Abstract: Described is an approach for tracking 3D organ motion in real-time using magnetic resonance imaging (MRI). The approach may include offline learning, which may acquire signature and 3D imaging data over multiple respiratory cycles to create a database of high-resolution 3D motion states. The approach may further include online matching, which may acquire signature data only in real-time (latency less than 0.2 seconds). From a motion state and motion signature database, the 3D motion state whose signature best (or sufficiently) matches the newly-acquired signature data may be selected. Real-time 3D motion tracking may be accomplished by performing time-consuming acquisition and reconstruction work in an offline learning phase, leaving just signature acquisition and correlation analysis in an online matching step, minimizing or otherwise reducing latency. The approach may be used to adapt radiotherapy procedures based on tumor motion using a magnetic resonance linear accelerator (MR-Linac) system.

Abstract: A medical device system is configured to guide implantation of a pacing electrode for left bundle branch pacing. The system includes a medical device having a processor configured to receive at least one cardiac electrical signal, determine a feature of the cardiac electrical signal, compare the feature to left bundle branch signal criteria, and determine a left bundle branch signal in response to the feature meeting the left bundle branch signal criteria. The system includes a display unit configured to generate a user feedback signal indicating advancement of a pacing electrode into a left portion of a ventricular septum in response to the processor determining the left bundle branch signal.

Abstract: Ablation probe tips (108, 148, 320, 360) and physical and virtual stents (110) for use in tooth bud ablation procedures that result in tooth agenesis as well as tooth bud ablation methods are described herein.

Abstract: Mediated-reality imaging systems, methods, and devices are disclosed herein. In some embodiments, an imaging system includes (i) a camera array configured to capture intraoperative image data of a surgical scene in substantially real-time and (ii) a processing device communicatively coupled to the camera array. The processing device can be configured to synthesize a three-dimensional (3D) image corresponding to a virtual perspective of the scene based on the intraoperative image data from the cameras. The imaging system is further configured to receive and/or store preoperative image data, such as medical scan data corresponding to a portion of a patient in the scene. The processing device can register the preoperative image data to the intraoperative image data, and overlay the registered preoperative image data over the corresponding portion of the 3D image of the scene to present a mediated-reality view.

Abstract: Various example embodiments of the present disclosure provide systems and methods for performing image-guided navigation during medical procedures using intraoperative surface detection. A surface detection device is employed to obtain intraoperative surface data characterizing multiple surface regions of a subject. Pre-operative volumetric image data is registered to each surface region, providing per-surface-region registration transforms. In some example embodiments, navigation images may be generated intraoperatively based on the dynamic selection of a suitable registration transform. For example, a registration transform for generating navigation images may be dynamically determined based on the proximity of a tracked surgical tool relative to the surface regions. In an alternative example embodiment, multiple navigation images may be displayed, wherein each navigation image is generated using a different registration transform.

Abstract: A method of imaging motion of an organ that changes volume in a patient including the steps of monitoring change in volume of the organ, and recording multiple in vivo images of the organ, wherein the change of organ volume between the images is constant or of some other predetermined value.

Abstract: Various embodiments of a system for guiding an instrument through a region of a patient are disclosed. The system includes an instrument and a controller that is adapted to receive ultrasound image data from an ultrasound sensor, receive EM tracking data from an EM tracking system, and identify a physiological landmark of the region of the patient based on the ultrasound image data. The controller is further adapted to determine at least one of a position, orientation, or trajectory of the instrument based on the EM tracking data and generate a graphical user interface showing at least one of the position, orientation, or trajectory of the instrument in relation to a plane of the ultrasound image data, and a target zone that is registered with the physiological landmark.

Abstract: A system and method is provided for magnetic resonance imaging (MRI) guided respiratory gated radiotherapy using a respiratory motion model. MRI-guided respiratory gating is performed with a continuously updated model that represents a patient's internal anatomy as a mathematical function of an external respiratory surrogate. The motion model may be built and updated by acquiring images of a tissue in a subject and measuring, using the images, a position of the tissue in the images to determine motion of the tissue. The surrogate respiratory signal is acquired contemporaneously with acquiring the images. Motion of the tissue and the surrogate respiratory signal are correlated to create the motion model for the subject and gating a radiotherapy system may then be based upon the motion model. A multi-planar model-based respiratory gating may also be performed by sequentially imaging a stack of adjacent slice positions.

