Apparatus and methods are described including acquiring 3D image data of a skeletal portion. While a tool that is coupled to a robot is disposed at a first location along an insertion path, two 2D x-ray images are acquired from respective views. A computer processor (i) determines the first location with respect to the 3D image data based upon identifying the first location within the 2D x-ray images and registering the 2D x-ray images to the 3D image data, and (ii) derives a relationship between the first location and a given location within the 3D image data. Subsequently, the robot moves the tool to a second location responsively to the derived relationship. The processor tracks the motion of the robot relative to the first location, derives the second location, and drives a display to display the second location. Other applications are also described.

Respective longitudinal insertion paths for two tools are planned and associated with 3D image data of a skeletal portion. While respective portions of the tools are disposed at first respective locations along their respective longitudinal insertion paths, first and second x-rays of the respective portions of the tools and the skeletal portion are acquired from respective first and second views. A computer processor matches between a tool in the first x-ray and the same tool in the second x-ray by: (A) identifying respective tool elements of each tool within the first and second x-rays, (B) registering the first and second x-rays to the 3D image data, and (C) based upon the identified respective tool elements and the registration, identifying for at least one tool element a correspondence between the tool element and the respective planned longitudinal insertion path for that tool. Other applications are also described.

Disclosed biopsy markers are adapted to serve as localization markers during a surgical procedure. Adaptation includes incorporation of materials detectable under ultrasound during surgery, as well as features for co-registration with image guidance or other real-time imaging technologies during surgery. Such biopsy markers, when used as localization markers, improve patient comfort and reduce challenges in surgical coordination and surgery time. Additional disclosed biopsy markers are adapted to serve as monitoring and/or detection apparatuses. Localization of an implanted marker may be done with ultrasound technology. Ultrasound image data is analyzed to identify the implanted marker. A distance to the marker or a lesion may be determined and displayed. The determined distance may be a distance between the ultrasound probe and the marker or lesion, a distance between the marker or lesion and an incision instrument, and/or a distance between the ultrasound probe and the incision instrument.

Systems and methods for treating a lung of a patient. One embodiment of a method comprises positioning a leadless marker in the lung of the patient relative to the target, and collecting position data of the marker. This method further comprises determining the location of the marker in an external reference frame outside of the patient based on the collected position data, and providing an objective output in the external reference frame that is responsive to movement of the marker. The objective output is provided at a frequency (i.e., periodicity) that results in a clinically acceptable tracking error. In addition, the objective output can also be provided at least substantially contemporaneously with collecting the position data used to determine the location of the marker.

A sleeve for a medical lead includes a tubular body having a first open end and a second open end, a tubular wall extending between the first and second ends and defining a hollow center, and a longitudinal axis extending through the hollow center. A first pocket is disposed in the tubular wall and having a curved transverse cross section and a first access opening at the first open end of the tubular body. A medical lead system includes a medical lead and the sleeve configured to slide over the medical lead and be adjacent to the electrode region.

Disclosed biopsy markers are adapted to serve as localization markers during a surgical procedure. Adaptation includes incorporation of materials detectable under ultrasound during surgery, as well as features for co-registration with image guidance or other real-time imaging technologies during surgery. Such biopsy markers, when used as localization markers, improve patient comfort and reduce challenges in surgical coordination and surgery time. Additional disclosed biopsy markers are adapted to serve as monitoring and/or detection apparatuses. Localization of an implanted marker may be done with ultrasound technology. Ultrasound image data is analyzed to identify the implanted marker. A distance to the marker or a lesion may be determined and displayed. The determined distance may be a distance between the ultrasound probe and the marker or lesion, a distance between the marker or lesion and an incision instrument, and/or a distance between the ultrasound probe and the incision instrument.

A microscope is provided which includes an optical module, an OCT module, and a control device. The optical module is configured to generate optical image representations. The OCT module is configured to generate tomographic recordings. The control device is configured to determine the relative spatial position of a marking element, in each case from an optical image representation of the marking element and from a tomographic recording of the same marking element.

3D image data of a skeletal portion within a subject's body is acquired. Subsequently, one or more radiopaque elements are positioned with respect to the body and first and second x-rays of the radiopaque elements and the skeletal portion are acquired from respective views. Based upon an identified location of the radiopaque elements within the x-rays, and registration of the x-rays to the 3D image data, the location of the radiopaque elements with respect to the 3D image data is determined. An optical image of the body and the radiopaque elements is acquired and the location of the radiopaque elements within the optical image is identified. The 3D image data is overlaid upon the optical image by aligning (a) the location of the radiopaque elements within the 3D image data with (b) the location of the radiopaque elements within the optical image. Other applications are also described.

Apparatus and methods are described including acquiring 3D image data of a targeted vertebra. A processor indicates the targeted vertebra within the 3D image data. A radiopaque element is positioned on the body of the subject with respect to the spine and a radiographic image is acquired. The processor (a) generates a plurality of 2D projections of the targeted vertebra from the 3D image data, (b) for each vertebra that is visible in the radiographic image, identifies if there exists a 2D projection of the targeted vertebra that matches the radiographic image of the vertebra that is visible, and (c) in response, indicates on the 2D radiographic image the vertebra for which a match with a projection of the targeted vertebra was identified, such that a location of the targeted vertebra is identified with respect to the radiopaque element. Other applications are also described.

An example method includes acquiring a first image using a medical imaging modality that includes a two-dimensional field of view to include a patient and a multi-modal marker. A second image is acquired using the medical image modality. The second image includes the patient and the multimodal marker and is along a non-coincident angle with respect to the first image. Predetermined portions of the multi-modal marker are visible in the first and second images and have a known location and orientation with respect to at least one sensor detectable by a tracking system. The method also includes estimating a three-dimensional position for predetermined portions of the multi-modal marker. The method also includes determining an affine transformation for registering a three-dimensional coordinate system of the tracking system with a three-dimensional coordinate system of the medical imaging modality.