A robotic surgical system employing a treatment catheter (30) (e.g., a thermoablation catheter or a cyroablation catheter), and an articulated robot (40) including a the linkages for navigating the treatment catheter (30) within an anatomical region. The robotic surgical system further employs a robot controller (41) for controlling a navigation by the articulated robot (40) of the treatment catheter (30) along a intraoperative treatment path within the anatomical region relative to the anatomical structure derived from a planned treatment path within the anatomical region relative to the anatomical structure based on a registration between the articulated robot (40) and a preoperative image (21a) illustrative of the planned treatment path within the anatomical region relative to the anatomical structure.

A system and method of correlating or coregistering medical images is disclosed herein that includes acquiring a sur-face image of the patient's skin surface using a surface detector assembly comprising a surface frame and a camera system registered to the surface frame. Positional coordinates of one or more surface landmarks in the surface image are determined and a medical image of the patient is acquired having the surface frame depicted therein. A second surface image of the patient's skin surface is ac-quired that at least partially overlaps the previously acquired surface image. Positional coordinates of one or more surface landmarks in the second surface image are determined and compared with surface landmarks in the previous surface image. Common surface landmarks are determined based on the comparison and the medical images are coregistered based on positional coordinates of the common surface landmarks.

According to an embodiment, there is provided that processing circuitry configured to determine a first radiation timing at which a subject is irradiated with an X-ray, based on information on motion of an object in X-ray image data, the information on motion being calculated by the X-ray image data, the X-ray image data being associated with an electrocardiographic waveform of the subject, and repeatedly irradiate the subject with an X-ray at the first radiation timing per cycle of the electrocardiographic waveform of the subject.

Various surgical systems are disclosed. A surgical system can include a surgical robot and a surgical hub. The surgical robot can include a control unit in signal communication with a control console and a robotic tool. The surgical hub can include a display. The surgical hub can be in signal communication with the control unit. A facility can include a plurality of surgical hubs that communicate data from the surgical robots to a primary server. To alleviate bandwidth competition among the surgical hubs, the surgical hubs can include prioritization protocols for collecting, storing, and/or communicating data to the primary server.

An embodiment is for determining a region of interest to be rendered in an ultrasound volume data set of an interior of an object under examination. In an embodiment, the method includes: determining a projection position in a two dimensional X-ray projection image of the object under examination, wherein a projection ray correlated to the projection position passes through the region of interest; and extracting a partial data set encompassed by the ultrasound volume data set using the projection position determined and based upon geometrical information relating to the X-ray 3D ultrasound unit.

3D image data of a skeletal portion is acquired. A location of a proximal portion of a tool is calculated and a location is derived of a distal portion of the tool with respect to the skeletal portion, with respect to the 3D image data. A display indicates the derived location. First and second 2D images of the distal portion of the tool are acquired from two different poses of a 2D imaging device with respect to the subject and registered with the 3D image data. The location of the distal portion with respect to the 3D image data of the skeletal portion is determined based on the registration and an identified location of the distal portion within the 2D x-rays. Based upon the determined location, the display updates the indicated location of the distal portion. Other embodiments are also described.

Systems and methods for imaging. An external device may be used to acquire optical image data of a subject. One or more physical parameters of the subject may be determined based on the optical image data. The one or more physical parameters may be translated to one or more properties of the subject. The one or more properties may then be used to generate medical image data of the subject.

A processing device may execute instructions from a computer readable medium to perform operations comprising: making a comparison between first image data of at least a portion of a dental arch and second image data of at least the portion of the dental arch; determining a plurality of differences between a first representation of at least the portion of the dental arch in the first image data and a second representation of at least the portion of the dental arch in the second image data; determining that a first difference of the plurality of differences is attributable to tooth movement; determining that a second difference of the plurality of differences is attributable to tooth wear to one or more teeth on at least a portion of the dental arch; and generating a third representation of at least the portion of the dental arch that is a modified version of the second representation, wherein a visual indication of the tooth wear is provided in the third representation.

An image processing apparatus includes: an obtaining unit configured to obtain three-dimensional image data and positions of a plurality of feature points in the three-dimensional image data; a designation unit configured to designate a designation point indicating a portion of interest in the three-dimensional image data; a selection unit configured to select, using information determined by a position of the designation point and the positions of the plurality of feature points, a feature point from the plurality of feature points; a generation unit configured to generate, from the three-dimensional image data, a cross section image on a plane determined based on the position of the designation point and a position of the selected feature point; and a display control unit configured to cause a display unit to display the generated cross section image.

Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.