The invention relates to a system for assisting in navigating a medical device (1) in a region of a patient body, such as a cardiac chamber. The system comprises a unit (5) for providing a three-dimensional model of the region and an ultrasound probe (2) for acquiring image signals of the region of the patient body. At least one an ultrasound sensor (6) is attached to the medical device (1) for sensing ultrasound signals emitted by the 5 ultrasound probe (2) and a tracking unit (7) determines a relative position of the at last one ultrasound sensor (6) with respect to the live images and/or the ultrasound probe (2) on the basis of the sensed ultrasound signals. Further, a mapping unit (8) maps the determined relative position of the at least one ultrasound sensor (6) onto the model to generate a visualization of region of the patient body.

Systems and methods for image-guided medical procedures use fluoroscopic 3D reconstructions to plan and navigate a percutaneously-inserted device such as a biopsy tool from an entry point to a target.

Surgical systems and methods are disclosed for creating a 3D model of a patient's affected area using an imaging device, using the model to determine an implant orientation and position, creating patient-matched instrumentation, placing the patient-matched instrumentation on the patient's anatomy, registering a computer-assisted surgical tool, and acquiring registration information. The methods and systems also include associating the surgical tool with a computer to perform a computer assisted surgery. Also disclosed are embodiments of patient-matched instrumentation to acquire registration information.

A system for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient from two-dimensional fluoroscopic images including a structure of markers, a fluoroscopic imaging device configured to acquire a sequence of images of the target area and of the structure of markers, and a computing device. The computing device is configured to estimate a pose of the fluoroscopic imaging device for at least a plurality of images of the sequence of images based on detection of a possible and most probable projection of the structure of markers as a whole on each image of the plurality of images. The computing device is further configured to construct fluoroscopic-based three-dimensional volumetric data of the target area based on the estimated poses of the fluoroscopic imaging device.

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 interventional instrument (30) having ultrasound sensors (S1, S2, S3, S4, . . . ) is tracked using an ultrasound imaging device (10) that acquires and displays a 2D ultrasound image of a visualization plane (18), and performs 2D ultrasound sweeps for a range of plane angles (θ) obtained by rotating the ultrasound probe (12) and encompassing the visualization plane angle. For each ultrasound sensor, an optimal plane is found based on its emitted signal strength over the range of plane angles, and the ultrasound sensor is located in its optimal plane by analyzing the sensor signal as a function of the timing of the beams fired by the ultrasound probe. These locations in their respective optimal planes are transformed to a 3D reference space using a transform (42) parameterized by plane angle, and a visual indicator is displayed of spatial information (T, L) for the interventional instrument generated from the locations of the one or more ultrasound sensors in the 3D reference space.

Described embodiments include a system that includes a display and a processor. The processor is configured to modify an image that includes a representation of a wall of an anatomical cavity, by overlaying an icon that represents an intrabody tool on a portion of the image that corresponds to a location of the intrabody tool within the anatomical cavity, and overlaying a marker on a portion of the representation of the wall that corresponds to a location at which the intrabody tool would meet the wall, were the intrabody tool to continue moving toward the wall in a direction in which the intrabody tool is pointing. The processor is further configured to display the modified image on the display. Other embodiments are also described.

For three-dimensional segmentation from two-dimensional intracardiac echocardiography imaging, the three-dimension segmentation is output by a machine-learnt multi-task generator. Rather than the brute force approach of training the generator from 2D ICE images to output a 2D segmentation, the generator is trained from 3D information, such as a sparse ICE volume assembled from the 2D ICE images. Where sufficient ground truth data is not available, computed tomography or magnetic resonance data may be used as the ground truth for the sample sparse ICE volumes. The generator is trained to output both the 3D segmentation and a complete volume (i.e., more voxels represented than in the sparse ICE volume). The 3D segmentation may be further used to project to 2D as an input with an ICE image to another network trained to output a 2D segmentation for the ICE image. Display of the 3D segmentation and/or 2D segmentation may guide ablation of tissue in the patient.

An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to obtain one or more parameters of a non-robotic device in a surgical space, the non-robotic device engaged by a computer-assisted surgical system; generate, based on at least the one or more parameters of the non-robotic device, guidance content for use by the computer-assisted surgical system to facilitate guided teleoperation of the non-robotic device; and provide the guidance content to the computer-assisted surgical system.

The present disclosure relates, in part, to a scanning sufficiency apparatus that computes whether a handheld scanning device has scanned a volume for a sufficiently long time for there to be detections and then indicate to the user that the time is sufficient in 3-D rendered voxels. Also described is a hand held medical navigation apparatus with system and methods to map targets inside a patient's body.