An ultrasound imaging method includes providing a digital representation of the shape of a surface or boundary of an anatomic region or organ; acquiring an ultrasound image by ultrasound scanning the anatomic region or organ; and combining the digital representation of the shape of the surface or boundary of the anatomic region or organ by registering the digital representation of the shape of the surface or boundary and the ultrasound image as a function of the difference in position of selected reference points on the digital representation of the surface or boundary and on the ultrasound image, the position of the reference points on the ultrasound image being determined by tracking the probe position at the reference points at the anatomic region or organ of a real body and in a spatial reference system, in which the anatomic region or the organ of the real body is placed.

The invention relates to a system for determining an optimal position of a surgical instrument relative to a patient's bone tracker, the system comprising:—a medical imaging system configured to acquire at least one cone beam computed tomography intraoperative image of the patient;—a localization device;—a computer configured to receive images from the medical imaging system and localization data from the localization device and to implement the following method: the method comprising: ⋅(a) receiving at least one preoperative 2D X-ray image of the bone while the patient is in a position of interest; ⋅(b) acquiring an intraoperative 3D medical image of the bone by cone beam computed tomography while the patient is in an operative position different from the position of interest, the 3D image being registered with the coordinate system of the bone tracker; ⋅(c) registering the intraoperative 3D medical image onto the at least one preoperative 2D X-ray image, so as to obtain a registered 3D image representing the bone in the position of interest; ⋅(d) planning a surgical procedure on the registered 3D medical image taking into account said position of interest; ⋅(e) determining an optimal position of the surgical instrument relative to the patient's bone tracker for implementing said planned surgical procedure.

A method of providing user guidance. First patient image data of a patient's body is obtained. A registration instruction indicative of where to acquire a registration point relative to a surface of the body is determined. Second patient image data of the body, having been acquired by an augmented reality device, is obtained. A transformation between coordinate systems of the first and the second patient image data is determined. Based on the transformation, display of the registration instruction on a display of the AR device is triggered such that a user of the AR device is presented an augmented view with the registration instruction being overlaid onto the patient's body. The augmented view guides the user where to acquire the registration point. Also disclosed are a computing system, a surgical navigation system, and a computer program product.

A system for performing at least a portion of a robotic knee arthroplasty can include a robotic surgical device including an end effector configured to receive a trial component removably connected thereto. The trial component can be engageable with a resected bone. The system can include a processor communicatively coupled to the surgical robot. The processor can be configured to determine a characteristic of the resected bone. The processor can be configured to plan a placement location of the trial component on the resected bone based on the determined characteristic of the resected bone. The processor can be configured to move the end effector to position the trial component on the resected bone based on the determined characteristic of the resected bone and based on the plan.

A mobile surgical tracking system comprises a mobile surgical tracking device comprising an integrated fiducial marker and an imaging device. The imaging device is configured to generate an image of a patient's anatomical structure. The mobile surgical tracking system comprises a tracking system coordinate frame. The integrated fiducial marker has a position which has a known relation to the tracking system coordinate frame for the direct registration of the image to the coordinate system of the mobile surgical tracking device.

A medical/surgical microscope with two cameras configured to capture two dimensional images of specimens being observed. The medical/surgical microscope is secured to a control apparatus configured to adjust toe-in of the two cameras to insure the convergence of the images. The medical/surgical microscope includes a computer system with a non-transitory memory apparatus for storing computer program code configured for digitally rendering real-world medical/surgical images. The medical/surgical microscope has an illumination system with controls for focusing and regulating the lighting of a specimen. The medical/surgical microscope is configured for real-time video display with the function of recording and broadcasting simultaneously during surgery.

A system for sizing an implant for a patient pre-operatively comprises a processor unit. A non-transitory computer-readable memory may be communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for obtaining at least one radiographic patient image of at least one patient bone with a scale marker relative to the bone, the scale marker having a known geometry, setting a scale of the at least one radiographic patient image using the known geometry of the scale marker, generating a three-dimensional bone model representative of the at least one patient bone using the at least one radiographic patient image and the scale, identifying an implant size and/or an implant model using implant models and dimensions of the three-dimensional bone model based on said scale, and outputting the implant size and/or the implant model for the patient.

A system is disclosed that includes an optical tracking device and a surgical computing device. The optical tracking device includes a structured light module and an optical module that includes an image sensor and is spaced from the structured light module at a known distance. The surgical computing device includes a display device, a non-transitory computer readable medium including instructions, and processor(s) configured to execute the instructions to generate a depth map from a first image captured by the image sensor during projection of a pattern into a surgical environment by the structured light module. The pattern is projected in a near-infrared (NIR) spectrum. The processor(s) are further configured to execute the stored instructions to reconstruct a 3D surface of anatomical structure(s) based on the generated depth map. Additionally, the processor(s) are configured to execute the stored instructions to output the reconstructed 3D surface to the display device.

An endoscope navigation system is provided that updates an anatomy model based on a live camera signal. As the endoscope advances within the patient, a camera signal, and corresponding position signal, of the endoscope, is provided and used to update the anatomy model based on identified divergences between the camera signal at a particular position and anatomy model.

A method of sequential monoscopic tracking is described. The method includes generating a plurality of projections of an internal target region within a body of a patient, the plurality of projections comprising projection data about a position of an internal target region of the patient. The method further includes generating external positional data about external motion of the body of the patient using one or more external sensors. The method further includes generating, by a processing device, a correlation model between the projection data and the external positional data by fitting the plurality of projections of the internal target region to the external positional data. The method further includes estimating the position of the internal target region at a later time using the correlation model.