An exemplary system is configured to obtain anatomical characteristic data representative of a characteristic associated with an anatomical surface to be covered by a physical medical element, the anatomical surface within an internal space of a patient and determine, based on the anatomical characteristic data, a placement guidance parameter set. The placement guidance parameter set may include one or more parameters configured to guide a placement of the physical medical element on the anatomical surface with one or more surgical instruments controlled by a computer-assisted surgical system.

Haptic feedback from a robotic surgical tool can be adjusted based on intra-operative assessment of the accuracy of a pre-operative surgical navigational plans. Navigational reference points are identified in at least one pre-operative image. At least one haptic response is identified for interactions between at least one robotic surgical tool and at least one navigational reference point. At least one intra-operative image is compared to the pre-operative image to determine the relative position of at least two corresponding navigational reference points in the images. The reference points' relative position determines a confidence level in the accuracy of the pre-operative navigational reference point. The haptic response is adjusted in timing, location, type, or amplitude based upon the confidence level. Tolerances and surgical navigation plan may also be updated and altered based on the confidence level.

Systems, methods and devices for use in tracking are described, using optical modalities to detect spatial attributes or natural features of objects, such as, tools and patient anatomy. Spatial attributes or natural features may be known or may be detected by the tracking system. The system, methods and devices can further be used to verify a calibration of a tool either by a computing unit or by a user. Further, the disclosure relates to detection of spatial attributes, including depth information, of the anatomy for purposes of registration or to create a 3D surface profile of the anatomy.

A method of continuously registering a model of anatomic passageways to a patient space includes: collecting a set of measured points along a flexible catheter as the catheter is inserted into the passageways, the measured points based on a shape of the catheter; assigning each measured point to a respective subset of a plurality of subsets based upon a depth of each measured point within the passageways; comparing the plurality of subsets to identify a first optimal subset; registering the model to the patient space based on a set of model points and the first optimal subset; collecting additional measured points; updating the plurality of subsets by assigning each additional measured point to a respective subset; comparing, after the updating, the plurality of subsets to identify a second optimal subset; and registering the model to the patient space based on the set of model points and the second optimal subset.

A method and apparatus for identifying blood vessels in ultrasound images and displaying blood vessels in ultrasound images are described. In some embodiments, the method is implemented by a computing device and includes receiving ultrasound images that include a blood vessel, and determining, with a neural network implemented at least partially in hardware of the computing device, diameters of the blood vessel in the ultrasound images. The diameters include a respective diameter of the blood vessel for each ultrasound image of the ultrasound images. The method includes determining a blood vessel diameter based on the diameters of the blood vessel, selecting a color based on the blood vessel diameter, and indicating, in one of the ultrasound images, the blood vessel with an indicator having the color.

A system and method for prostate cancer treatment under local anesthesia includes creating a superficial skin and subcutaneous block in a perineal area of a patient by administering a first anesthetizing agent; creating a deep nerve block under ultrasound guidance by administering a second anesthetizing agent, the second anesthetizing agent infiltrating cavernosal nerve bundle tissue and periprostatic space; and ablating prostate tissue. The office-based method, statistical models and computer generated treatment plans identify and ablate prostate tissue containing cancer through or via the perineum while preserving prostate function, and critical anatomical structures. Multiple technologies are integrated and processed to deliver a safe treatment procedure, under local anesthesia by integrating the information of magnetic resonance imaging and planning the ablative treatment using algorithms that ensure maximal precision in both killing cancerous tissue and preserving healthy tissue along with its corresponding function.

A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

Examples relate to apparatuses, methods and computer programs for a microscope system, more specifically, but not exclusively, to the use of two optical imaging modules to obtain image data having a first and a second field of view. The apparatus comprises an interface. The interface is suitable for obtaining first image data of a sample from a first optical imaging module. The first image data has a first field of view. The interface is suitable for obtaining second image data of the sample from a second optical imaging module. The second image data has a second field of view. The first field of view comprises the second field of view. The apparatus comprises a processing module. The processing module is configured to generate an image output signal for a display of the microscope system. In some embodiments, the processing module is configured to process the first image data to detect an abnormality outside the second field of view. In this case, information on the abnormality is overlaid over the second image data within the image output signal. Additionally or alternatively, an overview of the first image data is overlaid over the second image data within the image output signal. The processing module is configured to provide the image output signal to the display.

The present teaching relates to method, system, medium, and implementations for estimating 3D coordinate of a 3D virtual model. Two pairs of feature points are obtained. Each of the pairs includes a respective 2D feature point on an organ observed in a 2D image, acquired during a medical procedure, and a respective corresponding 3D feature point from a 3D virtual model, constructed for the organ prior to the procedure based on a plurality of images of the organ. The first and the second 3D feature points have different depths. A 3D coordinate of a 3D feature point is determined based on the pairs of feature points so that a projection of the 3D virtual model from the 3D coordinate substantially matches the organ observed in the 2D image.

A medical device and a method of use thereof for frameless stereotaxy guided intracranial surgery. The medical device includes a central section made from a material that is transparent to ultrasound providing a sonic window, and an ultrasound reflective frame surrounding the central section. The method includes the steps of registering the ultrasound reflective frame with the frameless stereotaxy system for localization of the medical device during surgery. The medical device allows use of ultrasound imaging wherein the output of ultrasound imaging can be computationally combined with MRI or CT imaging data to compensate for anatomical changes in brain during surgery and enhanced localization and navigation to the surgery target.