Abstract: Methods of performing surgical operations and associated devices are disclosed. An example method may include locating a first position on a first surface of a biological tissue; locating a second position on a second opposing surface of the biological tissue, the second position corresponding to the first position; and marking the second position on the second surface. The second surface may be generally opposite the first surface. An example method may include, after marking the second position, performing a therapeutic procedure on the biological tissue in the vicinity of the second position.

Abstract: A catheter calibration system includes a calibration chamber, a receiver and a processor. The calibration chamber is configured to generate a calibration magnetic field that oscillates at a first frequency. The calibration chamber includes a cavity for inserting a distal end of a catheter having one or more magnetic-field sensors. The receiver is configured to be connected to the catheter, to receive from the catheter one or more signals, which are generated by the one or more magnetic-field sensors in response to the calibration magnetic field, and to convert the one or more signals into one or more respective intermediate frequency (IF) signals having a second frequency that is lower than the first frequency. The processor is configured to receive the one or more IF signals from the receiver and to calculate catheter navigation calibration data from the one or more IF signals.

Abstract: A method for MRI reconstruction is provided. The method may include obtaining a plurality of sub-sampled images of a subject. The plurality of sub-sampled images may include a first sub-sampled image of the subject and one or more second sub-sampled images of the subject. The first sub-sampled image may be generated using a first MRI sequence and a first sub-sampling rate. Each of the one or more second sub-sampled images may be generated using a second MRI sequence and a second sub-sampling rate. The second sub-sampling rate may be smaller than the first sub-sampling rate. The method may include obtaining an image reconstruction model having been trained according to a machine learning technique. The method may further include generating a first full image of the subject corresponding to the first MRI sequence based on the first sub-sampled image, the one or more second sub-sampled images, and the image reconstruction model.

Abstract: An apparatus that detects a tip of an interventional tool based on at least two ultrasound images reconstructed for different beam steering angles within a volumetric region that includes the tool. The apparatus includes an image processor. The image processor includes a tip detection module used to perform a tip tool detection procedure. The tip tool detection procedure involves identifying shadow regions of the tool in the at least two ultrasound images and determining the position of the tip of the tool within the volumetric region.

Abstract: Methods, systems and devices for estimating the position and orientation of an invasive surgical devices, for example, a catheter guidewire or endoscope, surgical catheter, or self-guided electrophysiology catheter, relative to a reference frame, are described. An example system comprises one or more permanent magnets mounted on the surgical device, a plurality of magnetometer sensors at fixed location providing a reference frame that are configured to perform magnetic field measurements of the direct current superposition field of the permanent magnets, and computational means for receiving the input signals and calculating the position and orientation of the permanent magnets mounted on the surgical device.

Abstract: Embodiments herein provide an ultrasonic treatment device that includes a transducer holder to hold an ultrasonic transducer. The transducer holder includes multiple mounting positions for the ultrasonic transducer to enable the transducer to be held by the transducer holder at different angles. For example, in some embodiments, the transducer holder may include multiple mounting elements on an interior surface of the transducer holder. The mounting elements may be, for example, ridges or grooves on the interior surface. The transducer may include and/or be provided with one or more locking elements that interact with the mounting elements of the transducer holder to hold the transducer within the transducer holder. Other embodiments may be described and claimed.

Abstract: In one embodiment, a system includes a catheter including an insertion tube and a first position sensor, a pusher including a second position sensor, and an expandable assembly including flexible strips disposed circumferentially around a distal portion of the pusher, with first ends of the strips connected to the distal end of the insertion tube and second ends of the strips connected to the distal portion of the pusher, the flexible strips bowing radially outward when the pusher is retracted, processing circuitry to receive a respective position signal from the first and second position sensors, compute location and orientation coordinates for the position sensors subject to a constraint that the position sensors are coaxial and have a same orientation, compute a distance between the computed location coordinates of the position sensors, and find position coordinates of the flexible strips responsively to at least the computed distance.

