Abstract: Systems, methods, and devices are disclosed which generate surgical plans that have been customized for a particular patient. A client generates a surgical plan request that includes data relevant to a patient and an orthopaedic surgical procedure to be performed upon the patient. The surgical plan system receives the surgical plan request, generates a surgical plan that has been customized based upon the data of the surgical plan request, and transmits the customized surgical plan to the client.

Abstract: Camera arrays for mediated-reality systems and associated methods and systems are disclosed herein. In some embodiments, a camera array includes a support structure having a center, and a depth sensor mounted to the support structure proximate to the center. The camera array can further include a plurality of cameras mounted to the support structure radially outward from the depth sensor, and a plurality of trackers mounted to the support structure radially outward from the cameras. The cameras are configured to capture image data of a scene, and the trackers are configured to capture positional data of a tool within the scene. The image data and the positional data can be processed to generate a virtual perspective of the scene including a graphical representation of the tool at the determined position.

Abstract: A medical image diagnosis apparatus according to an embodiment includes processing circuitry. The processing circuitry is configured to obtain operation information used for putting a surgery assistance robot into motion, the surgery assistance robot holding a medical tool to be inserted into the body of a subject and being configured to move the medical tool. The processing circuitry is configured to estimate the position of the medical tool with respect to a surrounding site expected after the medical tool is moved, on the basis of a positional relationship between the medical tool inside the body of the subject and the surrounding site as well as the operation information and is configured to control the motion of the surgery assistance robot on the basis of a result of the estimation.

Abstract: A flexible marker system for use with a computer-assisted surgical (CAS) tracking system is disclosed. The system includes a rigid frame or instrument having a plurality of coupling locations each configured to position a navigation marker in a predetermined position and a flexible array configured to be coupled with the rigid frame or instrument. The flexible array can include an elastically deformable body and a plurality of navigation markers, where the flexible array is configured to be coupled to the rigid frame or instrument by stretching the elastically deformable body over the rigid frame or instrument such that each of the plurality of navigation markers is positioned at one of the plurality of coupling locations of the rigid frame or instrument.

Abstract: A tube arm assembly is rotatably connected to the floor mounted gantry of a breast imaging system. A support arm connected to the tube arm assembly can be independently rotated and positioned in a first angle, second angle, and a level position. A compression arm is configured to support a breast compression paddle and is linearly positionable on the support arm. Display screens and a sensor are disposed on an upper surface of the compression arm. Based on a signal received from the sensor, a controller is configured to change the read-ready orientation of each arm display.

Abstract: Disclosed is a system and method for the placement of elongate medical members within a patient's body using coaptive ultrasound that combines magnetic guidance with ultrasound visualization of the medical member in the patient's body. A coaptive ultrasound probe adaptor magnetically attracts an elongate medical member within the patient with sufficient force so as to allow the operator to manually guide the member to its intended location. The adaptor mates with an ultrasound probe to provide the medical operator ultrasound feedback of the position of the member, thus allowing internal placement without the need for more specialized medical equipment.

Abstract: A method and system is disclosed for acquiring image data of a subject. The image data can be collected with an imaging system having a detector able to move relative to the subject. A contrast agent can be injected into the subject and image data can be acquired with the contrast agent in various phases of the subject. A volumetric model of multiple phases can be reconstructed selected reconstruction techniques.

Abstract: Surgical systems and methods for performing an osteotomy are disclosed herein. A surgical system includes a frame including a first section, second section, third section, fourth section, and a window. The surgical system can include a cut guide that can fit within the window and contact the first side, the second side, the third side, and the fourth side. The surgical system can include an aligner that can fit within the window and contact the first side, the second side, the third.

Abstract: Imaging systems and methods compensate for wigwag movement of a C-arm fluoroscope to refine camera pose estimates. The methods involve computing a primary movement axis from samples of markers in fluoroscopic images of a fluoroscopic sweep of a structure of markers and processing the primary movement axis to obtain a secondary movement axis. The methods further involve aligning two-dimensional samples of each marker with the primary and secondary movement axes to obtain an aligned signal and determining a difference signal for a secondary component of the aligned signal. The difference signal is then converted to a rotation axis translation signal. The method further involves estimating a 3D position of the rotation axis. The estimated pose of the C-arm fluoroscope is then refined to compensate for the wigwag movement using the rotation axis translation signal and the estimated 3D position of the rotation axis.

