Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.

Abstract: A medical method and system include a medical imaging system configured to generate images of an interventional procedure. An overlay generator is configured to generate an overlay image on the images of the interventional procedure. An interventional device tracking system is configured to track a three-dimensional position, orientation and shape of the interventional device during the procedure, wherein the overlay image is dynamically updated in response to deformations caused to an organ of interest by the interventional device during the procedure.

Abstract: An apparatus for determining a shape of a luminal sample including: a catheter including a lens, the catheter disposed within a strain-sensing sheath such that the lens rotates and translates; a structural imaging system optically coupled to the catheter; a strain-sensing system optically coupled to the catheter; and a controller coupled to the strain-sensing system and the structural imaging system. The controller determines: a first position of the catheter relative to the luminal sample at a first location within the strain-sensing sheath; a second position of the catheter relative to the luminal sample at a second location within the strain-sensing sheath; a first strain of the strain-sensing sheath at the first location; a second strain of the strain-sensing sheath at the second location; a local curvature of the luminal sample relative to the catheter; a local curvature of the catheter; and a local curvature of the luminal sample.

Abstract: A surgical system includes a trial connected with a first image guide oriented relative to a sensor to communicate a signal representative of the trial relative to a patient anatomy. A tracking device includes the sensor and communicates with a processor to generate a storable image of the trial relative to the patient anatomy for display from a monitor. A spinal implant is connected with a second image guide oriented relative to the sensor to communicate a signal representative of the spinal implant relative to the patient anatomy. The sensor receives the signal of the second image guide and communicates with the processor to generate an image of the spinal implant in real time for display from the monitor in a configuration to align the spinal implant in real time with the stored image of the trial. In some embodiments, methods, spinal constructs, implants and surgical instruments are disclosed.

Abstract: Methods, systems, and devices are provided for guiding surgical instruments using radio frequency (RF) technology. In general, the methods, systems, and devices can allow a trajectory, e.g., an angular approach, of a surgical instrument relative to a patient to be identified during use of the instrument in a surgical procedure being performed on the patient. The trajectory can be identified using a plurality of RF modules. The methods, systems, and devices can allow the trajectory to be compared to a predetermined trajectory so as to identify whether the trajectory matches the predetermined trajectory. A result of the matching can be communicated to a user of the instrument. Based on the result, the user can maintain the trajectory, e.g., if the trajectory matches the predetermined trajectory, or can adjust the trajectory to closer align the trajectory with the predetermined trajectory, e.g., if the trajectory does not match the predetermined trajectory.

Abstract: A three dimensional magnetic sensor attached to a surgical nail is located based on an applied monotonic magnetic field gradient. Another three dimensional magnetic sensor locates a surgical drill. A display generates a real time image of the relative alignment of the surgical drill and of the surgical nail, allowing a surgeon to repair bone fractures.

Abstract: According to one embodiment, an X-ray diagnosis apparatus includes an X-ray tube, a diaphragm mechanism, an X-ray detector, image generating circuitry, a display, a first interface, a second interface, and processing circuitry. The processing circuitry controls the diaphragm mechanism and the X-ray tube according to the operation to the first interface so that the X-rays are radiated to a first radiation range, and controls the diaphragm mechanism and the X-ray tube according to the operation to the second interface so that the X-rays are radiated to a second radiation range. The processing circuitry controls the display so that the first display area displays the X-ray images sequentially generated according to radiation of the X-rays, in parallel with the radiation.

Abstract: Robotic systems and methods for the automatic guidance of medical catheters into anatomical structures during various medical procedures are disclosed. A motor controlled insertion mechanism and a motor controlled rotation mechanism are configured to combine catheter insertion and rotation such as to twist the catheter while advancing into the anatomical structure. A navigation-system determines the position in the anatomical structure of a tracking-sensor disposed on the tip of the catheter. The motion of the catheter is controlled via the motors A controller controls, via the motors, the movement of the catheter into the anatomical structure function of the position of the tracking sensor. The methods, systems and devices described herein significantly decrease X-ray exposure to both patient and doctor, minimize friction between the catheter and robotic components, reduce the size of robotic systems, reduce production costs, and reduce the duration of clinical procedures.