Abstract: A magnetic field generator assembly is configured to be associated with a table supporting a body. The magnetic field generator comprises a plurality of magnetic field transmitters, each comprising interlacing layers of conductive material, configured to provide increased magnetic strength and minimal fluoroscopic occlusion. The interlacing layers of conductive material can be arranged in rectangular spiral formations.

Abstract: Disclosed is a multi-source encrypted image retrieval method based on federated learning and secret sharing, including the following steps: S1. performing model training on a convolutional neural network of double cloud platforms based on federated learning, with an image owner joining the double cloud platforms as a coalition member; and S2. completing, by an authorized user, encrypted image retrieval based on additive secret sharing with the assistance of the double cloud platforms. The present disclosure provides a multi-source encrypted retrieval scheme based on federated learning and secret sharing, which simplifies the neural network model structure for retrieval by using federated learning, to obtain better network parameters. Better neural network parameters and a more simplified network model structure are achieved by compromising overheads on the image owner side, such that a better convolutional neural network can be used in encrypted image retrieval.

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: Tools used within a surgical area may be equipped with sensors that allow them to be tracked within the magnetic field of an image guided surgery (IGS) system. The IGS system may be configured to detect various movement patterns of the tools, which may be mapped to and associated with corresponding actions or inputs to the IGS system. In one example, a registration probe may be moved along the x-axis and y-axis, with detected movements identified and received by the IGS system as movements of a mouse cursor on a display of the IGS system. In another example, the registration probe may be moved in a circular pattern, or quickly moved along any of the x-axis, y-axis, or z-axis, with each being configured to cause the IGS system to zoom a display, change a view, record video, or other actions.

Abstract: A medical system includes an elongate instrument, a tracking system, and one or more processors configured to: receive image data of a set of connected passageways of a patient anatomy; model the set as a plurality of linked bounded-surface elements, each linked bounded-surface element defined in part by basepoints on an anatomical centerline, an element centerline spanning a shortest distance between the basepoints, and a radius; receive position information for a point on the instrument when disposed in the set; based on a comparison of the received position information to the plurality of linked bounded-surface elements, generate adjusted position information for the point; match one of the plurality of linked bounded-surface elements to the point to register the instrument to the image data; create an adjusted instrument image with the adjusted position information; and generate a composite image including the image data of the set and the adjusted instrument image.

Abstract: Devices, apparatus and methods for patient-specific MIS procedures. A patient-specific, MIS navigation guide device may include a main body having a proximal surface and a distal surface, wherein the distal surface is configured to face target tissue upon placement of said MIS navigation guide device. Anchors extend distally of the distal surface, and distal ends of the anchors lie on a three dimensional surface that matches contours of the target tissue in locations where the anchors are designed to contact. A position indicator on the device is interpretable by a surgeon to know when the anchors have not yet been contacted to the target tissue in a predetermined orientation and to know when the anchors have been contacted to the target tissue in the predetermined orientation.

Abstract: A transponder includes an encapsulant defining a cavity having a spherical internal profile. A suspension medium and a core are contained within the cavity. The core includes a rod having a first end and a second end, and defines a longitudinal axis between the first end and the second end. The longitudinal axis of the rod defines an axis of sensitivity of the transponder, and the core defines a center of gravity closer to the second end of the rod as compared to the first end of the rod. The center of gravity is disposed along the longitudinal axis of the rod. The transducer includes a conductive coil wrapped around the rod, and a capacitor coupled to the conductive coil. The core self-orients itself such that the axis of sensitivity of the transponder is parallel with a plumb to gravity axis.

Abstract: A method of reconstructing a shape of a volume of a part of a subject based on intrabody measurements of a plurality of crossing electromagnetic fields established within the volume, the method including: receiving, by computer circuitry, measurements of the crossing electromagnetic fields carried out using at least one sensor carried on an intrabody probe, the measuring being carried out with the probe at multiple locations in the volume, to provide a set of measurement samples, each taken at a location; generating, by computer circuitry and based on said measurement samples, a transformation that transforms measurement samples to geometric positions; transforming, using said generated transformation fewer than half of the measurements in said set of measurement samples into a set of geometric positions; and reconstructing the shape of said volume from said set of geometric positions.