Abstract: A method for registration of digital medical images is provided. The method includes the step of storing a 3D digital medical image having a 3D anatomical feature and a first coordinate system and storing a 2D digital medical image having a 2D anatomical feature and a second coordinate system. The method further includes the steps of storing a placement of a digital medical object on the 3D digital medical image and the 2D digital medical image and generating a simulated 2D digital medical image from the 3D digital medical image, wherein the simulated 2D digital medical image comprises a simulated 2D anatomical feature corresponding to the 3D anatomical feature. The 2D anatomical feature is compared with the simulated 2D anatomical feature until a match is reached and a registration of the first coordinate system with the second coordinate system based on the match is determined.

Abstract: Apparatus and methods are described including acquiring 3D image data of a skeletal portion. While a tool that is coupled to a robot is disposed at a first location along an insertion path, two 2D x-ray images are acquired from respective views. A computer processor (i) determines the first location with respect to the 3D image data based upon identifying the first location within the 2D x-ray images and registering the 2D x-ray images to the 3D image data, and (ii) derives a relationship between the first location and a given location within the 3D image data. Subsequently, the robot moves the tool to a second location responsively to the derived relationship. The processor tracks the motion of the robot relative to the first location, derives the second location, and drives a display to display the second location. Other applications are also described.

Abstract: A system for using robotic telesurgery to implant a smart implant is disclosed. The system comprises a remote doctor module communicatively coupled with an operating room module over a cloud network. The operating room module comprises a robotic arm, a processor, and communication interface which communicates with the smart implant during the surgical procedure. The Operating Room Module testing the smart implant prior to implantation surgery; correlating data collected during the implantation surgery against past data from previous surgeries; determining whether the plurality of sensors is working properly; and transferring communication with the smart implant to a user device receive and monitor data from the plurality of sensors integrated into the smart implant to determine the smart implant is operating according as expected and to monitor the patient's condition.

Abstract: Devices, systems, and methods for providing a surveillance marker configured to detecting movement of a dynamic reference base attached to a patient a robot-assisted surgical procedure are provided. The surveillance marker and the dynamic reference base are connected to a bony structure independent of each other.

Abstract: Rotational atherectomy devices and systems can remove or reduce stenotic lesions in blood vessels by rotating one or more abrasive elements within the vessel. The abrasive elements are attached to a distal portion of an elongate flexible drive shaft that extends from a handle assembly that includes a driver for rotating the drive shaft. In particular implementations, the handle assembly encapsulates an electric motor assembly, a pump assembly, and a controller assembly.

Abstract: The present disclosure relates to embodiments of a patient-specific or patient-matched, customized apparatus for assisting in various surgical procedures. In varying embodiments, patient-specific guides may comprise multiple patient-specific surfaces for mating with the underlying patient anatomy and may further comprise one or more protrusions or projections for facilitating placement and attachment, at least temporarily, to the desired location of the patient's anatomy. The apparatus described herein are preferably used with cervical and/or certain thoracic levels of the human spine and may comprise single or multi-level guides for placement of instruments and/or implants during a variety of surgical procedures.

Abstract: A method for diagnosing a joint condition includes in one embodiment: creating a 3d model of the patient specific bone; registering the patient's bone with the bone model; tracking the motion of the patient specific bone through a range of motion; selecting a database including empirical mathematical descriptions of the motion of a plurality actual bones through ranges of motion; and comparing the motion of the patient specific bone to the database.

Abstract: Systems and methods for planning delivery of an object via a catheter, such as transseptal delivery of a prosthetic mitral valve to a patient's heart are disclosed.

Abstract: A surgical instrument includes a wireless transmission system for transmitting at least one of power and a data signal through between an end effector and an instrument housing of the surgical instrument. The surgical instrument includes the sensor monitoring and processing circuit.