Abstract: Methods and systems are provided for cardiac computed tomography imaging. In one embodiment, a method comprises reconstructing an image from projection data acquired during a scan with a reconstruction time determined based on a model relating a timing of an event to be imaged to a heart rate measured during the scan. In this way, the timing of a reconstruction may be consistently applied for a series of reconstructions, thereby inherently registering the reconstructions.

Abstract: Embodiments of the present invention provide a method, system and computer program product for ultrasound image acquisition optimization according to different respiration modes. A method for ultrasound image acquisition optimization according to different respiration modes includes acquiring by an ultrasound imaging device, an ultrasound image of a target organ. The method further includes comparing attributes of the acquired ultrasound image to association data in a data store of associations associating attributes of previously acquired ultrasound imagery of different images of the target organ with different modes of respiration. Finally, the method includes determining from the comparison, a mode of respiration evident from the acquired ultrasound image and presenting the determined mode in the ultrasound imaging device.

Abstract: For decision support in a medical therapy, machine learning provides a machine-learned generator for generating a prediction of outcome for therapy personalized to a patient. The outcome prediction may be used to determine dose. To assist in decision support, a regression analysis of the cohort used for machine training relates the outcome from the machine-learned generator to the dose and an actual control time (e.g., time-to-event). The dose that minimizes side effects while minimizing risk of failure to a time for any given patient is determined from the outcome for that patient and a calibration from the regression analysis.

Abstract: Ultrasound is typically performed with the use of an external transcutaneous probe that emits ultrasonic energy and measures the timing of reflected waves, thus allowing measurement of fluid flow or formation of a two-dimensional image. Clinically, the modality is limited by attenuation of the signal with increasing depth of penetration of the ultrasound into tissues, as well as by similarities in echo-genicity between different tissues. The present invention includes a system in which an intravascular probe actively transmits ultrasound that can then be detected by in-line piezoelectric transducers without reflection. This signal can be overlaid onto traditional B-mode or Doppler representation. Furthermore, the present invention includes a signal processing system that will display a real-time graphical representation of the vascular anatomy in order to assist the surgeon or procedural radiologist in the placement of central venous catheters.

Abstract: A radiation imaging system including an imager that performs imaging of moving images by irradiating a subject with radiation, the radiation imaging system including a storage in which an imaging guide pattern for instructing a predetermined motion to the subject at a time of imaging by the imager is associated with a predetermined word that can be included in an imaging order and is stored, a hardware processor that acquires an imaging order to imaging by the imager, extracts the predetermined word from the acquired imaging order, and selects an imaging guide pattern that is associated with the extracted predetermined word from imaging guide patterns stored in the storage, and an instructor that instructs the predetermined motion to the subject, based on the selected imaging guide pattern.

Abstract: The present invention discloses a method for reconstructing incomplete data of X-ray absorption contrast computed tomography (CT) based on deep learning (DL). The method includes the following steps: using a filtered back projection (FBP) algorithm to obtain an initial reconstructed image; forward projecting the initial reconstructed image to obtain artifact-contaminated complete projection sequences; using a DL technique to process the artifact-contaminated projection sequences to obtain artifact-free projection sequences; using the FBP algorithm to reconstruct the artifact-free projection sequences to obtain a final reconstructed image. Compared with the traditional incomplete data reconstruction methods, the examples of the present invention feature a simpler calculation process, fewer parameters to be manually set, a faster calculation speed and higher image quality.

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

Abstract: A method of non-invasively monitoring the respiration of a patient comprises: transmitting ultrasound into the body toward an internal structure of the patient's body, the internal structure being one of the liver, the spleen or a kidney; selecting a depth range; measuring the phase of ultrasound echo signals from the internal structure at multiple points along the depth range for at least a first and a second echo signal, the first and second echo signals being received at different times; detecting the motion of the internal structure within the patient's abdomen by reference to differences in the measured phase between the first and the second echo signals; and thereby monitoring the respiration of the patient by associating movement of the internal structure with movement caused by respiration.