Abstract: An apparatus for determining a position of an object inside a body includes a first, detector configured to receive a signal from the object inside the body. The apparatus also includes a camera configured to capture an image or video of outside of a portion of the body, The object is positioned inside the portion of the body. A computing system is configured to receive the signal from the first detector and the image or video from the camera and to determine the position of the object Inside the body. A screen, is configured to display die position of the object inside the body.

Abstract: Circuits for controlling magnetic-based tracking systems are described. These systems may be used in virtual reality applications, for example to track in real-time the location of one or more body parts. The systems use a beacon emitting mutually orthogonal magnetic fields. On the receiver side, one or more sensors disposed on different parts of a body receive the magnetic fields. The beacon includes switching amplifiers for driving the magnetic field emitters. Being binary, these amplifiers may be controlled by binary signals. The circuits may exhibit a resonant frequency response, and may be operated off-resonance, thus providing for a better control of the magnetic fields amplitude. As a result, however, fluctuations in the envelop of the magnetic fields due to the presence of a beating tone may arise. These fluctuations may be shortened by gradually activating the drivers for the magnetic field emitters.

Abstract: Disclosed are systems, methods, and techniques for registering a HMD coordinate system of a head-mounted display (HMD) and a localizer coordinate system of a surgical navigation localizer. A camera of the HMD captures at least one image of a registration device having a registration coordinate system and a plurality of registration markers. The registration markers are analyzed in the at least one image to determine a pose of the HMD coordinate system relative to the registration coordinate system. One or more position sensors comprised in the localizer detect a plurality of tracking markers comprised in the registration device to determine a pose of the registration coordinate system relative to the localizer coordinate system. The HMD coordinate system and the localizer coordinate system are registered using the registration device, wherein positions of the registration markers are known with respect to positions of the tracking markers in the registration coordinate system.

Abstract: Provided in accordance with the present disclosure is a diagnostic and a therapeutic bronchoscopy system for localized delivery of medication within the lungs. Specifically, systems and methods are disclosed for creating a functional and anatomical map of the lungs, diagnosing a condition within the lungs, generating a treatment plan for a target site within the lungs, navigating to the target site, administering a treatment directly to the target site for immediate absorption within the target site, and assessing the efficacy of the treatment.

Abstract: The visualization method includes displaying three-dimensional image data of at least one anatomical feature of a patient, receiving user input of the target for placing an ablation needle in the at least one anatomical feature of the patient, determining the position and orientation of the ablation needle based on the user input, displaying an image of a virtual ablation needle in the three-dimensional image data of the at least one anatomical feature of the patient according to the determined position and orientation, receiving user input of parameters of operating the ablation needle, and displaying a three-dimensional representation of the result of operating the ablation needle according to the input parameters.

Abstract: A system and method for constructing fluoroscopic-based three dimensional volumetric data from two dimensional fluoroscopic images including a computing device configured to facilitate navigation of a medical device to a target area within a patient and a fluoroscopic imaging device configured to acquire a fluoroscopic video of the target area about a plurality of angles relative to the target area. The computing device is configured to determine a pose of the fluoroscopic imaging device for each frame of the fluoroscopic video and to construct fluoroscopic-based three dimensional volumetric data of the target area in which soft tissue objects are visible using a fast iterative three dimensional construction algorithm.

Abstract: A workflow is disclosed to accurately register ultrasound imaging to co-modality imaging. The ultrasound imaging is segmented with a convolutional neural network to detect a surface of the object. The ultrasound imaging is calibrated to reflect a variation in propagation speed of the ultrasound waves through the object by minimizing a cost function that sums the differences between the first and second steered frames, and compares the first and second steered frames of the ultrasound imaging with a third frame of the ultrasound imaging that is angled between the first and second steered frames. The ultrasound imaging is temporarily calibrated with respect to a tracking coordinate system by creating a point cloud of the surface and calculating a set of projection values of the point cloud to a vector. The ultrasound imaging, segmented and calibrated, is automatically registered to the co-modality imagine.