Abstract: The present disclosure relates to polyaxial bone screws and methods that enable the positioning of the polyaxial bone screws to be reliably determined using a surgical navigation system including a navigation probe. In an embodiment, a polyaxial bone screw comprises a threaded shaft inserted in bone and a head connected to the shaft, the head being rotatable relative to the shaft about a centre of rotation of the head of the bone screw. The position of a navigation probe is monitored using a navigation device. A first mating surface of the head of the bone screw is engaged with a second mating surface of the navigation probe; and the location of the centre of rotation of the head of the bone screw is determined based on the monitored position of the navigation probe when the first mating surface and the second mating surface are engaged.

Abstract: A removable dual gold marker implantation device with minor damage comprises a gold marker and a puncture needle, the gold marker is arranged in the needle barrel of the puncture needle when in use; the gold marker comprises a gold marker head and a connecting wire connected with the gold marker head; the gold marker head comprises a first gold marker, a connecting part and a second gold marker connected in sequence. The disclosure reduces the damage to the body when removing the gold marker, and the dual gold marker structure makes the implantation of multiple gold markers at the same time possible and reduces the number of times of implantation and improves the efficiency.

Abstract: A calibration device is provided having a body with an exterior surface configured for placement about a tool such that the body rotates about a tool axis. One or more fiducial marker is positioned on the exterior surface and in communication with a tracking system. A fixed fiducial marker array is provided that is also in communication with the tracking system. A calibration tool defines the tool axis relative to the fiducial marker array. A surgical system is also provided with a tracking module that calculates a center point of the rotation or a normal vector to the circular path to define a tool axis orientation. A method of using the surgical system and defining a tool axis relative to a fiducial marker array is provided. A system for defining a robot link orientation or tracking a tool a medical procedure and a fiducial marker array are provided.

Abstract: The present disclosure relates to systems and methods for robotic, computer-aided or virtual/augmented reality assisted procedures, including with use a of patient-specific or patient-matched, customized apparatus for assisting in various surgical procedures. In varying embodiments, patient-specific guides may comprise embedded markers, chips, circuits, or other registerable components for providing information to a robotic or computer-aided device. Other apparatus described herein may be aligned and/or matched with the robotic or augmented reality equipment or another apparatus during a surgical procedure.

Abstract: The present disclosure relates to systems and methods to perform a surgical procedure. The systems and methods utilize MRI-compatible fiducial markers including a body having at least one feature configured to receive an MRI-compatible and MRI-visible material and to allow registration of a navigational tool. The MRI-compatible fiducial markers can be affixed to a bone of a patient. The registered navigational tool can be used to advance a surgical tool along a navigational path to perform a surgical procedure.

Abstract: The present invention provides a biometric information measuring device with which a diagnostic imaging result and a biomagnetism measurement result can be superimposed simply and with satisfactory accuracy, and which is easy to handle. This biometric information measuring device (1) is provided with: a biomagnetism detecting unit (2) capable of detecting biomagnetism of a subject (S); and a radiation detecting unit (3) capable of acquiring an image corresponding to irradiated radiation, as digital image data, by means of the supply of a power source. The radiation detecting unit (3) is disposed between a measuring region of the subject (S) and the biomagnetism detecting unit (2). Further, it is preferable to provide a control unit (6) capable of performing control such that the power source is not supplied to the radiation detecting unit (3) while the biomagnetism detecting unit (2) is detecting biomagnetism.

Abstract: An orthopedic implant manufacturing method. The method includes preparing a pre-operative surgical plan for a specific patient, the surgical plan including a three-dimensional image of a patient's joint indicating at least one resection plane, communicating the surgical plan to a surgeon of the patient, and receiving approval of the surgical plan and the resection plane by the surgeon. The method also includes providing automated osteophyte/protrusion removal control for surgeon manipulation, receiving a modified three-dimensional image of a patient's joint indicating an osteophyte/protrusion removal and a recommendation for a corresponding selected orthopedic implant from the surgeon, and requesting manufacture of the selected orthopedic implant.

