graphical representation of an implant in virtual coordinate space and displaying a graphical representation of a bone in virtual coordinate space. The method further includes positioning the graphical representation of the implant relative to the graphical representation of the bone based on a user input and extracting reference feature information associated with the virtual representation of the implant. The method further includes mapping the extracted reference feature information to the graphical representation of the bone, receiving information indicative of a positional landmark associated with the bone, and estimating an intersection between the positional landmark and the mapped reference feature. A virtual boundary is generated based, at least in part, on the estimated intersection between the positional landmark and the mapped reference feature.

Abstract: A nuclear image system for updating an original nuclear image, the nuclear image system comprising: a data memory for storing the original three-dimensional nuclear image; a nuclear radiation detector, which is movable along a freely variable path, for measuring nuclear radiation, in order to obtain nuclear radiation values; a tracking system for tracking the nuclear radiation detector while measuring the nuclear radiation, so that detector coordinates are obtained which indicate a posture of the tracked nuclear radiation detector in relation to an image coordinate system of the nuclear image; a nuclear data input configured to receive the nuclear radiation values from the nuclear radiation detector and the detector coordinates from the tracking system, and to associate the nuclear radiation values with the respective detector coordinates; and an image updating module including an updating rule for changing the original nuclear image on the basis of the nuclear radiation values and the detector coordinates, w

Abstract: A solenoid system for magnetically guided capsule endoscopy, has the following components arranged under a patient table which defines a flat plane: a central coil with normal direction being perpendicular to the flat plane, and four coil pairs arranged in the form of a cross around the central coil with respect to the flat plane. Each pair includes two single coils, the normal directions of which are parallel to the flat plane and offset by 90 degrees in relation to each other.

Abstract: A wireless power supply apparatus for a capsule-type endoscope has three sets of coils that generate a magnetic field in directions that are orthogonal to each other, a gravity sensor that detects a gravitational direction, a coil selection section that selects a coil that generates a magnetic field in a gravitational direction that is detected by the gravity sensor, and a drive section that applies a current to the coil that the coil selection section selects.

Abstract: Described herein are systems, apparatus, and methods for precise placement and guidance of tools during a surgical procedure, particularly a spinal surgical procedure. The system features a portable robot arm with end effector for precise positioning of a surgical tool. The system requires only minimal training by surgeons/operators, is intuitive to use, and has a small footprint with significantly reduced obstruction of the operating table. The system works with existing, standard surgical tools, does not require increased surgical time or preparatory time, and safely provides the enhanced precision achievable by robotic-assisted systems.

Abstract: A method and system for generating and/or repairing surface models is provided. The method comprises acquiring data points corresponding to surface locations of a structure. The method further comprises generating a surface model of the structure based on the data points. The method further comprises adding additional data points to the point cloud formed by the acquired data points, and updating the model by constructing a surface model based on the added data points. The system comprises a processing apparatus configured to acquire data points corresponding to respective surface locations of a structure. The processing apparatus is further configured to generate a surface model of the structure based on the data points. The processing apparatus is further configured to add additional data points to the point cloud formed by the acquired data points, and update the surface model by constructing a surface model based on the added data points.

Abstract: The invention relates to an imaging apparatus for imaging an object (3) being preferentially a catheter. A kinematics model (12) of a robot representing the object (3), which is defined by kinematics parameters, and projection data of the object (3), which correspond to different projection directions, are provided. The kinematics model (12) is modified by modifying the kinematics parameters such that a difference between simulated projection data, which are determined by simulating a forward projection of the kinematics model (12), and the provided projection data is minimized. Since the object (3) is represented by a kinematics model (12) of a robot, movements of the object (3), in particular, deformations of the object (3), can be described in a simple way by few kinematics parameters, thereby allowing modifying the model (12) and, thus, following a movement of the object fast by modifying the few kinematics parameters, in particular, in real-time.

Abstract: A composite tracking system for a medical device comprises a field location tracking system including at least one field location sensor structured to be coupled to a medical device, a magnetic resonance tracking system including at least one tracking coil structured to be coupled to a medical device, and a composite tracking processor operably coupled to the field location tracking system and the magnetic resonance tracking system. The composite tracking processor is operable to receive and process field location parameters from the field location tracking system and positional coordinates from the magnetic resonance tracking system to register a field location coordinate system to a magnetic resonance coordinate system.