Abstract: Robotic systems and methods include a robotic manipulator and a skin incision tool to be coupled to the robotic manipulator and being configured to create an incision in skin of a patient. A skin tracker is attached to the skin of the patient to track the skin of the patient. A robotic controller controls the robotic manipulator to move the skin incision tool relative to a determined location on the skin of the patient. The robotic controller controls the robotic manipulator to constrain movement of the skin incision tool with a haptic object defined relative to the determined location to guide the skin incision tool to the determined location for making the incision in the skin.

Abstract: A method of generating a 3D ultrasound image includes acquiring a 3D volumetric data set corresponding to a 3D imaging volume of an ultrasound probe in a 3D detection volume; acquiring a position of the ultrasound probe with respect to the 3D detection volume; acquiring a position of an interventional medical device with respect to the 3D detection volume; determining a position of the interventional medical device relative to the 3D imaging volume of the ultrasound probe; determining an interventional medical device-aligned plane that intersects with a longitudinal axis of the interventional medical device; extracting a texture slice from the 3D imaging volume for a corresponding interventional medical device-aligned plane positional and rotational orientation; mapping the texture slice onto the interventional medical device-aligned plane; and rendering the interventional medical device-aligned plane as a 3D ultrasound image and displaying the rendered 3D ultrasound image on a display screen.

Abstract: A method includes, in a processor, receiving example representations of geometrical shapes of a given type of organ. In a training phase, a neural network model is trained using the example representations. In a modeling phase, the trained neural network model is applied to a set of location measurements acquired in an organ of the given type, to produce a three-dimensional model of the organ.

Abstract: In a method and magnetic resonance (MR) apparatus for generating a combined MR image of an examination object, a first image data record of an examination object, generated from magnetic resonance data recorded with a first reception coil, is loaded into a computer. A second image data record of the examination object, generated from magnetic resonance data recorded with a second reception coil, wherein the first and the second reception coils are different reception coils, is also loaded into a computer. At least one interim image data record is generated by the computer by applying a mask function to the first and/or second image data record. An interim image data record is combined in the computer with the image data record to which no mask function was applied, or with the other interim image data record, to form a combined MR image.

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: In the present invention, a system and method for selection of an optimal catheter for use in a medical procedure relative to the anatomy of a patient includes the steps of providing a system including a scanning device capable of obtaining image data on a ROI within the anatomy of a patient and reconstructing a 3D image of the ROI from the image data, a display capable of illustrating the 3D image and a 3D catheter model, and a CPU operably connected to the scanning device and the display and operable to analyze the 3D image in comparison with the 3D catheter model, obtaining image data of the ROI of the patient, reconstructing a 3D image of the ROI from the image data and comparing the 3D catheter model with the 3D image of the ROI to determine the catheter with the optimal configuration for use in the procedure.

Abstract: A cognitive optical system for dynamically refining imaging during a medical procedure, involving a processor operable by a set of executable instructions storable in relation to a non-transitory memory device. The processor is configured to automatically adjust an image by automatically compensating for at least one external factor affecting an anatomical area being viewed, automatically adjusting at least one imaging parameter, and automatically adjusting at least one internal control of an optical chain, whereby a quality of the image is improvable in real time.

Abstract: A detection device including: a detector that detects an object from one viewpoint; a reliability calculator that calculates reliability information on the object at the one viewpoint by using a detection result of the detector; and an information calculator that calculates shape information on the object at the one viewpoint by using the detection result of the detector and the reliability information and calculates texture information on the object at the one viewpoint by using the detection result, the information calculator generates model information on the object at the one viewpoint based on the shape information and the texture information.

Abstract: A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.

Abstract: An approach is provided for image guided procedures. The approach includes acquiring image data of at least one object of a subject, in which the acquired image data is registered to one or more coordinate systems. The approach includes receiving the acquired image data. The approach includes displaying, on one or more smartglasses, one or more superimposed images over a portion of the subject. The one or more superimposed images may be related to the acquired image data. The approach includes aligning the one or more superimposed images to correspond with a position of the at least one object.