Abstract: The present disclosure is directed to a robotic surgical system and a corresponding method. The system includes at least one robot arm and a radiation source coupled to the robot arm. The system also includes a surgical table having a digital imaging receiver configured to output an electrical signal based on radiation received from the radiation source. A controller having a processor and a memory is configured to receive the electrical signal and generate an initial image of a patient on the surgical table based on the electrical signal. The controller transforms the initial image to a transformed image based on an orientation of the radiation source.

Abstract: Navigation system and method for tracking movement of a patient during surgery. Image data is acquired by imaging the patient with a base layer of a skin-based patient tracking apparatus secured to the patient's skin. The skin-based patient tracking apparatus includes a plurality of optical surgical tracking elements. A computer processor arrangement is adapted to implement a navigation routine. The patient position is registered to the image data. The movement of the patient is tracked based on movement of the plurality of optical surgical tracking elements. The movement of the patient's skin is tracked by determining positions of the optical surgical tracking elements both before and after a deformation of the skin-based patient tracking apparatus. Movement of the patient's skin results in corresponding movement of the surgical tracking elements to provide a dynamic reference frame for use in continuously tracking movement of a patient's skin during surgery.

Abstract: A method includes tracking one or more of a plurality of vertebrae of a patient, planning a planned alignment of the plurality of vertebrae, creating an implant placement plan based on the planned alignment, and robotically preparing the plurality of vertebrae to receive an implant in accordance with the implant placement plan.

Abstract: A system for adjusting an operating state of a medical electronic device is described. In an aspect, the system includes an optical tracking system configured to detect three or more tracking markers. The system also includes a processor coupled with the optical tracking system. The processor is programmed with instructions which, when executed, configure the processor to: configure an input command by assigning at least one operating state of the medical electronic device to a particular state of at least one of the tracking markers; after receiving a priming command, identify a present state of the tracking markers based on data from the optical tracking system; compare the present state with the particular state assigned to the operating state; and based on the comparison, determine that an input command has been received and adjust the operating state of the medical electronic device to the assigned operating state.

Abstract: An ultrasound imaging method includes providing a digital representation of the shape of a surface or boundary of an anatomic region or organ; acquiring an ultrasound image by ultrasound scanning the anatomic region or organ; and combining the digital representation of the shape of the surface or boundary of the anatomic region or organ by registering the digital representation of the shape of the surface or boundary and the ultrasound image as a function of the difference in position of selected reference points on the digital representation of the surface or boundary and on the ultrasound image, the position of the reference points on the ultrasound image being determined by tracking the probe position at the reference points at the anatomic region or organ of a real body and in a spatial reference system, in which the anatomic region or the organ of the real body is placed.

Abstract: A system is suggested comprising an optical sensing means and a processing unit. The optical sensing means may include an optical guide with a distal end, wherein the optical guide may be configured to be arranged in a device to be inserted into tissue in a region of interest. The processing unit may be configured to receive information of a region of interest including different tissue types as well as of a path through the tissues, to determine a sequence of tissue types along the path, to determine a tissue type at the distal end of the optical guide based on information received from the optical sensing means, to compare the determined tissue type with the tissue types on the path, to determine possible positions of the distal end of the optical guide on the path based on the comparison of tissue types, and to generate a signal indicative for the possible positions.

Abstract: 3D image data of a skeletal portion is acquired. A location of a proximal portion of a tool is calculated and a location is derived of a distal portion of the tool with respect to the skeletal portion, with respect to the 3D image data. A display indicates the derived location. First and second 2D images of the distal portion of the tool are acquired from two different poses of a 2D imaging device with respect to the subject and registered with the 3D image data. The location of the distal portion with respect to the 3D image data of the skeletal portion is determined based on the registration and an identified location of the distal portion within the 2D x-rays. Based upon the determined location, the display updates the indicated location of the distal portion. Other embodiments are also described.

