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 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.

Methods and systems for image processing are provided. Image data may be obtained. The image data may include a plurality of voxels corresponding to a first plurality of ribs of an object. A first plurality of seed points may be identified for the first plurality of ribs. The first plurality of identified seed points may be labelled to obtain labelled seed points. A connected domain of a target rib of the first plurality of ribs may be determined based on at least one rib segmentation algorithm. A labelled target rib may be obtained by labelling, based on a hit-or-miss operation, the connected domain of the target rib, wherein the hit-or-miss operation may be performed using the labelled seed points to hit the connected domain of the target rib.

The present disclosure is related to systems and methods for image processing. The method may include obtaining an image including at least one of a first type of artifact or a second type of artifact. The method may include determining, based on a trained machine learning model, at least one of first information associated with the first type of artifact or second information associated with the second type of artifact in the image. The trained machine learning model may include a first trained model and a second trained model. The first trained model may be configured to determine the first information. The second trained model may be configured to determine the second information. The method may include generating a target image based on at least part of the first information and the second information.

A sensor-based bare hand data labeling method and system are provided. The method comprises: performing device calibration processing on a depth camera and on one or more sensors respectively preset at one or more specified positions of a bare hand, so as to acquire coordinate transformation data; collecting a depth image of the bare hand by the depth camera, and collecting 6DoF data of one or more bone points; acquiring, based on the 6DoF data and the coordinate transformation data, three-dimensional position information of a preset number of bone points; determining two-dimensional position information of the preset number of bone points on the depth image based on the three-dimensional position information of the preset number of bone points; and labeling joint information on all of the bone points in the depth image according to the two-dimensional position information and the three-dimensional position information.

Provided is a measurement apparatus including a processor and a storage unit. The storage unit holds measurement data of each time point which is obtained by a photographing apparatus, and temporal-spatial constraints. The processor extracts a position of an object from the measurement data of each time point, determines whether the object satisfies the temporal-spatial constraints, and determines, based on a result of the determination on whether the object satisfies the temporal-spatial constraints, whether the object is an analysis target.

An image processing apparatus performs first noise reduction processing on a plurality of radiation images corresponding to mutually-different radiation energies, generates a decomposition image by energy subtraction processing using the plurality of radiation images obtained by performing the first noise reduction processing, and performs second noise reduction processing on the decomposition image, wherein the second noise reduction processing uses a filter that differs from a filter used in the first noise reduction processing in at least one of size and type.

Systems, methods and devices for use in tracking are described, using optical modalities to detect spatial attributes or natural features of objects, such as, tools and patient anatomy. Spatial attributes or natural features may be known or may be detected by the tracking system. The system, methods and devices can further be used to verify a calibration of a tool either by a computing unit or by a user. Further, the disclosure relates to detection of spatial attributes, including depth information, of the anatomy for purposes of registration or to create a 3D surface profile of the anatomy.

A robotic arm control system including a medical instrument to be inserted into a body-part, a force sensor to detect force applied by the instrument to the body-part, a robotic arm attached to the instrument, a first position sensor to track an instrument position of the instrument in the body-part, a second position sensor to track a body position of the body-part, and a controller to compute, responsively to the instrument position and the body position, a location of the instrument relative to the body-part, compare the detected force applied by the instrument to a permitted force level for application to an anatomical feature at the computed location and send a control command to, or cut power of, the robotic arm to loosen a rigidity of at least one robotic joint in response to the detected force applied by the instrument being greater than the permitted force level.