Abstract: A medical imaging system with a screen, an X-ray imaging device having an X-ray interface and an intravascular data acquisition device having an intravascular interface provide enhanced X-ray images. For this purpose, the medical imaging system is adapted for overlaying an information set provided at the intravascular interface onto an X-ray image provided at the X-ray interface on user request for generating an enhanced X-ray image and for displaying the enhanced X-ray image on the screen.

Abstract: A method for parametric image reconstruction and motion correction using whole-body motion fields includes receiving a nuclear imaging data set including a set of dynamic frames and generating at least one of a whole-body forward motion field and/or a whole-body inverse motion field for at least one frame in the set of frames. An iterative loop is applied to update at least one parameter used in a direct parametric reconstruction and at least one parametric image is generated based on the at least one parameter updated by the iterative loop. The iterative loop includes calculating a frame emission image for the at least one frame, generating a motion-corrected frame emission image based on the at least one whole-body forward motion field or a whole-body inverse motion field, and updating at least one parameter by applying a fit to the motion-corrected frame emission image.

Abstract: Ablation probe tips (108, 148, 320, 360) and physical and virtual stents (110) for use in tooth bud ablation procedures that result in tooth agenesis as well as tooth bud ablation methods are described herein.

Abstract: A medical manipulator system including: a placement table on which a patient is placed; at least one manipulator configured to support a treatment tool which is configured to treat the patient, the manipulator configured to adjust a position and an orientation of the treatment tool; a base portion configured to support the manipulator; a sensor configured to detect objects which are present in a predetermined area including the manipulator and the placement table; and a controller including at least one processor, wherein the processor is configured to: calculate degrees of proximity between the objects detected by the sensor and the manipulator, and generate, in case that the calculated degrees of proximity exceed a predetermined threshold, a control signal for preventing interference between the objects and the manipulator.

Abstract: In one embodiment, A medical diagnostic imaging apparatus includes: a scanner that images a first site of an object and generates medical image data, wherein the scanner acquires biological information from a sensor that detects the biological information at a second site of the object that is different to the first site, and images the first site based on the biological information that changes according to a movement at the second site of the object.

Abstract: A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly.

Abstract: A method of preparing a surgical plan comprises video capturing a range of motion of an anatomic joint of a patient to obtain a range of motion video, registering the range of motion video to two-dimensional images of a skeleton of the patient, identifying potential impingement and stability issues in the anatomic joint based on the range of motion video, templating a prosthetic implant on two-dimensional images of the anatomic joint using the identified potential impingement and stability issues of the anatomic joint to obtain position and orientation data, and electronically saving the position and orientation data of the prosthetic implant for use with a surgical navigation system. A system for planning and performing a surgical procedure comprises a motion capture system, an x-ray system, an electronic modeling system, and a surgical navigation system.

Abstract: Embodiments of architecture, systems, and methods to develop a learning/evolving system to robotically perform one or more activities of a medical procedure where the medical procedure may include diagnosing a patient's medical condition(s), treating medical condition(s), and robotically diagnosing a patient's medical condition(s) and performing one or more medical procedure activities based on the diagnosis without User intervention.

Abstract: The present application relates to the technical field of oral care devices, and discloses an oral endoscope, the oral endoscope comprising: a housing; an image acquisition module, which is fixedly mounted within the housing and which is used for acquiring an external image through the housing, the image acquisition module comprising at least two camera units, which are relatively positionally calibrated and which are used for acquiring three-dimensional image information; an illuminating unit, which provides illumination for each camera unit; a wireless communications module, which is used for wirelessly communicating with an external device and for sending image information, which is acquired by the image acquisition module, to the external device.

Abstract: An X-ray device has an X-ray detector allocated to an X-ray tube assembly and configured as a flat panel detector, in which charges, accumulated over an integration period, of individual detector pixels are read out in a readout period following on from the integration period. In order to acquire the X-ray images, a trigger signal is captured, and if a trigger condition evaluating the trigger signal is satisfied, the acquisition of one of the X-ray images takes place using an integration period with a predetermined default length that is the same for all X-ray images. During the acquisition of the time series, in addition to the trigger condition, a readout condition that describes the anticipated imminence of the satisfaction of the trigger condition within a default period that is greater than or equal to the predetermined default length and evaluates the trigger signal is also monitored.