Abstract: Assisting robotic arm setup in a surgical robotic system using augmented reality can include capturing a live video of a user setting up a robotic arm in a surgical robotic system. A visual guide representing a target pose of the robotic arm can be rendered onto the live video, resulting in an augmented live video for guiding the arm setup. The augmented live video can be displayed to the user while the user is following the visual guide to set up the robotic arm. The captured live video can be continuously processed to determine whether the robotic arm has reached the target pose.

Abstract: Methods and systems of computing parameter values of one or more model parameters are described. The model models structural and dielectric properties of a structure in a human or an animal body. An exemplary method includes: accessing voltage measurements made at different places in the vicinity of the structure by one or more in-body field sensing electrodes in response to currents applied to one or more field supplying electrodes; and computing the parameter values by adjusting the parameter values to fit predicted voltage values to the accessed voltage measurements, wherein the predicted voltage values are predicted from the model for the currents applied to the field supplying in-body electrodes.

Abstract: An information processing system that acquires video data captured by an image pickup unit; detects an object from the video data; detects a condition corresponding to the image pickup unit; and controls a display to display content associated with the object at a position other than a detected position of the object based on the condition corresponding to the image pickup unit.

Abstract: 3D image data of a skeletal portion within a subject's body is acquired. Subsequently, one or more radiopaque elements are positioned with respect to the body and first and second x-rays of the radiopaque elements and the skeletal portion are acquired from respective views. Based upon an identified location of the radiopaque elements within the x-rays, and registration of the x-rays to the 3D image data, the location of the radiopaque elements with respect to the 3D image data is determined. An optical image of the body and the radiopaque elements is acquired and the location of the radiopaque elements within the optical image is identified. The 3D image data is overlaid upon the optical image by aligning (a) the location of the radiopaque elements within the 3D image data with (b) the location of the radiopaque elements within the optical image. Other applications are also described.

Abstract: Described here are systems and methods for imaging a subject with a magnetic resonance imaging (“MRI”) system using magnetic field gradients generated by one or more gradient coils operating with gradient coil settings (e.g., gradient amplitudes, gradient slew rates) above a threshold at which peripheral nerve stimulation (“PNS”) is likely to be induced in the subject. A dielectric assembly is positioned adjacent a skin surface of the subject such that the dielectric assembly attenuates the local electric fields induced by the magnetic field gradients, which would be likely to induce PNS when the dielectric assembly is not arranged adjacent the skin surface of the subject. As a result of the dielectric assembly placed adjacent the skin surface of the subject, the gradient coil settings can be increased above the threshold without inducing PNS in the subject.

Abstract: A method of assessing spinal column stability involves receiving image data corresponding to a spinal column of a patient; determining, based on the image data, a material strength of bony anatomy in at least a portion of the spinal column; completing a first stability assessment of the spinal column, based at least in part on the determined material strength; modifying the image data to simulate removal of bony anatomy or soft tissue from the spinal column to yield modified image data; and completing a second stability assessment of the spinal column, based at least in part on the determined material strength and the modified image data.

Abstract: Methods and systems are presented for generating a virtual scene rendering of a captured scene based on a relative position of a camera and a virtual scene display in a stage environment, along with real and virtual lens effects. The details might include determining the camera position and virtual display position in the stage environment, and determining a depth value of a virtual scene element displayed on the virtual scene display. A desired focus model can then be determined from focus parameters of the camera, the depth value, and a desired lens effect, and an adjusted focus for the virtual scene element can be determined from the desired focus model. The adjusted focus can then be applied to the camera, the image of the virtual scene element on the virtual scene display, or pixels representing the virtual scene element in a composite image captured by the camera.

Abstract: Navigation and simulation systems and methods for minimally invasive therapy in which the navigation system imports a planning method using patient specific pre-operative images. The navigation system uses intraoperative imaging during the medical procedure to update the preoperative images and provides images of tracked surgical tools along the surgical path prepared from the preoperative images.

