In the present disclosure, a radar system is configured to interact with beacons that shift the phase of a received radar transmission to generate a phase shifted response signal. Phase shifters are designed to assign specific frequency responses to identify target locations. The radar module transmits at a modulated signal at first frequency, each beacon receives the radar transmission, phase shifts the signal and returns the phase shifted signal. Where two or more beacons are used, each will apply a different phase shift to the received radar transmission, wherein the frequency identifies the specific beacons. In a radar system, the modulated transmission signal is compared to the returned phase shifted signal to determine a frequency difference between the two signals.

During both invasive and non-invasive treatments and therapies, inaccuracies in locating the areas of interest mean that not all the area is treated, or the treatment is incomplete. A magnetic field probe 100, 1010, 102, 103 is provided that improves determination of a disposition of an implantable magnetic marker 200, the probe comprising a first 110, 120 and second 110, 120 magnetic sensor, substantially disposed along a transverse axis intersecting the longitudinal axis of the probe 150. The first 110, 120 and second 110, 120 magnetic sensors are close to the distal end 160 of the probe, and are separated by a minor sensor separation. A third 120, 130 magnetic sensor is provided close to the proximal end 165, separated by a major sensor separation from the second magnetic sensor 110, 120 close to the distal end 160, the major sensor separation being larger than the minor sensor separation; and the ratio of the major sensor separation to the minor sensor separation is in the range 1.25 to 40, preferably in the range 1.6 to 7.6. In this example, the second magnetic sensor is functionally configured and arranged to co-operate with both the first magnetic sensor and the third magnetic sensor. This may be implemented using three or more magnetic sensors. This provides a probe capable of accurately determining one or more dispositions of the implantable magnetic marker when the distal end of the probe is close to the marker and also when it is further away. In particular, including the pair of sensors close to the distal end may increase the sensitivity and accuracy of the probe.

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.

Surgical systems, navigation systems, and methods involving a robotic manipulator configured to control movement of an instrument to facilitate a surgical procedure. The navigation system includes a camera unit configured to optically track a pose of the instrument and a non-optical sensor coupled to the instrument. The navigation system includes a computing system coupled to the camera unit and being configured to obtain readings from the non-optical sensor. The computing system detects a condition whereby the camera unit is blocked from optically tracking the pose of the instrument. In response to detection of the condition, the computing system tracks the pose of the instrument with the readings from the non-optical sensor.

A method for monitoring the positioning of the teeth including production of a three-dimensional digital initial reference model of the arches of the patient and, for each tooth, definition, from the initial reference model, of a three-dimensional digital reference tooth model; acquisition of updated image of at least one two-dimensional image of the arches in actual acquisition conditions; analysis of each updated image and production, for each updated image, of an updated map; optionally, determination, for each updated image, of rough virtual acquisition conditions approximating the actual acquisition conditions; searching, for each updated image, for a final reference model corresponding to the positioning of the teeth during the acquisition of the updated image, for each tooth model, comparison of the positionings of the tooth model in the initial reference model and in the reference model obtained at the end of the preceding steps to determine the movement of the teeth

A method of registering a luminal network to a 3D model of the luminal network with real-time feedback is disclosed, including generating the 3D model of the luminal network based on images of the luminal network, generating an electromagnetic field about the luminal network, inserting a location sensor into the electromagnetic field, tracking the location of the sensor within the luminal network, comparing the tracked locations of the sensor with sensors located outside of the luminal network and the portions of the 3D model representative of open space, and presenting on a user interface an indication of which portions of the luminal network have been sufficiently traversed by the sensor to register that portion of the luminal network to the 3D model.

The present disclosure presents a trajectory array guide system for defining a trajectory to a target location in the brain of a subject and for guiding an elongated tool along the trajectory. The trajectory array guide system can comprise: a base, an array guide, an imaging unit, and an elongated handle configured for connection with a stereotaxic navigation system. The present disclosure presents a method of using a trajectory array guide system for defining a trajectory to a target location in the brain of a subject and for guiding an elongated tool along the trajectory.

During both invasive and non-invasive treatments and therapies, inaccuracies in locating the areas of interest mean that not all the area is treated, or the treatment is incomplete. A magnetic field probe 100, 101, 102, 103 is provided that improves determination of a disposition of an implantable magnetic marker 200, the probe comprising a first 110, 120 and second 110, 120 magnetic sensor, substantially disposed along a transverse axis intersecting the longitudinal axis of the probe 150. The first 110, 120 and second 110, 120 magnetic sensors are close to the distal end 160 of the probe, and are separated by a minor sensor separation. A third 120, 130 magnetic sensor is provided close to the proximal end 165, separated by a major sensor separation from the second magnetic sensor 110, 120 close to the distal end 160, the major sensor separation being larger than the minor sensor separation; and the ratio of the major sensor separation to the minor sensor separation is in the range 1.25 to 40, preferably in the range 1.6 to 7.6.

In this example, the second magnetic sensor is functionally configured and arranged to co-operate with both the first magnetic sensor and the third magnetic sensor. This may be implemented using three or more magnetic sensors.

This provides a probe capable of accurately determining one or more dispositions of the implantable magnetic marker when the distal end of the probe is close to the marker and also when it is further away.

In particular, including the pair of sensors close to the distal end may increase the sensitivity and accuracy of the probe.

A method may be provided to operate a medical system. First data may be provided for a first 3-dimensional (3D) image scan of an anatomical volume, with the first data identifying a blood vessel node in a first coordinate system for the first 3D image scan. Second data may be provided for a second 3D image scan of the anatomical volume, with the second data identifying the blood vessel node in a second coordinate system for the second 3D image scan. The first and second coordinate systems for the first and second 3D image scans of the anatomical volume may be co-registered using the blood vessel node identified in the first data and in the second data as a fiducial.

A navigation method for a medical operation and implemented by a robotic system is provided. The method includes the steps of: receiving, at a processor of the robotic system, at least one set of navigation data; receiving or generating at least one three-dimensional model of the virtual object in the navigation data; calculating the navigation data to generate a virtual environment and at least one navigation instruction; and presenting, at a user interface associated with the robotic system, the virtual environment and/or the navigation instruction to a user of the robotic system for the user to refer to during the medical operation.