Abstract: Apparatus and methods are described including a processor (20) configured to receive first and second sets of extraluminal images of a lumen, the second set being acquired while an endoluminal device is being moved through the lumen. The processor designates at least one of the first set of images as a roadmap image, and designates, within the lumen in the roadmap image, a roadmap pathway (42). A plurality of features (44, 46, 48, 50) that are visible within at least some of the second set of extraluminal images are identified, and an arrangement of three or more of the features within the image are compared to a shape of at least a portion of the roadmap pathway. Based upon the comparing, the identified features are mapped to locations along the roadmap pathway within the roadmap image. Other applications are also described.

Abstract: Systems and related methods to estimate, for a liquid dynamic system, flow or resistance based on a model of an object and pressure measurements collected in-situ at said object. Alternatively, pressure flow measurements are collected and pressure or resistance is being estimated.

Abstract: A magnetic positioning system and related method for automated or assisted eye-docking in ophthalmic surgery. The system includes a magnetic field sensing system on a laser head and a magnet on a patient interface to be mounted on the patient's eye. The magnetic field sensing system includes four magnetic field sensors located on a horizontal plane for detecting the magnetic field of the magnet, where one pair of sensors are located along the X direction at equal distances from the optical axis of the laser head and another pair are located along the Y direction at equal distances from the optical axis. Based on relative magnitudes of the magnetic field detected by each pair of sensors, the magnetic field sensing system determines whether the patient interface is centered on the optical axis. The system controls the laser head to move toward the patient interface until the latter is centered on the optical axis.

Abstract: A system may include an expandable member, and a plurality of sensors disposed on an outer surface of the expandable member and circumferentially spaced apart from one another, wherein each of the plurality of sensors includes a first emitter configured to emit light of a first wavelength, and a detector configured to detect light, and a controller coupled to the plurality of sensors.

Abstract: Imaging systems and methods estimate poses of a fluoroscopic imaging device, which may be used to reconstruct 3D volumetric data of a target area, based on a sequence of fluoroscopic images of a medical device or points, e.g., radiopaque markers, on the medical device captured by performing a fluoroscopic sweep. The systems and methods may identify and track the points along a length of the medical device appearing in the captured fluoroscopic images. The 3D coordinates of the points may be obtained, for example, from electromagnetic sensors or by performing a structure from motion method on the captured fluoroscopic images. In other aspects, a 3D shape of the catheter is determined, then the angle at which the 3D catheter projects onto the 2D catheter in each captured fluoroscopic image is found.

Abstract: An RF (radio frequency) positioning system and related method for automated or assisted eye-docking in ophthalmic surgery. The system includes an RF detector system on a laser head and an RFID tag on a patient interface to be mounted on the patient's eye. The detector system includes four RF antennas located on a horizontal plane for detecting RF signals from the RFID tag, where one pair of antennas are located along the X direction at equal distances from the optical axis of the laser head and another pair are located along the Y direction at equal distances from the optical axis. Based on relative strengths and phase difference of the RF signals detected by each pair of antennas, the RF detector system determines whether the patient interface is centered on the optical axis. The RF detector system controls the laser head to move toward the patient interface until the latter is centered on the optical axis.

Abstract: A system includes a surgical tool, a robot holding the surgical tool, and non-transitory computer-readable memory storing instructions that, when executed, cause the robot to perform operations including automatically moving the surgical tool to a virtual geometry correlated with an anatomical structure and forcing, following arrival of the surgical tool at the virtual geometry, the surgical tool to stay at the virtual geometry while allowing manual repositioning of the surgical tool along the virtual geometry.

Abstract: Methods and systems for performing robotically-assisted surgery in conjunction with intra-operative imaging. A method includes moving a robotic arm with respect to a patient and an imaging device to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device. The robotic arm maintains the end effector in the pre-determined position and orientation with respect to the patient and does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient.

Abstract: Systems, devices, and methods for co-registering electro-anatomical images are provided. In one embodiment of the present disclosure, treatment locations are displayed to the physician on an image of the remodeled heart by co-registering first and second electro-anatomical images based on: (1) a first electro-anatomical image of an anatomy, (2) treatment location data indicating treatment locations with respect to the first electro-anatomical image, (3) a second electro-anatomical image of the anatomy after the anatomy has remodeled, and (4) a non-rigid transformation that transforms the first electro-anatomical image to the second electro-anatomical image of the remodeled anatomy. The non-rigid transformation is applied to the treatment location data to map the treatment locations to the second electro-anatomical image of the remodeled anatomy.

Abstract: A control device and a control method of a master-slave system and the master-slave system are provided. A control device, which controls an operation of a master-slave system, includes a control unit that applies, to a control system of the master-slave system, a restraint force corresponding to an operation in a desired translational or rotational direction by the master. The control unit applies, to the control system, the restraint force according to a difference between a current position or posture of the master and a reference value of a position or posture to be restrained. The control system controls the master-slave system, for example, by a bilateral control method or a unilateral control method.