Abstract: A surgical position calibration method for getting the augmented and mixed reality of a surgical instrument includes the following steps: placing a calibration plate under a C-ARM to take C-ARM images, with the calibration plate provided with geometric patterns; inputting the C-ARM images into a computer to make 2D image maps; finding the center point of each geometric pattern on the calibration plate; defining a first reference calibration point; finding the distance between the center point of each other geometric pattern and the first reference calibration point to set up a translation matrix formula to form a 3D space image map; placing a surgical instrument at any position above the calibration plate; using the translation matrix formula generating a spatial variation image for the displacement of the surgical instrument; and forming a new spatial variation image.

Abstract: A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first fluoroscopic image data and the configuration of the first fiducial marker. In some embodiments, determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the first fiducial marker.

Abstract: There is disclosed a method for estimating the position of a target in a body of a subject. The method includes, receiving an external signal that is related with motion of the target; and using a model of a correlation between the external signal and the motion of the target to estimate the position of the target, wherein said position estimation includes an estimate of three dimensional location and orientation of the target. The method further includes periodically receiving a 2-dimensional projection of the target; and updating the model of correlation between the external signal and the motion of the target based on a comparison of the estimated position of the target and the 2-dimensional projection of the target. The method is used in guided radiation therapy.

Abstract: The present disclosure provides systems and methods for generating spatial annotations within guidance images that are displayed during a guided medical procedure, where the spatial annotations provide spatial graduations indicating known length measures. The spatial measures may be employed to visually assess the sizes of anatomical and/or functional features displayed in the guidance images.

Abstract: A computing device is provided having at least one processor (104) operative to facilitate motion correction in a medical image file (102). The at least one processor (104) is configured to generate at least one unified frame file (110) based on motion image data (204), depth map data (206) corresponding to the motion image data, and region of interest data (200). Further, at least one corrected image file derived from the medical image file (102) is generated by performing the motion correction based on the at least one unified frame file (110) using the processor (104). Subsequently, the at least one corrected image file is outputted for display to one or more display devices (122).

Abstract: A high-speed optical tracking with compression and CMOS windowing for tracking applications that require high-speed and/or low latency when delivering pose (orientation and position) data. The high-speed optical tracking with compression and CMOS windowing generally includes an optical tracking system (10) that sense fiducial (22) and by extension markers (20). The markers can either be integrated on tools (20) handled by an operator (e.g. surgeon) (50) or fixed on the subject to track (e.g. patient) (40). The low-level processing (101, 107, 140) is realized within the tracking system to reduce the overall data to be transferred and considerably reduce the processing efforts. Pose data (127) are finally computed and transferred to a PC/monitor (30,31) or to tablet (60) to be used by an end-user application (130).

Abstract: The disclosure relates to a system and method for calibrating a medical system. The method may include one or more of the following operations. Projection data of a phantom comprising a plurality of markers may be acquired from an imaging device, at a plurality of angles of a source of the imaging device. A plurality of projection matrices of a first coordinate system relating to the phantom and a transformation matrix between the first coordinate system and a second coordinate system relating to the imaging device may be determined based on the projection data of the phantom and coordinates of the plurality of markers in the first coordinate system. A plurality of projection matrices of the second coordinate system may be determined based on the plurality of projection matrices of the first coordinate system and the transformation matrix.

Abstract: Systems, instruments, and methods are provided verifying that a robotic surgery is being performed in accordance with a surgical plan, wherein a surgical tool having a sensor outputs a data signal that enables the trajectory of the surgical tool to be displayed as an overlay on an image of an anatomical portion of a patient and a visual or audible signal that confirms the surgical tool is penetrating the anatomical portion in accordance with the surgical plan and/or that issues an alert indicating that the surgical tool is not being inserted into the anatomical portion according to the surgical plan.

Abstract: A system for facilitating identification and marking of a target in a fluoroscopic image of a body region of a patient, the system comprising one or more storage devices having stored thereon instructions for: receiving a CT scan and a fluoroscopic 3D reconstruction of the body region of the patient, wherein the CT scan includes a marking of the target; and generating at least one virtual fluoroscopy image based on the CT scan of the patient, wherein the virtual fluoroscopy image includes the target and the marking of the target, at least one hardware processor configured to execute these instructions, and a display configured to display to a user the virtual fluoroscopy image and the fluoroscopic 3D reconstruction.

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