Abstract: A method for customizing an interactive control boundary based on a patient-specific feature comprises identifying a reference feature associated with a virtual implant model. The method also comprises determining an intersection between the identified reference feature and a virtual model associated with an anatomy of the patient. A virtual boundary is generated based on the determined intersection between the identified reference feature associated with the virtual implant model and the virtual model associated with the anatomy of the patient.

Abstract: A method includes performing a motion compensated reconstruction of functional projection data using a patient-adapted motion model, which is generated based on a generic anatomical motion model and imaging data from a structural scan. A system includes a first adapter (202) configured to adapt a generic anatomical model to structural image data, producing an adapted model, a forward projector (204) configured to forward project the adapted model, producing forward projected data, and a second adapter (206) configured to adapt the forward projected data to individual projections of projected data, which is used to generate the structural image data, producing a patient-adapted motion model.

Abstract: Apparatus and methods are described that include ultrasound imaging devices, which may operate in a transmissive ultrasound imaging modality, and which may be used to detect properties of interest of a subject such as index of refraction, density and/or speed of sound. Devices suitable for performing high intensity focused ultrasound (HIFU), as well as HIFU and ultrasound imaging, are also described.

Abstract: A method for assisting a physician track a surgical device in a body organ of a subject during a procedure includes fluoroscopic based registration, and tracking. An initial registration step includes receiving a 3D image data of a subject in a first body position, receiving a real time fluoroscopy image data, and estimating a deformation model or field to match points in the real time fluoro image with a corresponding point in the 3D model. A tracking step includes computing the 3D location of the surgical device based on a reference mark present on the surgical device, and displaying the surgical device and the 3D model of the body organ in a fused arrangement.

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 method for tracking position of features of a moving organ from at least one sequence of image frames of the moving organ involves identifying at least a first feature and a second feature of the organ in a reference image frame. Positions of the first and second features in other image frames are tracked in order to learn motion patterns of the first and second features. A dynamic geometric relation between the first and second features is determined. In the event that the first feature of the organ is obscured in a given image frame, position of the first feature in the given image frame is determined using position of the second feature in the given image frame and the dynamic geometric relation between the first and second features.

Abstract: A computer-implemented method is provided for generating patient models from multiple imaging contrast sources which may be, for example from magnetic resonance imaging without computed tomography. The method includes: acquiring multiple sets of image data representing a volume of a patient using magnetic resonance imaging, wherein each set of image data is acquired in a different manner so as to create contrast amongst tissue types of the patient; classifying tissue in each voxel in the volume using the multiple sets of image data as input to a classification algorithm; and generating a patient model for the volume from probability distributions of the classes of tissue as derived from the classification algorithm.

Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

Abstract: A method of calibrating a robotic device, such as a cardiac catheter, includes oscillating the device on an actuation axis by applying an oscillation vector at an oscillation frequency. While oscillating, a location of the device is periodically measured to generate a plurality of location data points, which may express the location of the device relative to a plurality of measurement axes. The location data points are then processed using a signal processing algorithm, such as a Fourier transform algorithm, to derive a transfer function relating a position of the device to a movement vector for the actuation axis. The transfer function may be resolved into and expressed as a calibration vector for the actuation axis, which may include one or more components, including zero components, directed along each of the measurement axes. The process may be repeated for any actuation axes on which calibration is desired.

Abstract: Techniques are provided for configuring filters for reducing heating within pacing/sensing leads of a pacemaker or implantable cardioverter-defibrillator that might occur due to induced currents during a magnetic resonance imaging (MRI) procedure or in the presence of other sources of strong radio frequency (RF) fields. In particular, techniques are provided for selecting inductors and capacitors for use in LC filters while taking into account the tolerances of the component devices, as well as the target impedance of the components and the particular RF frequencies to be filtered.

Abstract: An instrument tracking device for cooperating with an instrument during a surgical procedure where the instrument has an elongated body extending along a first longitudinal axis and including a working member at a distal tip includes a body having a distal end and a proximal end. An opening can be formed through the body along a second longitudinal axis. The opening can define a passthrough in the body from the distal end to the proximal end. A first tracking coil can be disposed in the body and can define a first tracking coil axis that is substantially coaxial with the second longitudinal axis of the body. A connection mechanism cooperates between the elongated housing and the body that secures the body to the elongated housing of the instrument upon passing at least a portion of the elongated housing through the passthrough of the body in an assembled position.