Abstract: Methods and systems using magnetic resonance and ultrasound for tracking anatomical targets for radiation therapy guidance are provided. One system includes a patient transport configured to move a patient between and into a magnetic resonance (MR) system and a radiation therapy (RT) system. An ultrasound transducer is also provided that is hands-free and electronically steerable, securely attached to the patient, such that the ultrasound transducer is configured to acquire four-dimensional (4D) ultrasound images concurrently with one of an MR acquisition or an RT radiation therapy session. The system also includes a controller having a processor configured to use the 4D ultrasound images and MR images from the MR system to control at least one of a photon beam spatial distribution or intensity modulation generated by the RT system.

Abstract: Devices, systems, and methods of evaluating a vascular system of a patient, are provided. In some instances, the method includes obtaining external imaging data associated with the heart; obtaining cardiac test data associated with the heart; generating a three-dimensional graphical representation of the heart using the external imaging data and the cardiac test data; and outputting the graphical representation of the heart to a display device, wherein the graphical representation of the heart includes a graphical representation of the cardiac test data. Corresponding systems and devices are also provided.

Abstract: A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance.

Abstract: Apparatus and methods are described for use with an endoluminal data-acquisition device configured to be moved through a lumen of a subject's body, and a two-dimensional angiographic image of the lumen. A value of a luminal-flow-related index of the subject is determined non-invasively at a plurality of locations along the lumen, at least partially by performing image processing on the angiographic image. While the endoluminal data-acquisition device is being moved through the lumen, a set of endoluminal data points of the lumen at a plurality of locations within the lumen is acquired, using the endoluminal data-acquisition device. It is determined that respective endoluminal data points correspond to respective locations along the lumen, and, in response thereto, it is determined that respective endoluminal data points correspond to respective values of the luminal flow-related index. Other applications are also described.

Abstract: A robotic surgical system includes a surgical instrument configured to cut biological tissues and an imaging system configured to image the biological tissues. Based on one or more images of the biological tissue generated by the imager, the robotic surgical system operates the surgical instrument to cut the biological tissue according to a desired dissection of the tissue. The robotic surgical system operates the surgical instrument to partially or wholly automatically perform one or more cuts into the biological tissue to achieve the desired dissection.

Abstract: A functional optical coherent imaging (fOCI) platform includes at least one active camera unit (ACU) having a coherent and/or a partially coherent light source, and means for spectral filtering and imaging a selected body area of interest; an image processing unit (IPU) for pre-processing data received from an ACU; at least one stimulation unit (STU) transmitting a stimulation to a subject; at least one body function reference measurement unit (BFMU); a central clock and processing unit (CCU), with interconnections to the ACU, the IPU, the STU, for collecting pre-processed data from the IPU, stimuli from the STU body function reference data from the BFMU in a synchronized manner; a post-processing unit (statistical analysis unit, SAU); and an operator interface (HOD.

Abstract: Methods, apparatuses, and systems relating to image guided interventions on dynamic tissue. One embodiment is a method that includes creating a dataset that includes images, one of the images depicting a non-tissue internal reference marker, being linked to non-tissue internal reference marker positional information, and being at least 2-dimensional. Another embodiment is a method that includes receiving a position of an instrument reference marker coupled to an instrument; transforming the position into image space using a position of a non-tissue internal reference marker implanted in a patient; and superimposing a representation of the instrument on an image in which the non-tissue internal reference marker appears. Computer readable media that include machine readable instructions for carrying out the steps of the disclosed methods. Apparatuses, such as integrated circuits, configured to carry out the steps of the disclosed methods.

Abstract: A method for non-invasive assessment of intracranial pressure includes providing an image recording device, recording at least one image of a retina part of an eye of a person using said image recording device, identifying, in said at least one image, at least one artery and at least one vein associated with said artery, determining, in said image, a first characteristic diameter value for said identified artery, determining, in said image, a second characteristic diameter value for said identified vein, calculating an arteriovenous ratio, A/V ratio, based on said first and second characteristic diameter values, and comparing said arteriovenous ratio with a threshold value to estimate intracranial pressure.