Abstract: The disclosure relates to a pre-5th-Generation (5G) or 5G communication system to be provided for supporting higher data rates Beyond 4th-Generation (4G) communication system such as Long Term Evolution (LTE). An operation method of a communication node in a wireless communication system is provided. The operation method includes generating a default beam pattern, based on a plurality of radio-frequency (RF) paths, by applying beamforming parameters, detecting a path failure associated with at least one RF path among the plurality of RF paths, identifying beamforming parameters based on the default beam pattern in response to the detection, and generating a recovered beam pattern associated with the default beam pattern based on the identified beamforming parameters, wherein the beamforming parameters for generating the recovered beam pattern are determined based on a shape of the default beam pattern.

Abstract: An imaging system, including a head-mounted display worn by a system operator. A marker defines a plane when attached to a human subject. Optically reflective elements are disposed on the marker and on opposing sides of the plane in a non-symmetrical arrangement with respect to the plane. A memory stores a graphical representation of a tool used in a procedure performed on the human subject, and an image of anatomy of the human subject. A camera attached to the display acquires an image of the marker and the tool. A processor analyzes the image to identify the plane and to identify a side of the plane wherein the camera is located, and to render to the display the image of the anatomy of the human subject with the graphical representation of the tool superimposed thereon from a point of view in the identified side of the plane.

Abstract: A surgery assistance system including: a physically suitable jig to be attached to a predetermined attached portion of a body on which surgery is to be performed; and a surgery assistance device which displays an augmented reality image. The physical suitable jig includes: a site fitting unit that can be fitted with the predetermined attached portion; and an image-recognizing unit including features that can be image-recognized to display the augmented reality image with the surgery assistance device.

Abstract: The invention relates to a method of collision handling for a robot with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure includes: a base, links, joints connecting the links, actuators and at least one end-effector, a sensor Sdistal.i in the most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors Si for measuring/estimating proprioceptive data, wherein the sensors Si are arbitrarily positioned along the kinematic chain structure, the method including: providing a model describing the dynamics of the robot; measuring and/or estimating with sensor Sdistal.i force/torque Fext,S.distal.

Abstract: A fusion-imaging method for radiofrequency ablation is provided, including: obtaining preoperative volume image of an individual; reconstructing a virtual three-dimensional model of a target area of the individual according to the preoperative volume image; creating a global reference frame by a tracking device and registering the virtual three-dimensional model to the global reference frame; obtaining an ultrasound image of the target area by using an ultrasonic probe and tracking the ultrasonic probe by the tracking device in order to register the ultrasonic image to the global reference frame; capturing a virtual corresponding image corresponding to a portion of the virtual three-dimensional model along a plane of the ultrasonic image; and overlapping the ultrasonic image and the virtual corresponding image and simultaneously displaying the overlapping image and a virtual radiofrequency ablation probe model.

Abstract: A system comprising: a magnetic transmitter configured to generate magnetic fields; a magnetic sensor configured to generate signals based on characteristics of the magnetic fields received at the magnetic sensor; and one or more computer systems configured to: receive the signals from the magnetic sensor; determine, based on the signals received from the magnetic sensor, an electromagnetic (EM) pose of the magnetic sensor relative to the magnetic transmitter; determine one or both of: i) an inertial pose of the magnetic sensor relative to the magnetic transmitter based on inertial data associated with the magnetic transmitter and the magnetic sensor, or ii) an optical pose of the magnetic sensor relative to the magnetic transmitter based on optical data associated with the magnetic transmitter and the magnetic sensor; determine an estimated pose of the magnetic sensor relative to the magnetic transmitter based on the EM pose and the one or both of the inertial pose or the optical pose; determine distorted ma

Abstract: Methods, non-transitory computer readable media, tracker devices, central processor devices, and optical tracking systems that facilitate improved optical tracking in surgical environments are disclosed. With this technology, background images are captured within an acquisition sequence. The background images are used to analyze the quality of current images that are captured in the acquisition sequence and to determine an angular position of optical sensor modules of optical tracker devices with respect to light sources coupled to a reference frame that can be integral with an opposing one of the tracker devices. Using multiple tracking devices facilitates a reciprocal angular position determination that is more accurate and can withstand occlusion of an optical sensor module.