Abstract: A method comprises providing a current state image and at least one reference image, taken from a similar angle range. The image and the at least one reference image are superimposed and a visual representation visualizing the relation between the image and the reference image is provided in order to track displacements of the bone during subsequent operation steps. A system is provided which can use the image data to track displacements and determine deviation from a current state of the elements in question to a target state.

Abstract: A simulator for manual tasks comprising a first robot arm, a second robot arm and a controller. The first robot arm has a connector (730) at a distal end for connecting to a tool (762) and the second robot arm having a connector (740) at a distal end for connecting to the tool. The controller is operable to simulate at least two different procedures in response to the attachment of different tools to the robot arms.

Abstract: In another embodiment, a hip joint navigation jig is provided that includes an anatomical interface comprising a bone engagement portion. A registration jig is also provided that is coupled, e.g., removeably, with the anatomical interface. A rotatable member is provided for rotation about an axis that is not vertical when the jig is mounted to the bone adjacent to a hip joint and the registration jig is coupled with the anatomical interface. An anatomy engaging probe is coupled with the rotatable member for rotation about the axis and is translatable to enable the probe to be brought into contact with a plurality of anatomical landmarks during a procedure. An inertial sensor is coupled with the probe to indicate orientation related to the landmarks, the sensor being disposed in a different orientation relative to horizontal when the probe is in contact with the landmarks.

Abstract: Systems and methods for estimating anatomic alignment between two or more bones are described herein. An example method can include registering an anatomic reference frame. Additionally, the method can include establishing a respective rotational relationship between each of one or more bones and an orientation sensor attached to each of the one or more bones. The method can also include receiving, from each of the orientation sensors, orientation information, and then calculating an orientation of a bone relative to the anatomic reference frame. The method can further include calculating, using the respective orientations of the bones relative to the anatomic reference frame, an anatomic alignment parameter between first and second bones.

Abstract: Embodiments herein provide a method for stereo-visual localization of an object by a stereo-visual localization apparatus. The method includes generating, by a stereo-visual localization apparatus, a stereo-visual interface displaying the first stereo image of the object and the first stereo image of the subject in a first portion and the second stereo image of the object and the second stereo image of the subject in a second portion. Further, the method includes detecting, by the stereo-visual localization apparatus, a movement of the subject to align the subject in the field of view with the object. Furthermore, the method includes visually aligning, by the stereo-visual localization apparatus, the subject with the object based on the movement by simultaneously changing apparent position of the first and the second stereo images of the subject in each of the first portion and the second portion in the stereo-visual interface.

Abstract: An intervention system employing an interventional robot (30), an interventional imaging modality (10) and an interventional controller (70). In 5 operation, the interventional controller (70) navigates an anatomical roadmap (82) of an anatomical region of a patient in accordance with an interventional plan to thereby control a navigation of the interventional robot (30) within the anatomical region in accordance with the anatomical roadmap (82).

Abstract: Aspects of this disclosure relate to directing the movement of instrument such as medical devices. For example, data regarding an ongoing physical of an instrument that is configured to gather spatial data via physical manipulation of the instrument for a procedure is received. A current orientation of the instrument is determined. Additional spatial data to gather for the procedure is determined. A subsequent physical manipulation on how to physically maneuver the instrument relative to the current orientation to gather the additional spatial data is determined. Real-time feedback on how to execute the subsequent physical manipulation is provided.

Abstract: An example method includes obtaining, a virtual model of a portion of an anatomy of a patient obtained from a virtual surgical plan for an orthopedic joint repair surgical procedure to attach a prosthetic to the anatomy; identifying, based on data obtained by one or more sensors, positions of one or more physical markers positioned relative to the anatomy of the patient; and registering, based on the identified positions, the virtual model of the portion of the anatomy with a corresponding observed portion of the anatomy.