Abstract: A method includes obtaining a signal that includes a plurality of cycles and generating a map that maps motion phases to the signal based on both an amplitude and a slope of the signal. A system includes a processor that identifies a set of motion signal timestamps, for a plurality of motion cycles in a motion signal indicative of cyclic motion of a moving object, based on a predetermined motion phase of interest and a phase-to-amplitude/slope mapping, wherein the set of motion signal timestamps correspond to a common signal amplitude. A method include identifying a peak of a plurality of peaks in a motion cycle of a noisy cyclic signal having irregular periodicity, wherein the peak corresponds to a point lying between two points with amplitudes below a predetermined threshold, comparing points before and after the peak with the peak, and identifying the peak as a local maximum when the peak is greater than the points.

Abstract: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.

Abstract: Methods and devices for identifying and defining a safety zone for restricting movement of a robotic arm in an operating room during a medical procedure are disclosed. The disclosed method utilizes medical navigation system, which receives an initiation input indicating initiation of defining of the safety zone. In response to receiving the initiation input, the system tracks an instrument and determines the location of the tracked instrument relative to a reference point. The system detects changes in the location of the tracked instrument until a termination input is received at the medical navigation system. The termination input indicates the termination of the defining of the safety zone. The system stores, in memory, change data indicative of the changes in the location of the tracked instrument. The data identifies the safety zone relative to the reference point.

Abstract: Systems and methods for virtual reality or augmented reality (VR/AR) visualization of 3D medical images using a VR/AR visualization system are disclosed. The VR/AR visualization system includes a computing device operatively coupled to a VR/AR device, and the VR/AR device includes a holographic display and at least one sensor. The holographic display is configured to display a holographic image to an operator. The computing device is configured to receive at least one stored 3D image of a subject's anatomy and at least one real-time 3D position of at least one surgical instrument. The computing device is further configured to register the at least one real-time 3D position of the at least one surgical instrument to correspond to the at least one 3D image of the subject's anatomy, and to generate the holographic image comprising the at least one real-time position of the at least one surgical instrument overlaid on the at least one 3D image of the subject's anatomy.

Abstract: A system and method providing outpatient ECG monitoring and safe home based cardiac tele-rehabilitation. The system includes a recordation module for recording ECG signals using at least one lead, a tele-rehabilitation module for home based exercise management for a patient's recovery, the tele-rehabilitation module including a processing module for recognizing erroneous data from the ECG signals and an analysis module for calculating beat-to-beat annotations and determining if an ECG event and/or if a QT interval duration change has occurred. The system can include an exercise module for guiding the patient during an exercise session, a visual display that informs the patient to start and/or to stop the tele-rehabilitation exercise, a visual display and/or audible signal that informs the patient of an incoming or a missed tele-rehabilitation exercise session, and/or a communication module for transmitting/receiving data between the a cardiac tele-rehabilitation module and a physician/monitoring center.

Abstract: Embodiments of architecture, systems, and methods to develop a learning/evolving system to robotically perform one or more activities of a medical procedure where the medical procedure may include diagnosing a patient's medical condition(s), treating medical condition(s), and robotically diagnosing a patient's medical condition(s) and performing one or more medical procedure activities based on the diagnosis without User intervention.

Abstract: While a catheter that includes (i) a catheter body, and (ii) a catheter shaft, which includes a sensor and which is disposed inside a lumen of the catheter body, is inside a body of a subject, a position and an orientation of a distal end of the catheter body with respect to the sensor are ascertained, based on (a) a calibration image, acquired by an imaging system, that shows an indication of the distal end of the catheter body, and (b) a signal from the sensor, but not based on any indication of the sensor shown in the calibration image. Using the ascertained position and orientation of the distal end of the catheter body with respect to the sensor, a visual output is generated. Other embodiments are also described.

Abstract: A method for emulating prerecorded images may comprise acquiring at least one organ timing signal reading representing an activity state of an organ with at least one organ timing signal detector, acquiring a plurality of images with a medical imaging system, associating each of the plurality of images with an organ timing signal reading, removing any of the organ timing signal readings and associated images that are not representative of a normal organ configuration, and outputting a sequence of the representative images for a display.