Abstract: The present invention relates to determining the rotation of an interventional device in an ultrasound field. An interventional device is provided that is suitable for being tracked in an ultrasound beam of a beamforming ultrasound imaging system by correlating transmitted ultrasound signals from the beamforming ultrasound imaging system as detected by ultrasound receivers attached to the interventional device with the beamforming beam sequence of the ultrasound signals. The interventional device includes a longitudinal axis (A-A?), a first linear sensor array (12) comprising a plurality of ultrasound receivers (R1 . . . n) wherein each ultrasound receiver has a length (L) and a width (W), and wherein the array extends along the width (W) direction. Moreover the first linear sensor array (12) is wrapped circumferentially around the interventional device with respect to the axis (A-A?) such that the length (L) of each ultrasound receiver is arranged lengthwise with respect to the axis (A-A?).

Abstract: A system, including various apparatus and methods, for surgical navigation is provided. The system is configured to track the spine of a patient by capturing images via one or more cameras. The cameras are configured to capture images of one or more arrays. The system transmits the images to a computer system. The one or more arrays are releasably secured with the spine of the patient, such as by a spine pin or a spine clamp. The system can determine the spatial position and orientation of relevant anatomical features, implants, and instruments using and processing the captured images.

Abstract: An impedance reflector apparatus, systems, and methods are provided for detecting a marker implanted within tissue that includes a switch for changing a configuration of an antenna of the marker. The apparatus includes a set of transmit electrodes coupled to a signal generator for transmitting a drive current into tissue to generate an electromagnetic field around the marker, a set of receive electrodes configured to detect voltage signals within the tissue corresponding to the electromagnetic field, and a light source for delivering light pulses into the body to open and close the switch to change the configuration of the antenna of the marker. A processor coupled to the receive electrodes processes the detected voltage signals to identify changes in the electromagnetic field that are synchronized with the light pulses to determine whether the marker is operating properly.

Abstract: A method of deploying an interventional instrument comprises identifying a target structure within a patient anatomy in an anatomic frame of reference. The method further comprises determining a target region representing a location of the target structure in the the anatomic frame of reference with respect to a current location of the interventional instrument and recording a first engagement location of the interventional instrument within the target. Determining the target region includes determining a probabilistic distribution of the location of the target structure relative to the current location of the interventional instrument and associating each of the plurality of target points with a probability of engaging the target structure.

Abstract: Markers, microwave probes, and related systems and methods are provided for localizing lesions within a patient's body, e.g., within a breast. The marker includes an energy converter e.g., one or more photodiodes, for transforming energy pulses striking the marker into electrical energy, a switch, e.g., FET, coupled to the photodiodes such that light from a probe cause the switch to open and close. A pair of antenna wires are coupled to the switch to provide an antenna, the switch configured to open and close when light strikes the photodiodes to modulate signals from the probe reflected by the antenna back to the probe to identify the location of the marker. The marker also includes an electro static discharge (ESD) protection device coupled to the switch to provide protection against an electrostatic discharge event.

Abstract: A patch includes a sensor layer and adhesive disposed along an outer surface of the sensor layer. The sensor layer has a plurality of sensors, each adapted to measure a value of an electric field, and a plurality of magnets wherein each of the plurality of magnets is collocated with one of the plurality of sensors. Electric field data from the plurality of sensors is provided to a cardiac monitor.

Abstract: A method for mapping the trajectory of a part of the anatomy of a human or animal body. The method comprises receiving signals from a sensor attached to part of the anatomy, which include three dimensional position information indicating the location of the sensor, determining from the signals at least two angles of rotation of the part of the anatomy to which the sensor is attached with respect to a centre of rotation of another part of the body, transforming the signals to provide two dimensional coordinate data where a first dimension in the two dimensional coordinate space represents a first angle of rotation of the part of the anatomy, and a second dimension in the two dimensional coordinate space represents a second angle of rotation of the part of the anatomy; and stores the two dimensional coordinate data.

Abstract: Disclosed is a method and system for navigating an instrument relative to a patient that can be near a field distorting feature. A localizer can generate an electromagnetic field that is sensed by a tracking device to determine a location of the tracking device with the sensed electromagnetic field. The system and related method can assist in determining whether a navigation field is distorted near a tracking device of the instrument.

Abstract: A medical image diagnostic apparatus according to an embodiment includes processing circuitry. The medical image diagnostic apparatus performs image registration between medical image data. The processing circuitry extracts a structure of the subject included in the medical image data. The processing circuitry sets a display scale of the subject to a specified value. The processing circuitry performs image registration between the medical image data on the display scale of the specified value.

