Devices and methods are provide for facilitating registration and calibration of surface imaging systems. Tracking marker support structures are described that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely attached to a skeletal region of a patient. Methods are provided in which a tracking marker support structure is attached to a skeletal region in a pre-selected orientation, thereby establishing an intraoperative reference direction associated with the intraoperative position of the patient, which is employed for guiding the initial registration between intraoperatively acquired surface data and volumetric image data. In other example embodiments, the tracking marker support structure may be employed for assessing the validity of a calibration transformation between a tracking system and a surface imaging system. Example methods are also provided to detect whether or not a tracking marker support structure has moved from its initial position during a procedure.

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. Systems that include devices configured to carry out steps of the disclosed methods.

A surgical system includes a robotic arm, an end effector coupled to the robotic arm, a divot at the end effector, a probe configured to be inserted into the divot, a tracking system configured to obtain data indicative of a position of the probe while the probe is in the divot, and circuitry configured to verify a proper physical configuration of the surgical system based on the data indicative of the position of the probe while the probe is in the divot.

A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient, wherein the surgical instrument, as provided, may be a steerable surgical catheter with a biopsy device and/or a surgical catheter with a side-exiting medical instrument, among others. Additionally, systems, methods and devices are provided for forming a respiratory-gated point cloud of a patient's respiratory system and for placing a localization element in an organ of a patient.

The present disclosure provides a human organ movement monitoring method for monitoring human organ movement in a surgical process in real time and a surgical navigation system. The human organ movement monitoring method includes: obtaining first position and orientation of movement monitoring tools in an image coordinate system identified from a preoperative three-dimensional medical image; determining second position and orientation of the movement monitoring tools in a positioning coordinate system in the surgery in real time; calculating an optimal coordinate transformation relation between the positioning coordinate system and the image coordinate system in real time based on the first position and orientation of the movement monitoring tools in the image coordinate system and the second position and orientation thereof in the positioning coordinate system, and calculating overall errors of coordinate transformation of the movement monitoring tools from the positioning coordinate system to the image coordinate system based on the optimal coordinate transformation relation; and evaluating movement degree of a human organ at various moments relative to a preoperative scanning moment based on the real-time determined overall errors of coordinate transformation of the movement monitoring tools at the various moments.

Apparatus and methods are described including inserting a tool into a blood vessel, and, while the tool is within the blood vessel, acquiring an extraluminal image of the blood vessel. In the extraluminal image of the blood vessel, a location of a portion of the tool with respect to the blood vessel is detected automatically. In response to detecting the location of the portion of the tool, a target portion of the blood vessel that is in a vicinity of the portion of the tool is designated automatically. Using the extraluminal image, quantitative vessel analysis is performed on the target portion of the blood vessel. Other embodiments are also described.

A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.

A treatment device and methods for HIFU treatment of thyroid and parathyroid disorders are provided. The treatment device comprises the first sensor for detecting swallowing motion and the second sensor for tracking the motion of the thyroid and parathyroid tissue with ultrasound imaging. Thus, the treatment device allows for safe and non-invasive use of HIFU on thyroid and parathyroid tissue of patients by synchronizing HIFU pulse delivery with patient swallowing and/or directing the applicator of HIFU energy to follow the appropriate tissue when the patient moves.

In one embodiment, a method of repairing a heart valve accesses an interior of a patient's beating heart minimally invasively and inserts one or more sutures into each of a plurality of heart valve leaflets with a suturing instrument. The suture ends of the sutures are divided into suture pairs, with each pair including one suture end from a suture inserted into a first valve leaflet and one suture end from a suture inserted into a second valve leaflet. One or more tourniquet tubes is advanced over the suture pairs to the leaflets to draw the sutures together to coapt the leaflets and then the sutures are secured in that position.

A medical image diagnostic apparatus includes a marker to be placed on a subject, at least one imaging unit configured to capture images of the subject and the marker, and a detection unit configured to detect movement of the marker from the images captured by the imaging unit. The marker includes a plurality of planar structures that can be detected by the detection unit, and the planar structures are spaced apart from each other with a distance no less than a predetermined distance.