Abstract: An ultrasonic device may include an ultrasonic system including a transducer coupled to an ultrasonic blade, A method of delivering energy to the device may include sensing a vessel contacting the blade, identifying that the vessel is calcified, and generating a warning. In some aspects, the method further includes disabling one or more activation functions of the blade. In another aspect, the method further includes generating a message to apply compression to the vessel for a predetermined period, disabling activation functions of the blade during compression, and enabling activation functions after the expiration of the compression period. In yet another aspect, the method includes applying a compressive clamp force to the calcified vessel by driving a clamp arm toward the blade, disabling activation functions of the blade during compression, and enabling the activation functions after adjusting the compressive force. An ultrasonic surgical instrument may effect the method.

Abstract: The disclosure relates to a path planning device for multi-probe joint cryoablation, the device comprising a memory and a processor. The memory stores a computer program, and the processor, when executing the computer program, implements the following steps: acquiring a target region in a medical scanned image of a target object and corresponding to a target tissue to be cryoablated; selecting a single-probe ablation region from the target region; for the single-probe ablation region, obtaining a puncture path of single-probe cryoablation and a corresponding ice ball coverage region; and if the ice ball coverage region does not completely cover target region, then taking the remaining region of the target region from which the ice ball coverage region is excluded as a new target region, and returning to the step of selecting the selecting the single-probe ablation region from the target region.

Abstract: During both invasive and non-invasive treatments and therapies, inaccuracies in locating the areas of interest mean that not all the area is treated, or the treatment is incomplete. A magnetic field probe 100, 1010, 102, 103 is provided that improves determination of a disposition of an implantable magnetic marker 200, the probe comprising a first 110, 120 and second 110, 120 magnetic sensor, substantially disposed along a transverse axis intersecting the longitudinal axis of the probe 150. The first 110, 120 and second 110, 120 magnetic sensors are close to the distal end 160 of the probe, and are separated by a minor sensor separation. A third 120, 130 magnetic sensor is provided close to the proximal end 165, separated by a major sensor separation from the second magnetic sensor 110, 120 close to the distal end 160, the major sensor separation being larger than the minor sensor separation; and the ratio of the major sensor separation to the minor sensor separation is in the range 1.

Abstract: A system for determining cardiac targets is provided. The system may include at least one processing device configured to carry out instructions to receive cardiac imaging data, segment the cardiac imaging data to identify at least two types of cardiac tissue, generate a cardiac model based on the identified tissue, simulate cardiac activity based on the generated cardiac model, and identify at least one cardiac target based on the simulation. A cardiac therapy system may be utilized to provide feedback to a user in order to guide a cardiac treatment device to a cardiac target.

Abstract: Methods and a kit for a navigated procedure, such as a navigated surgical procedure relate to an optical sensor system such as a sterile optical sensor system. The methods relate to using components of the optical sensor system and a processing unit, for example, performing a navigated procedure using an optical sensor as draped and using the processing unit coupled to the optical sensor. Performing the navigated procedure comprises receiving instructions for the navigated procedure from the processing unit, and using the optical sensor comprises interacting with a button on the optical sensor through the drape to provide input to the processing unit. A kit comprises optical sensor system components and instructions for performing a method.

Abstract: A method includes providing a standard control boundary defining a portion of a bone to be resected, registering a position of a soft tissue at the bone, obtaining a customized control boundary by moving a vertex of the standard control boundary based on the position of the soft tissue, and controlling a robotic device to constrain operation of a cutting tool to an area defined by the customized control boundary.

Abstract: Systems, methods and a sensor alignment mechanism are disclosed for medical navigational guidance systems. In one example, a system to make sterile a non-sterile optical sensor for use in navigational guidance during surgery includes a sterile drape having an optically transparent window to drape the optical sensor in a sterile barrier and a sensor alignment mechanism. The alignment mechanism secures the sensor through the drape in alignment with the window without breaching the sterile barrier and facilitates adjustment of the orientation of the optical sensor. The optical sensor may be aligned to view a surgical site when the alignment mechanism, assembled with the sterile drape and optical sensor, is attached to a bone. The alignment mechanism may be a lockable ball joint and facilitate orientation of the sensor in at least two degrees of freedom. A quick connect mechanism may couple the alignment mechanism to the bone.

Abstract: A safety system for laser treatment, comprising a robotic controller configured to monitor a distance between a treatment device and a treatment area, the robotic controller configured to detect a manual movement of the treatment device and to generate a counterbalancing force in response to the manual movement and wherein the robotic controller is configured to increase the counterbalancing force if the distance between the treatment device and the treatment area is less than a predetermined distance.