Abstract: Shift register includes signal writing circuit, voltage control circuit and output circuit. The signal writing circuit is configured to write inverted signal of input signal provided by signal input terminal into second node responsive to control of second clock signal provided by second clock signal terminal. The voltage control circuit is configured to write first operating voltage into first node and write second clock signal into third node in voltage control circuit in response to control of voltage at first node, write second operating voltage into third node in response to control of second clock signal and write first clock signal provided by first clock signal terminal into first node in response to control of voltage at third node and first clock signal. The output circuit is configured to write second or first operating voltage into signal output terminal in response to control of voltage at first or second node.

Abstract: In one embodiment, a medical probe tracking system includes a first probe, a magnetic field generator to generate a magnetic field, and processing circuitry to measure first electrical currents between body surface electrodes and first probe electrodes, receive magnetic position signals from a magnetic field sensor of a second probe, compute first position coordinates of the first probe in a first coordinate frame responsively to distribution of the first electrical currents, render an initial 3D representation of the first probe in the first coordinate frame and then compute a current-position map with respect to a second coordinate frame defined by the magnetic field generator, find a transformation between the first and second coordinate frames, apply the transformation to the first position coordinates yielding second position coordinates, and render a modified 3D representation of the first probe according to the second position coordinates in the second coordinate frame.

Abstract: The present invention discloses a system for wireless capsule endoscope with adaptive frame rate, comprising: a recorder data processor to filter the first posture information of a capsule endoscope and the second posture information of a portable recorder to obtain a quaternion p0 of the first posture information and a quaternion p1 of the second posture information, and to calculate an interpolated median s0 between p0 and p1 at time t0, and an interpolated median s1 between p?0 and p?1 at time t1; the recorder data processor also calculates a difference diff0 between the interpolated median s0 and s1, and works out the dot product of the difference diff0 and unit quaternion [1, 0, 0, 0].

Abstract: A method includes, receiving from a calibration probe multiple data points acquired in an organ of a patient, each data point including (i) a respective position of the calibration probe, and (ii) a respective set of electrical values indicative of respective impedances between the position and multiple electrodes attached externally to the patient. A mapping between sets of the electrical values and respective positions in the organ is constructed, by performing for each received data point: if the mapping already contains one or more existing data points in a predefined vicinity of the data point, the one or more existing data points are adjusted responsively to the received data point, and if the predefined vicinity does not contain any existing data points, the received data point is added to the mapping. A position of a medical probe is subsequently tracked in the organ using the mapping.

Abstract: Systems and methods for visualization of a surgical site are disclosed. An imaging device provides image data of the surgical site. A computing device detects, in the image data, at least one obstruction. The computing device filters the image data to remove the at least one obstruction by being configured to alter pixels related to the at least one obstruction based on at least one of (i) one or more buffered frames and (ii) one or more pixels adjacent to the pixels related to the at least one obstruction. The computing device generates an output from the filtered image data. A display device presents the output for visualization of the surgical site.

Abstract: A guidewire insertion tool configured to measure a length of an anatomic region. The tool can include a housing, a light chamber, and a track at least partially extending through the light chamber. The track is adapted to guide a guidewire as it is advanced through the insertion tool. The tool can also include an optical sensor assembly in optical communication with the light chamber. The optical sensor assembly can include one or more light sources, an optical sensor, and a magnifier. The one or more light sources can be adapted to direct light toward a portion of the guidewire within the track, and the optical sensor can be adapted to receive reflected light from the portion of the guidewire within the tract. A processing unit can analyze data from the optical sensor assembly to determine the length of the anatomic region and output the measurement to a display.

Abstract: A method for controlling x-ray frame rate of an imaging system for a catheter procedure system includes generating a first control signal that indicates a first frame rate and providing the first control signal to an imaging system. The imaging system obtains a first set of images at the first frame rate based on the first control signal. At least one parameter of a catheter procedure performed by the catheter procedure system is determined and a second control signal is generated based on the at least one parameter of the catheter procedure. The second control signal indicates a second frame rate. The second control signal is provides to the imaging system to adjust the first frame rate to the second frame rate. The imaging system obtains a second set of images at the second frame rate and displays the second set of images on a display.

Abstract: Localization array position determination in a treatment room coordinate system is described. A method may include imaging, using an imaging system, a position of one or more markers integrated with a localization array in a treatment room and transforming the position of the one or more markers to a treatment room coordinate system. The method also includes determining the position of the localization array in the treatment room coordinate system based on the transforming.