Abstract: A capsule medical apparatus includes a tissue obtaining unit that obtains a tissue from a body site of a subject; a detecting unit that detects a state of the tissue obtaining unit that varies depending on whether the tissue obtaining unit succeeds in obtaining a tissue; an output unit that outputs information representing whether the tissue obtaining unit succeeds in obtaining a tissue; and a control unit that determines whether the tissue obtaining unit succeeds in obtaining a tissue based on the state of the tissue obtaining unit, which is detected by the detecting unit, and causes the output unit to output the information representing whether the tissue obtaining unit succeeds in obtaining a tissue.

Abstract: A computerized method for model-less segmentation and registration of ultrasound (US) with computed tomography (CT) images of an organ with a fluid filled chamber. The method is based on correlating between the US image(s) and the CT image(s) by processing the US image(s) by iteratively expanding the CT image segment so that the expanded CT image segment is correlated with the visual boundaries of the US image segment; transforming the CT image(s) according to an estimated US transducer position and estimated US beam direction related to the US image(s) so that at least one of shape and volume of the organ in the CT image is adapted with at least one of shape and volume of the organ of the US image, to form a CT image representation which is correlated with US image(s).

Abstract: Visual-assisted guidance of an ultra-thin flexible endoscope to a predetermined region of interest within a lung during a bronchoscopy procedure. The region may be an opacity-identified by non-invasive imaging methods, such as high-resolution computed tomography (HRCT) or as a malignant lung mass that was diagnosed in a previous examination. An embedded position sensor on the flexible endoscope indicates the position of the distal tip of the probe in a Cartesian coordinate system during the procedure. A visual display is continually updated, showing the present position and orientation of the marker in a 3-D graphical airway model generated from image reconstruction. The visual display also includes windows depicting a virtual fly-through perspective and real-time video images acquired at the head of the endoscope, which can be stored as data, with an audio or textual account.

Abstract: Described herein are an apparatus and methods for automating subtasks in surgery and interventional medical procedures. The apparatus consists of a robotic positioning platform, an operating system with automation programs, and end-effector tools to carry out a task under supervised autonomy. The operating system executes an automation program, based on one or a fusion of two or more imaging modalities, guides real-time tracking of mobile and deformable targets in unstructured environment while the end-effector tools execute surgical interventional subtasks that require precision, accuracy, maneuverability and repetition. The apparatus and methods make these medical procedures more efficient and effective allowing a wider access and more standardized outcomes and improved safety.

Abstract: The invention relates to a tissue marker (1, 1?) for marking a lesion (16) in the body tissue (6). The invention is characterized in that the tissue marker (1, 1?) comprises a transponder (2). The transponder (2) can be activated by electromagnetic radiation (8) in such a manner that the transponder (2) emits a localization signal (9) in the form of electromagnetic radiation by means of which the position of the tissue marker (1, 1?) in the body tissue (6) can be detected. The invention further relates to a system for determining the position of such a tissue marker (1, 1?) and to the use of an RFID tag as a tissue marker (1, 1?) for marking a lesion (16) in the body tissue. According to an advantageous embodiment of the invention, the tissue marker (1, 1?) is biodegradable.

Abstract: A method and system for detecting and tracking multiple catheters in a fluoroscopic image sequence in an integrated central processing unit and graphics processing unit framework is disclosed. A catheter electrode model is initialized in a first frame of the fluoroscopic image sequence. The catheter landmark candidates are detected, by a graphics processing unit, in the first frame of the fluoroscopic image sequence. The catheter electrode model is tracked, by a central processing unit, and is detected by the graphics processing unit, in subsequent frames of the fluoroscopic image sequence by detecting catheter landmark candidates in the subsequent frames of the fluoroscopic image sequence using at least one trained catheter landmark detector, and outputting the catheter model tracking and landmark detection results of for each frame of the fluoroscopic image sequence.