Abstract: A system includes a processor and an output device. The processor is configured to: (a) receive electrical signals indicative of measured positions of (i) one or more chest position sensors attached externally to a chest of a patient, and (ii) one or more back position sensors attached externally to a back of the patient; (b) compare between (i) a first shift between the measured positions and respective predefined positions of the one or more chest position sensors, and (ii) a second shift between the measured positions and respective predefined positions of the one or more back position sensors; and (c) produce an alert in response to detecting a discrepancy between the first and second shifts. The output device is configured to output the alert to a user.

Abstract: Embodiments consistent with the present disclosure allow the ring, arc, and linear offset values for a stereotactic frame to be determined for a cranial procedure without requiring a CT scan to be acquired with the fiducial frame attached. Having the ring, arc, and offset values available for a cranial procedure allows the surgeon to revert to traditional stereotactic ring-arc frame guidance as a fallback strategy in case a robot cannot be used. This disclosure also provides an alternate method for registering a ring-arc system to the medical image volume for facilities having no CT scanner or scanner with limited field of view such that the intended fiducial localizer cannot be used.

Abstract: A method of guiding an interventional instrument within a patient anatomy comprises processing a target location within the patient anatomy and receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy. The method also comprises determining a three-dimensional distance between the first location and the target location and displaying a symbol representing the target location and a symbol representing the tip portion of the interventional instrument.

Abstract: This patent provides a method and apparatus for improving display of images of a virtual scene on an extended reality display. Specifically, this patent provides a method and apparatus to use different portions of the display based on a look angle of a user. For example, if a user looks at a nearby virtual object, more medially positioned portions of the display are utilized.

Abstract: A medical system comprises a medical instrument system and an assembly removably coupled to the medical instrument system. The assembly is configured to operate the medical instrument system by moving it within an anatomic passageway. The medical system also comprises a sensor system coupled to the instrument system and configured to generate information including spatial data and shape data about the instrument system. The medical system also comprises a control system communicatively coupled to the instrument system, the assembly, and the sensor system. The control system receives, from the sensor system, a first set of the spatial data including position information for a distal end of the medical instrument system during a plurality of time periods. The control system also receives the shape data from the sensor system and filters the first set of the spatial data.

Abstract: A system for determining location of an interventional medical device within a patient includes a controller that controls an ultrasound probe to emit imaging beams at different times and angles relative to the ultrasound probe. The system also includes an interventional medical device with an attached sensor that receives the imaging beams together with repetitive noise. The controller further identifies the repetitive noise received at the sensor, including identifying the rate at which the repetitive noise is repeated and identifying the times at which the repetitive noise is received at the sensor. The controller further offsets the repetitive noise in signals received at the sensor by interpolating the signals based on the imaging beams. The controller determines the location of the interventional medical device based on the offset signals.

Abstract: A system for tracking an instrument includes two or more sensors (22) disposed along a length of an instrument and being spaced apart from adjacent sensors. An interpretation module (45) is configured to select and update an image slice from a three-dimensional image volume in accordance with positions of the two or more sensors. The three-dimensional image volume includes the positions two or more sensors with respect to a target in the volume. An image processing module (48) is configured to generate an overlay (80) indicating reference positions in the image slice. The reference positions include the positions of the two or more sensors and relative offsets from the image slice in a display to provide feedback for positioning and orienting the instrument.

Abstract: A surgical instrument comprising a housing, a shaft assembly, a processor, and a memory is disclosed. The shaft assembly is replaceably connected to the housing. The shaft assembly comprises an end effector. The memory is configured to store program instructions which, when executed from the memory cause the processor to send an electrical interrogation signal to the attached shaft assembly, receive a response signal from the attached shaft assembly, cause a default function to be performed when a response signal is not received by the attached shaft assembly, determine an identifying characteristic of the attached shaft assembly as a result of the performance of the default function, and modify a control program based on the identifying characteristic of the attached shaft assembly.

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: Disclosed is a method for calculating fractional flow reserve, comprising: collecting a pressure at the coronary artery inlet of heart by a blood pressure sensor in real-time, and storing a pressure value in a data linked table; obtaining an angiographic time according to the angiographic image, finding out the corresponding data from data queues based on time index using the angiographic time as an index value, screening out stable pressure waveforms during multiple cycles, and obtaining an average pressure Pa; and obtaining a length of the segment of blood vessel from angiographic images of the two body positions, and obtaining a blood flow velocity V; calculating a pressure drop ?P for the segment of the blood vessel using the blood flow velocity V at the coronary artery inlet, and calculating a pressure Pd at the distal end of the blood vessel, and further calculating the angiographic fractional flow reserve.

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: 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: 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: 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: 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: 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: 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: 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: 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: 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 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: 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: 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: 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: 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: 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: 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: 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: 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.