Abstract: A method includes registering a fluoroscopic imaging system and a position tracking system to a common frame of reference. A region of interest is marked in a patient body by the position tracking system. Using the common frame of reference, a field of view of the fluoroscopic imaging system is set such that the region of interest appears in the field of view.

Abstract: A manipulator system includes: a manipulator including an elongated flexible section, a movable section provided at a distal end of the flexible section, and a driver that is provided at a proximal end of the flexible section and that drives the movable section; an insertion section having a channel into which the manipulator is inserted; an advancing/retreating section that advances/retreats the manipulator and that causes the movable section of the manipulator to protrude from, and to be withdrawn into, a distal end of the channel; a protrusion-state acknowledgement section that acknowledges a protrusion state in which an entirety of the movable section protrudes from the distal end of the channel; and a restricting section that, when the protrusion state is acknowledged with the protrusion-state acknowledgement section, restricts further retreating motion of the driver performed by the advancing/retreating section.

Abstract: Electrophysiological signals from a graphical representation of an electrophysiology map including a plurality of electrophysiology data points can be sorted by receiving user inputs specifying a number of virtual electrodes for a virtual catheter and defining a pathway of the virtual catheter. A corresponding number of virtual electrodes can be defined on the pathway of the virtual catheter, and one or more electrophysiology data points relevant to electrical activity at the virtual electrodes can be identified, allowing output of a graphical representation of electrophysiological signals corresponding to the identified electrophysiology data points. Relevant electrophysiology data points can be identified by applying one or more relevance criterion, such as a distance criterion, a bipole orientation criterion, a time criterion, and/or a morphology criterion.

Abstract: Systems and methods of radiograph correction and visualization are disclosed. Certain embodiments provide a method for generating a 3D model of at least part of one anatomical object based on one or more radiographs. The method further includes positioning the 3D model based on information indicative of a normalized projection comprising information indicative of a desired position and orientation of the at least part of one anatomical object with respect to the projection plane. The method further includes generating a 2D projection of the 3D model onto the projection plane. The method further includes generating one or more modified radiographs of the at least part of one anatomical object based on the 2D projection.

Abstract: A system for tracking a femoral frame of reference in computer-assisted surgery comprises a sensor unit. The sensor unit is adapted to be secured to the femur. The sensor unit comprises accelerometer and gyroscope sensors that produce orientation data. A processing unit receives gyroscope and accelerometer data. The processing unit comprises a gyroscope-data calculator to provide calculated acceleration data resulting from movements of the femur, an accelerometer-data calculator to calculate measured acceleration data resulting from movements of the femur, and an acceleration comparator to relate an orientation of the sensor unit to the femur to define a femoral frame of reference. The femoral frame of reference is defined from the comparison between the calculated and the measured acceleration data. A sensor orientation interface provides orientation data for the femur from a tracking of the femoral frame of reference. A method for tracking a femoral frame of reference is also provided.

Abstract: A technology is described for using a medical implement or a fluoroscopic image with reference to an image data set and a body of a person. A method may include detecting visual image data of a body of a patient and a medical implement. The optical codes on the body of the patient and on the medical implement may be identified. One operation is aligning the image data set with the body of the person using one or more optical codes on the body of the person and the fixed position of an image visible marker with respect to the optical code. A position of the medical implement with respect to the body of the person may be determined using one or more optical codes on the medical implement and the body of the person to reference the medical implement to the image data set and the body of the person.

Abstract: A surgical system includes a surgical tool and a processing circuit. The processing circuit is configured to provide a plurality of virtual haptic interaction points where each virtual haptic interaction point is associated with a portion of the surgical tool such that movement of the surgical tool corresponds to movement of the plurality of virtual haptic interaction points, establish a haptic object that defines a working boundary for the surgical tool, and constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.

Abstract: Certain aspects relate to systems and techniques for navigation-assisted medical devices. Some aspects relate to correlating features of depth information generated based on captured images of an anatomical luminal network with virtual features of depth information generated based on virtual images of a virtual representation of the anatomical luminal network in order to automatically determine aspects of a roll of a medical device within the luminal network.

