Systems, methods, and apparatus are disclosed for cardiac structure tracking. An example method includes segmenting a diaphragm or respiratory surrogate, heart, and target. The method also includes performing a peak-exhale to peak-inhale registration and generating a respiratory motion model. The method further includes tracking the diaphragm using X-ray imaging and estimating a target position for an x-ray guided cardiac radioablation treatment. The example method provides directly, precisely controlled x-ray guided cardiac radioablation that accurately targets the substrates of cardiac ablation while minimizing doses to healthy tissue.

The disclosure relates to a medical engineering robot, a medical system, a method for operation thereof, a corresponding computer program, and a corresponding computer-readable storage medium. By controlling a pose of an instrument arm of the robot relative to a respective examination object to be treated or to be examined by the robot, the disclosure makes provision for automatically bringing the instrument arm into contact with the examination object and through this for setting a predetermined pose of the examination object.

A location of a number of fiducial points can be computed. The fiducial points can include impedance locations of an electrode disposed on a catheter in an impedance based coordinate system and magnetic locations of a magnetic position sensor disposed on the catheter in a magnetic based coordinate system. The impedance location of the electrode in the impedance based coordinate system can be transformed into a transformed impedance location of the electrode in the magnetic based coordinate system. A magnetic location of the electrode in the magnetic based coordinate system can be determined. A determination of whether an impedance shift exists between the transformed impedance location of the electrode in the magnetic based system and the magnetic location of the electrode in the magnetic based system can be made. An electromagnetic dynamic registration can be generated between the impedance based coordinate system and the magnetic based coordinate system based on the impedance shift.

A method includes receiving during a first time interval associated with a path of motion of a dynamic body, image data associated with a plurality of images of the dynamic body. The plurality of images include an indication of a position of a first marker coupled to a garment at a first location, and a position of a second marker coupled to the garment at a second location. The garment is coupled to the dynamic body. During a second time interval, an image from the plurality of images is automatically identified that includes a position of the first marker that is substantially the same as a position of a first localization element relative to the dynamic body and a position of the second marker that is substantially the same as a position of the second localization element relative to the dynamic body.

The present disclosure relates to systems, devices and methods for providing visual guidance for navigating inside a patient's chest. An exemplary method includes presenting a three-dimensional (3D) model of a luminal network, generating, by an electromagnetic (EM) field generator, an EM field about the patient's chest, detecting a location of an EM sensor within the EM field, determining a position of a tool within the patient's chest based on the detected location of the EM sensor, displaying an indication of the position of the tool on the 3D model, receiving cone beam computed tomography (CBCT) image data of the patient's chest, detecting the location of the tool within the patient's chest based on the CBCT image data, and updating the indication of the position of the tool on the 3D model based on the detected location.

The present invention relates to means and methods for modifying renal function in a subject, comprising selecting a patient requiring an increment in renal function; emitting a quantity of ultrasound radiation, enough to provide an increment in renal function, to at least one part of a kidney for a period of time from about 1 hours to about 30 days.

An apparatus for attaching a medical device to a subject's body, either directly to the subject's body or to an intermediary element on the subject's body. The apparatus prevents substantially any relative movement between the medical device and the subject's body. Such an apparatus comprises: (i) a back base positioned between the subjects body and a surface that the subject lies thereon, (ii) at least one set of straps connected to the back base and to at least one of the medical device and the intermediary element, and (iii) at least one set of connectors providing a connection between the at least one set of straps and one or more of the medical device, the intermediary element and the back base. The apparatus may further comprise any of pivoting connectors, a respiration sensor, and straps with a stretchable section. The apparatus may be used in combination with a sterile drape.

A method and system of correcting alignment of catheter relative to a target including receiving signals from an inertial measurement unit located at a distal end of a catheter, determining movement of the distal end of the catheter caused by physiological forces, receiving images depicting the distal end of the catheter and the target, identifying the distal end of the catheter and the target in the images, determining an orientation of the distal end of the catheter relative to the target and articulating the distal tip of the catheter in response to the detected movement to achieve and maintain an orientation towards the target such that a tool extended from an opening at the distal end of the catheter would intersect the target.

A system and method for ensuring safe and tolerable insertion of a needle into a subject's body according to a preplanned or continuously monitored sequence of insertion steps. The system comprises a gripping device for gripping the needle in order to perform robotic insertion steps, yet for releasing the grip between such insertion steps, until the next insertion step is initiated. Thereby, the robot has full control of the needle during insertion steps, but does not constrain the needle between insertions, such that movement of the subject can cause neither damage nor discomfort. The gripping and insertion steps may be coordinated to keep in synchronization with the subject's breathing cycles, such that the insertion steps may be performed in the same segment of each cycle of motion of the subject's chest. The gripper can either fully disconnect from the needle, or can partially disconnect but constrain motion within limits.

Systems and methods for controlling a robotic arm are provided. A breathing pattern of a patient may be controlled and a sample of the breathing pattern may be obtained. A pattern of movement of an anatomical element based on the sample may be determined. A trajectory of a robotic arm may be adjusted based on the pattern of movement.