A computer-assisted medical device includes a control unit, first and second articulated arms, a first imaging device mounted to the first articulated arm, and a medical tool mounted to the second articulated arm. The control unit obtains first images from a second imaging device using a first imaging modality, determines first coordinates of multi-modal anatomical markers secured to a patient based on the first images, obtains second images from the first imaging device using a second imaging modality, determines second coordinates of the multi-modal markers relative to the medical tool based on the second images, at least one of the multi-modal markers including a body comprising a first region observable by the first imaging modality and a second region observable by the second imaging modality, and registers the medical tool to the patient based on the first and second coordinates and kinematic models of the first and second articulated arms.

In an embodiment, a medical system is disclosed. One embodiment of the medical system comprises a medical processing unit in communication with an intravascular instrument configured to be moved longitudinally within a body lumen and in further communication with a radiographic imaging source configured to obtain radiographic images of the intravascular instrument while the intravascular instrument is moved longitudinally within the body lumen. The medical processing unit is configured to receive radiographic images obtained by the radiographic imaging source, track the intravascular instrument within the radiographic images while the intravascular instrument is moved longitudinally within the body lumen, calculate a movement speed based on the tracking, compare the calculated movement speed to a predefined target movement speed, generate a speed-adjustment suggestion based on the comparison, and output the speed-adjustment suggestion to a display for review by a user.

A method for increasing accuracy of positioning an X-ray device relative to an examination subject using a camera system includes recording a first data set, acquiring original positioning information pertaining to the X-ray device and specifying a target position of the X-ray device relative to the original position. The X-ray device is positioned out of the original position into a first approach position using the original positioning information, and a second data set is recorded. A deviation between the target position and the first approach position is determined by a reconciliation between the first data set and the second data set. The X-ray device is positioned out of the first approach position into a second approach position using the determined deviation.

Methods and systems for monitoring blockages of emergency escape routes and emergency exits of a building include capturing a plurality of images which may correspond to an emergency escape route and/or an emergency exit of a building. The plurality of images may be analyzed to determine when a stationary object is present and at least partially blocking the emergency escape route and/or the emergency exit. If a blockage is detected, a user may be notified of the blockage.

An intraoral tomosynthesis x-ray imaging device, system, and method with an interchangeable collimator. The intraoral tomosynthesis x-ray imaging device includes an x-ray source array including one or more spatially distributed focal spots and a detachable collimation assembly to provide rectangular or circular radiation fields. The intraoral tomosynthesis x-ray imaging device further includes a digital intraoral x-ray detector. In some embodiments, the x-ray source array is configured to produce either a scanning x-ray beam illuminating an object from different viewing angles without mechanically moving the x-ray source array for tomosynthesis, or a single two-dimensional radiograph.

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.

An apparatus for vascular modeling is disclosed. The apparatus receives medical images from an imaging device that include representations of a coronary vessel tree of a subject recorded at a different viewing angles. The apparatus determines, from a first of the medical images, a first centerline set and first vessel diameters for sample points along the first centerline set, and determines, from a second of the medical images, a second centerline set and second vessel diameters for sample points along the second centerline set. The apparatus determines a correspondence between the first centerline set and the second centerline set, and determines diameters for a combined centerline set based on the correspondence of sample points along the first and second centerline sets. The apparatus provides the combined centerline set for estimating blood flow resistance values of the coronary vessel tree of the subject to determine at least one potential stenosis.

Digital breast tomosynthesis represents an enhanced type of mammogram for detecting breast cancer. In this disclosure, data from digital breast tomosynthesis is reconstructed into a volumetric database with each voxel having a (x, y, z) coordinate and viewed in true 3D using geo-registered head display unit and geo-registered tools for overall enhanced diagnosis. The breast is imaged under various configurations and the internal architecture of an anatomic feature three-dimensionally analyzed. Additional dataset creation and three-dimensional imaging techniques are disclosed.

The disclosure provides a method and device for performing three-dimensional blood vessel reconstruction using projection images of a patient. The computer-implemented method includes receiving a first two-dimensional image of a blood vessel in a first projection direction and a three-dimensional model of the blood vessel. The method further includes determining, by a processor, a first optical path length at a selected position of the blood vessel based on the first two-dimensional image. The method also includes determining, by the processor, a second optical path length at the selected position of the blood vessel in the three-dimensional model. The method additional includes adjusting the three-dimensional model of the blood vessel, based on a comparison of the first optical path length and the second optical path length.

A radiographic imaging apparatus acquires a plurality of two-dimensional pickup images taken at different angles and a three-dimensional image of a processing target imaged in advance. Two-dimensional calculated projection images are generated from the three-dimensional image, respectively, in association with the two-dimensional pickup images. A characteristic region indicates a treatment instrument represented in the two-dimensional pickup image. The two-dimensional pickup image is aligned with the calculated projection image. A deformation amount of the processing target in the two-dimensional pickup image is calculated by comparing the two-dimensional pickup image with the calculated projection image, and a position of the characteristic region is corrected. A three-dimensional position of the characteristic region is calculated and corrected on the basis of anatomical structure information of the processing target. A position mapping part then superimposes the corrected three-dimensional position of the characteristic region on the three-dimensional image to be displayed on a display unit.