Abstract: A method, system and computer programs for computing simultaneous rectilinear paths using medical images are disclosed. The method comprises receiving a 3D medical image comprising voxels representing a volume of an anatomical region of a patient and a preliminary path determined by two points traversing said 3D medical image, wherein said 3D medical image has segmented therein at least one area of interest, the preliminary path comprising a security zone with a given distance; computing a distance map of said area of interest and mapping its voxels to a first value or to a second value depending on a distance threshold, the latter being equal to said given distance of the security zone; selecting the voxels having said second value and projecting them using a frustum that projects the preliminary path onto a single point, to obtain a 2D projected image that includes a plurality of rectilinear paths.

Abstract: Disclosed herein are various systems and methods for an improved minimally invasive surgical tracking system. As disclosed herein, a computer assisted surgical system (CASS) may include an internal tracking device that obtains relative locational data of one or more surgical tools not trackable via a global tracking system. The internal tracking device having an external portion that is trackable global tracking system. Based on the known characteristics and location of the internal tracking device the CASS determines the location of the one or more surgical tools relative to the patient and other objects in the operating room.

Abstract: The invention generally relates to medical imaging systems that instantly and/or automatically detect borders. Embodiments of the invention provide an imaging system that automatically detects a border at a location within a vessel in response only to navigational input moving the image to that location. In some embodiments, systems and methods of the invention operate such that when a doctor moves an imaging catheter to a new location with in tissue, the system essentially instantly finds, and optionally displays, the border(s), calculates an occlusion, or both.

Abstract: Embodiments disclose a real-time surgery method and apparatus for displaying a stereoscopic augmented view of a patient from a static or dynamic viewpoint of the surgeon, which employs real-time three-dimensional surface reconstruction for preoperative and intraoperative image registration. Stereoscopic cameras provide real-time images of the scene including the patient. A stereoscopic video display is used by the surgeon, who sees a graphical representation of the preoperative or intraoperative images blended with the video images in a stereoscopic manner through a see-through display.

Abstract: A method comprises generating an image of a set of connected passageways of a patient anatomy and modeling the set of connected passageways of the patient anatomy as a structure of linked bounded-surface elements. The method also comprises receiving position information for a point on an instrument indicating a position of the point relative to the connected passageways and generating adjusted position information for the point including comparing the received position information to the structure of linked bounded-surface elements. The method also comprises creating an adjusted instrument image with the adjusted position information and generating a composite image including the image of the set of connected passageways and the adjusted instrument image.

Abstract: A system and method for image guidance providing improved perception of a display object in a rendered scene for medical device navigation. The system can receive emplacement information associated with a medical device and determine an emplacement of a display object associated with the medical device. The system can further identify a selected surface of the display object and cause a display to display a selective-transparency rendering of the selected surface.

Abstract: Apparatus and methods are described including a tube configured to traverse a subject's aortic valve. A frame is disposed within a portion of the tube, and an impeller is disposed inside the tube such that, when the impeller and the tube are deployed inside the subject, a gap between an outer edge of the impeller and an inner surface of the tube is less than 1 mm. The impeller rotates such as to pump blood from the left ventricle to the aorta, and is stabilized with respect to the tube, such that, during rotation of the impeller, the gap between the outer edge of the impeller and the inner surface of the tube is maintained. The impeller includes at least one impeller blade defined by a helical elongate element, and a film of material supported by the helical elongate element. Other applications are also described.

Abstract: A surgical system includes a surgical tool associated with a virtual haptic interaction point such that movement of the virtual haptic interaction point corresponds to movement of the surgical tool. The surgical system further includes a processing circuit to establish a virtual entry boundary and activate a haptic object, which constrains the surgical tool after the haptic interaction point crosses the virtual entry boundary.

Abstract: Disclosed is a mirror display system. The mirror display system includes a sensor module, a mirror display including an optical mirror and a display, and at least one control circuit electrically connected to the sensor module and the mirror display, wherein the at least one control circuit may determine a first angle value indicating a graze direction of a user reflected in the optical mirror through the sensor module, determine a distance value between a subject reflected in the optical mirror and the mirror display, determine a depth value of the subject on the mirror display based on the first angle value and the distance value, and display an object having a depth value corresponding to the depth value of the subject through the display.

Abstract: The present invention relates to a method and system of visualizing a first sensed shape of a first elongated device (14) having a first) length and a second sensed shape of a second elongated device (16) having a second length. The first elongated device (14) and the second elongated device (16) are physically linked to one another over at least a part (28) of the first and second lengths. The first sensed shape and the second sensed shape have been obtained independently of each other.