Abstract: An apparatus for detecting different subjects on the basis of vital signs includes an image detection unit for detecting radiation from a field of view and for providing image data from the field of view. A detection unit defines image sections in the image data and detects movement patterns in each of the different image sections. An identification unit identifies vital signs in the different image section on the basis of the movement pattern. An analysis unit analyzes the image data and detects the different subjects in the field of view on the basis of a spatial separation of the image sections or of groups of image sections in which the vital signs are identified.

Abstract: A system and method for identifying the location of a medical device within a patient's body may be used to localize the fossa ovalis for trans-septal procedures. The systems and methods measure light reflected by tissues encountered by an optical array. An optical array detects characteristic wavelengths of tissues that are different distances from the optical array. The reflectance of different wavelengths of light at different distances from an optical array may be used to identify the types of tissue encountered, including oxygenated blood in the left atrium as detected from the right atrium through the fossa ovalis.

Abstract: An endoscope system includes an imaging section that captures an object via an optical system and an image sensor, an observation state determination section that determines the observation state of the object captured by the imaging section, and an aperture control section that controls the state of an aperture included in the optical system based on the observation state, the aperture control section controlling the state of the aperture so that the resolution determined by the diffraction limit due to the aperture is equal to or higher than a resolution determined by the image sensor when the observation state determination section has determined that the observation state is a first observation state, and stopping down the aperture as compared with the state of the aperture in the first observation state when the observation state determination section has determined that the observation state is a second observation state.

Abstract: A catheter is responsive to external and internal magnetic field generators for generating position data of the catheter position and pressure data to determine pressured exerted on a distal end of the catheter when engaged with tissue, with a reduced number of sensing coils and reduced number of sensing coil leads for minimizing lead breakage and failure. The catheter includes a distal section adapted for engagement with patient tissue, where the distal section has a proximal portion, a distal portion and a flexible joint with a resilient member adapted to allow axial displacement and angular deflection between the proximal and distal portions of the distal section. The catheter may have three or less sensing coils with three or less leads, each transmitting signals between a respective sensing coil and the signal processor.

Abstract: In a method and an apparatus for implementing a gastric artery chemical embolization (GACE) catheterization procedure, an x-ray imaging system obtains a first current image data set of the patient prior to implementing the GACE procedure, and a second current image data set that shows the blood vessels that supply the fundus of the subject. The first and second current image data sets are fused to form a first fusion image data set. A second fusion image data set is then formed by fusion of the first fusion image data set with a catheter-position-indicating data set, obtained during the GACE procedure. The second fusion image data set is displayed during the GACE procedure or control data for a lightweight robot, used to operate and guide the catheter, can be derived from the second fusion image data set.

Abstract: A method of generating a diagnosis map of at least a portion of the heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, measuring electrophysiology information at a point on the surface of the heart, associating the measured electrophysiology information with position information for the point on the surface of the heart, repeating the measuring and associating steps for a plurality of points on the surface of the heart, thereby generating a plurality of surface diagnostic data points, and generating the diagnosis map therefrom. The electrode may be moved within the heart randomly, pseudo-randomly, or according to one or more predetermined patterns. A three-dimensional model of the portion of the heart may be provided and presented as a graphical representation, either with or without information indicative of the measured electrophysiology information superimposed thereon.

Abstract: A catheter is responsive to external and internal magnetic field generators for generating signals representing position and pressure data, with a reduced number of sensing coil leads for minimizing lead breakage and failure. The catheter includes a flexible joint with pressure sensing and position coils, at least pair of a pressure sensing coil and a position coil are serially connected. Methods of calibrating a catheter for position and pressure sensing, and detecting magnetic field interference with one catheter by another catheter or other metal or ferrous object advantageously use signals between two sets of sensors as a “back up” or “error check”.

Abstract: Devices and methods wherein an adapter is used to attach an electromagnetic image guidance component to a medical device such that an electromagnetic image guidance system may be used to track the location of the medical device within the body of a human or animal subject.

Abstract: A method of positioning an external adjustment device relative to a patient includes placing a magnetic viewing sheet adjacent to a patient and identifying the location of an implanted magnetic assembly using the magnetic viewing sheet by visualizing a magnetic image of the implanted magnetic assembly in the magnetic viewing sheet. The external adjustment device is placed on the patient adjacent to the location where the magnetic image was located.