Abstract: A method for making a three-dimensional surface reconstruction of an object from two or more bi-dimensional images of the object, so called 2D images, comprising: a) providing a three-dimensional dataset, so called 3D dataset, of the object; b) generating a 3D model using the dataset as described in a); c) providing motion information to build a 3D model over time; d) generating a 3D reconstruction from said at least two 2D images; and e) using information from the 3D model over time to correct the 3D reconstruction over time. A corresponding apparatus and computer program are also disclosed and claimed.

Abstract: A medical robotic system that includes a robotically controlled surgical instrument. The system includes a constraint controller that constrains the movement of the instrument based on a predetermined parameter. The parameter may be a surgical space, wherein the instrument cannot be moved into, or alternatively cannot be moved out of, the space. The surgically constrained spaced may be defined through a telestrator screen that allows a surgeon to point and click the boundaries of the space.

Abstract: An algorithm to correct and/or scale an electrical current-based coordinate system can include the determination of one or more global transformation or interpolation functions and/or one or more local transformation functions. The global and local transformation functions can be determined by calculating a global metric tensor and a number of local metric tensors. The metric tensors can be calculated based on pre-determined and measured distances between closely-spaced sensors on a catheter.

Abstract: A nuclear imaging apparatus (8) acquires nuclear imaging data comprising events wherein each event records at least spatial localization information and a timestamp for a nuclear decay event. An event-preserving image reconstruction module (22) reconstructs the nuclear imaging data using an event-preserving reconstruction algorithm to generate an image represented as an event-preserving reconstructed image dataset (ID) comprising for each event the timestamp and at least one spatial voxel assignment. One or more structures are identified in the image and independent motion compensation is performed for each structure. In one approach, an events group is identified corresponding to the structure comprising events assigned to the structure by the event-preserving reconstructed image dataset; a time binning of the events of each events group is optimized based on a motion profile for the structure; time bin images are generated; and the structure is spatially registered in the time bin images.

Abstract: An image processing apparatus according to an embodiment includes a reception unit and a storing unit. The reception unit receives a capturing instruction to capture a stereoscopic image being displayed stereoscopically. If the reception unit receives the capturing instruction, the storing unit stores a plurality of parallax images used for displaying the stereoscopic image being displayed stereoscopically in a manner associated with one another as captured images in a predetermined storage device.

Abstract: An imaging system includes a radiation source, a positioner configured to rotate the radiation source along an arc path at a rate less than 0.5 degree/sec, an imager in operative position relative to the radiation source, wherein the radiation source and the imager are configured to obtain a plurality of images while the radiation source is at different positions along the arc path, and a processor configured to determine a digital tomosynthesis image using a subset of the plurality of images. An imaging method includes generating a control signal to control a positioner to rotate a radiation source through an arc path at a rate less than 0.5 degree/sec, obtaining a plurality of images that are generated using radiation from the radiation source while the radiation source is at different positions along the arc path, and determining a digital tomosynthesis image using a subset of the plurality of images.

Abstract: A volume of a patient can be mapped with a system operable to identify a plurality of locations and save a plurality of locations of a mapping instrument. The mapping instrument can include one or more electrodes that can sense a voltage that can be correlated to a three dimensional location of the electrode at the time of the sensing or measurement. Therefore, a map of a volume can be determined based upon the sensing of the plurality of points without the use of other imaging devices. An implantable medical device can then be navigated relative to the mapping data.

Abstract: A haptic robotic system for reaming an acetabulum prior to inserting an acetabular cup is more accurate than conventional instruments and may reduce the risk of dislocation and improve durability of a hip implant. Disclosed is a three-dimensional tool path, referred to as a haptic volume. Once the haptic volume is implemented into the software of a haptically constrained surgical robotic system, the cutting tool or reamer can only be utilized within the haptic volume. The haptic volume guides the surgeon in preparing the final reamed bone surface with a greatly reduced chance of the reaming unintended bone and greatly increases the chance that the reaming procedure may be carried out using one reaming tool, or using a single-stage reaming process.