A system includes a first radiation source configured to provide therapeutic radiation in a treatment area and an automated patient transport configured to transport a patient from a preparation area to the treatment area, to position a treatment volume in the patient relative to the therapeutic radiation from the first radiation source, and to support the patient in receiving the therapeutic radiation. The automated patient transport comprises a first detector configured to detect a first patient positioning indicator located in and/or on the patient indicative of a position of the treatment volume.

Apparatus and methods are described including acquiring 3D image data of a targeted skeletal portion within a body of a subject, and a 2D radiographic image of the targeted skeletal portion. A machine-learning engine is used to generate machine-learning data based on (i) the 3D image data of the targeted skeletal portion, (ii) a database of 2D projection images generated from the 3D image data, and (iii) respective values of one or more viewing parameters corresponding to each 2D projection image. A computer processor receives the machine-learning data, receives the 2D radiographic image of the targeted skeletal portion, and registers the 2D radiographic image to the 3D image data by using the machine-learning data to find a 2D projection from the 3D image data that matches the 2D radiographic image of the targeted skeletal portion. Other applications are also described.

The invention relates to a passive pressure sensor (501) for being introduced into the circulatory system of a human being and for being wirelessly read out by an outside reading system. The pressure sensor comprises a casing (502) with a diffusion blocking layer for maintaining a predetermined pressure within the casing and a magneto-mechanical oscillator with a magnetic object (508) providing a permanent magnetic moment. The magneto-mechanical oscillator transduces an external magnetic or electromagnetic excitation field into a mechanical oscillation of the magnetic object, wherein at least a part of the casing is flexible for allowing to transduce external pressure changes into changes of the mechanical oscillation of the magnetic object. The pressure sensor can be very small and nevertheless provide high quality pressure sensing.

A tracking system for tracking a marker device for being attached to a medical device is provided, whereby the marker device includes a sensing unit comprising a magnetic object which may be excited by an external magnetic or electromagnetic excitation field into a mechanical oscillation of the magnetic object, and the tracking system comprises a field generator for generating a predetermined magnetic or electromagnetic excitation field for inducing mechanical oscillations of the magnetic object, a transducer for transducing a magnetic or electromagnetic field generated by the induced mechanical oscillations of the magnetic object into one or more electrical response signals, and a position determination unit for determining the position of the marker device on the basis of the one or more electrical response signals.

The invention relates to a marker device and a tracking system for tracking the marker device, wherein the marker device comprises a rotationally oscillatable magnetic object and wherein the rotational oscillation is excitable by an external magnetic field, i.e. a magnetic field which is generated by a magnetic field providing unit 20, 31 that is located outside of the marker device. The rotational oscillation of the magnetic object induces a current in coils, wherein based on these induced currents the position and optionally also the orientation of the marker device is determined. This wireless kind of tracking can be carried out with relatively small marker devices, which can be placed, for instance, in a guidewire, the marker devices can be read out over a relatively large distance and it is possible to use a single marker device for six degrees of freedom localization.

The invention relates to a measurement device 1 comprising a rotatable magnetic object 4 which can oscillate with a resonant frequency if excited by an external magnetic torque. The measurement device 1 is adapted such that the resonant frequency depends on the temperature or on another physical or chemical quantity like pressure, in order to allow for a wireless temperature measurement or measurement of the other physical or chemical quantity via an external magnetic field providing the external magnetic torque. This measurement device can be relatively small, can be read-out over a relatively larger distance and allows for a very accurate measurement.

A medical procedure system, including a medical instrument to be inserted into a body part, and including position-tracking transducers to provide position signals, a distal end, and at least one radiopaque marker, a position tracking sub-system to compute a position including at least one location and orientation of the distal end in a position-tracking sub-system coordinate frame responsively to the position signals, a fluoroscope to capture fluoroscopic images of an interior of the body part and the radiopaque marker(s), and a registration sub-system to render, to a display, the captured fluoroscopic images including at least one marker-image of the radiopaque marker(s), and at least one graphical representation indicative of the computed position of the distal end, receive user-alignment input aligning the graphical representation(s) with the marker-image(s), and register the position-tracking sub-system coordinate frame with a coordinate frame of the fluoroscope responsively to the received user-alignment input.

A biopsy tracking kit includes a trocar, a stylet, a biopsy needle, a biopsy tracking cassette, and a fiducial marker. The trocar has a cannula with a blunt first end and a second end with a cup. The stylet has a conical tip at a first end and a cap on a second end that engages the cup of the trocar and prevents the stylet from falling through the trocar. The biopsy needle is used to obtain biopsy specimens when inserted through the trocar. The biopsy tracking cassette comprises an internal surface with a plurality of coded zones in a single column, and is used to differentiate the biopsy specimen into smaller regions. The fiducial marker is oriented to mark the position where the biopsy specimen was taken. Other systems, devices, and methods of use are also described.

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.

An ultrasound imaging system having real-time tracking and image registration includes a fiducial-marker system comprising an ultrasound transmitter structured to provide a localized ultrasound pulse at an optically observable localized spot on a body of interest. The system further includes an optical imaging system, a two-dimensional ultrasound imaging system, an optical image processing system, and an ultrasound image processing system. The ultrasound imaging system further includes a registration system configured to communicate with the optical image processing system and the ultrasound image processing system to receive information, the registration system being further configured to determine a coordinate transformation that registers the optical image with the two-dimensional ultrasound image based at least partially on information concerning the spatial locations determined for the combined ultrasound and optical fiducial marker observed in the optical image and in the two-dimensional ultrasound image.