Abstract: A magnetic resonance imaging apparatus according to an embodiment includes sequence control circuitry and processing circuitry. The sequence control circuitry performs multi-frame acquisition where FOVs (Field Of Views) of at least two acquired frames are overlapped in a first direction. Then, based on the multi-frame acquisition performed by the sequence control unit, the processing unit generates data regarding the components in the first direction of flow of a fluid.

Abstract: The present disclosure involves object recognition as a method of registration, using a stereoscopic camera on Augmented Reality (AR) glasses or an endoscope as the image capture technology. Exemplary objects include surgical tools, anatomical components or features, such as bone or cartilage, etc. By detecting just a portion of the object in the image data of the surgical scene, the present disclosure may register and track a portion of the patient's anatomy, such as the pelvis, the knee, etc. The present disclosure also optionally displays information on the AR glasses themselves, such as the entire pelvis, the femur, the tibia, etc. The present disclosure may include combinations of the foregoing features, and may eliminate the need for electromagnetic, inertial, or infrared stereoscopic tracking as the tracking technology.

Abstract: The present disclosure relates to a tracking system for augmented reality in a clinical setting. Specifically, the present disclosure relates to an approach for combining hardware-based tracking and computer vision-based tracking in order to accurately overlay a projected image onto a video image.

Abstract: A method for locating a plurality of elements comprising a flexible ultrasound phased array. The method includes constructing a matrix of traveltimes by iteratively transmitting a signal from one element of the plurality and receiving the signal at each of the other elements of the plurality. Traveltimes are derived from each received signal and arrayed in a matrix. Relative positions of the first element of the plurality and the last element of the plurality are established and the locations of the remaining elements of the plurality are iteratively modeled to fit the matrix of traveltimes.

Abstract: A method of performing surgery on a bone includes providing a robotically controlled bone preparation system and creating at least one hole in the bone with the robotically controlled bone preparation system prior to machining the bone. The bone hole aligns with a hole or a post in a guide for a manual cutting tool. If the robot fails during surgery, or if the surgeon does not wish to complete the procedure with the robot, the guide is attached to the bone after aligning the guide hole with the bone hole. The surgery is completed manually after the guide is attached to the bone, and the robot is not used after the guide is attached to the bone.

Abstract: A surgical instrument having a position sensor that may be detachable, disposable, partially isolated from movement of the main body of the surgical instrument, and/or configured to display feedback lighting. The orientation of the surgical instrument may be mimicked either virtually or by a mechanical device with a second surgical instrument. The instruments of the present disclosure may be used in any procedure or treatment that would benefit from position feedback for the instruments.

Abstract: A transmitting element for generating a magnetic field for tracking of an object includes a first spiral trace that extends from a first outer origin inward to a central origin in a first direction. A second spiral trace can extend from the central origin outward to a second outer origin in the first direction. The second spiral trace can extend from the central origin to the second outer origin in the first direction. The first spiral trace and the second spiral trace can be physically connected at the central origin to form the fluorolucent magnetic transmitting element and at least a portion of the first spiral trace overlaps at least a portion of the second spiral trace.

Abstract: The present disclosure includes systems for surgical navigation, the system comprising a tracking array attachable to a medical instrument, an image capturing device, and a navigation system that communicates with the image capturing device and generates tracking information of the medical device.

Abstract: Disclosed is a reader device, system, and method for communicating with a wireless sensor. The reader device may be configured to communicate wirelessly with an implant device associated with a proprietary system provided by a first entity. An external device, that may not be associated with said first entity, is provided and is configured to be calibrated to communicate with the implant device that is located within a patient. The external device may be used in place of an existing reader device that was initially calibrated to communicate with the implant device prior to the implant device being placed within the patient. The external device may be particularly useful for implant devices that communicate wirelessly with external devices where said implant devices are intended to be located within the human body on a permanent or indefinite duration of time.

Abstract: A sterilizable device comprising electromagnetic transponders separated from one another by a flexible spacer material enclosed within radiofrequency-transparent sterilizable tubing for target tracking during prostate treatments, and method of use thereof.