Embodiments of the present disclosure provide improved methods and apparatus for coupling a probe to an instrument device manipulator (e.g., robotic arm). In some embodiments, a probe, which may be carried by a handpiece, is configured to couple to the end of a device manipulator of a robotic arm. A transmission can be provided that is configured to couple to the probe and also couple to the instrument device manipulator. The transmission can be configured to receive motion input from the instrument device manipulator and transfer the motion input into motion of the probe. The transmission can provide improved movement of the probe. By decreasing the number of components on the handpiece and probe, the handpiece and probe can be provided as a sterile, single use consumable device and the transmission can be reused.

According to various embodiments, there is provided a headset mountable on a head, the headset including a probe for emitting energy into the head. The headset further includes a support structure coupled to the probe. The support structure includes translation actuators for translating the probe along two axes generally parallel to a surface of the head.

A combination of an ultrasonic scanner and an omnidirectional receive transducer for producing a two-dimensional image from received echoes is described. Two-dimensional images with different noise components can be constructed from the echoes received by additional transducers. These can be combined to produce images with better signal to noise ratios and lateral resolution. Also disclosed is a method based on information content to compensate for the different delays for different paths through intervening tissue is described. The disclosed techniques have broad application in medical imaging but are ideally suited to multi-aperture cardiac imaging using two or more intercostal spaces. Since lateral resolution is determined primarily by the aperture defined by the end elements, it is not necessary to fill the entire aperture with equally spaced elements. Multiple slices using these methods can be combined to form three-dimensional images.

A device and method for directing a cannula toward a target location under a patient's skin. The device is handheld and the device operations may be automated. The device includes an imaging probe for imaging the target location, a positioning unit for manipulating a cannula towards the target location, and a processor. The processor receives imaging data from the imaging probe, cannula pose data from at least one cannula position sensor, and device pose data from at least one device position sensor. The target location is identified from the imaging data, and a trajectory for manipulating the cannula towards the target location is determined based on the imaging data, the cannula pose data, and the device pose data. The processor may determine that the trajectory becomes misaligned with the target position, and may update to a corrected trajectory based on the imaging data, cannula pose data, and the device pose data.

A robot-assisted approach for transrectal ultrasound (TRUS) guided prostate biopsy includes a hands-free probe manipulator that moves the probe with the same 4 degrees-of-freedom (DoF) that are used manually. Transrectal prostate biopsy is taken one step further, with an actuated TRUS manipulation arm. The robot of the present invention enables the performance of hands-free, skill-independent prostate biopsy. Methods to minimize the deformation of the prostate caused by the probe at 3D imaging and needle targeting are included to reduce biopsy targeting errors. The present invention also includes a prostate coordinate system (PCS). The PCS helps defining a systematic biopsy plan without the need for prostate segmentation. A novel method to define an SB plan is included for 3D imaging, biopsy planning, robot control, and navigation.

In a transcatheter treatment support technique using a combination of a guide wire equipped with a photoacoustic technique and an ultrasonic imaging device, the ultrasonic imaging device estimates a front edge position of the guide wire using a difference between arrival times of photoacoustic waves arriving at an array of elements configuring an ultrasonic probe or a change of an image of the photoacoustic generation source, which depends on a distance of the photoacoustic generation source from an imaging region, and grasps a relationship between an imaging position and the front edge position of the guide wire using the estimation result. This enables visually grasping a relationship between a region (imaging region) from which an image is able to be obtained with reflective waves from a biological body with use of the ultrasonic probe and an insertion object present outside the region, particularly, the front edge of the guide wire.

A method includes registering a region of interest in 3-D imaging data with an initial ultrasound image so that the region of interest is in an imaging plane of the initial ultrasound image. The method further includes acquiring a subsequent ultrasound image with a transducer array. The method further includes comparing the initial ultrasound image and the subsequent ultrasound image. The method further includes steering at least one of the transducer array or an instrument based on a result of the comparing so that at least one of the region of interest or the instrument is in the imaging plane.

An ultrasonic wave imaging apparatus is disclosed, including: an ultrasonic probe for irradiating a subject with an ultrasonic wave and receive a reflected wave of the ultrasonic wave and receiving an ultrasonic wave from a beacon inserted into the subject; a probe position-acquiring unit for acquiring a 3D position and an orientation of the ultrasonic probe; a beacon location-acquiring unit for determining a 3D location of the beacon from relative location and speed of the beacon relative to the ultrasonic probe as calculated from an ultrasonic wave image received at the ultrasonic probe and the 3D position and the orientation of the ultrasonic probe as acquired by the probe position-acquiring unit; and a display image formation section for using the ultrasonic wave image of the ultrasonic waves from the ultrasonic probe to form a display image. A corresponding method is also disclosed.

With a device and an associated method, an ultrasound unit is coupled with a coupling unit to an existing x-ray unit. The ultrasound unit is guided with the aid of controllable elements of a positioning unit of the x-ray unit on a patient for an ultrasound examination. In this manner X-ray recordings and ultrasound recordings of an object can be produced.

Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.