A surgical system includes a camera tracking system that determines a first pose transform between a first object coordinate system and the first tracking camera coordinate system based on first object tracking information from the first tracking camera which indicates pose of the first object. The camera tracking system determines a second pose transform between the first object coordinate system and the second tracking camera coordinate system based on first object tracking information from the second tracking camera indicating pose of the first object, and determines a third pose transform between a second object coordinate system and the second tracking camera coordinate system based on second object tracking information from the second tracking camera indicating pose of the second object. The camera tracking system determines a fourth pose transform between the second object coordinate system and the first tracking camera coordinate system based on combining the first, second, and third pose transforms.

A high-low intensity focused ultrasound treatment apparatus according to the present disclosure includes a plurality of ultrasound sources, and a controller to control a center frequency and intensity of focused ultrasound outputted from the ultrasound sources, wherein each of the ultrasound sources includes a first ultrasound transducer to output low-intensity focused ultrasound to detect a lesion, and a second ultrasound transducer to output high-intensity focused ultrasound to ablate or remove the detected lesion. The low-intensity focused ultrasound outputted from the first transducer may be used to detect a lesion in a patient's brain by applying a stimulus to the brain, and at the same time, investigating a response, and the high-intensity focused ultrasound outputted from the second transducer may be used to ablate or remove the detected lesion by applying a thermal or mechanical stimulus to the lesion.

Devices, systems, and methods for aiding insertion of a surgical implant by providing a threaded guide tube configured to engage a threaded surgical instrument such that an end-effector of a robot may provide force to drive the surgical implant into a patient. In addition, devices, systems, and methods relating to a dilator system for use with a robotic system that allows independent and separate control of tools within the dilator system.

A system for assisting in performing an interventional procedure includes a first subsystem (1) and a second subsystem at different places, especially in different rooms. At a first place the first subsystem a) generates a first image of a subject (22) while an interventional device (12) is introduced into the subject and b) determines the position of the interventional device within the subject. At a second place the second subsystem a) generates a second image of the subject with the introduced interventional device and b) plans and/or monitors a treatment based on the second image and the already determined position of the interventional device, i.e. the second subsystem does not need to start a completely new position determination procedure, thereby reducing technical efforts. Moreover, the first and second images are generated by different imaging modalities which allows for, for instance, improved image guidance, planning and/or monitoring.

A computer-implemented method to improve the point collection process during registration of a bone for a computer-assisted surgical procedure is provided. Based on bone digitization data, a simulation is performed to confirm the accuracy of the registration for different digitization regions. Results are tested to identify which digitization regions meet a predefined accuracy requirement. The resulting information is used to perform a computer-assisted surgical procedure. A computerized simulation method for registration of a bone for a computer-assisted surgical procedure is also provided based on processor executing random stroking an expected exposed surface of a bone model with multiple of stroke curves to cover most of the bone model surface with uniform noise and a random sample consensus is applied to remove outlying point to yield the best registration results, to find the top subset as to overlap. A method to perform computer-assisted surgery is also provided.

A surgical visualization feedback system is disclosed. The surgical visualization feedback system comprises an emitter assembly configured to emit electromagnetic radiation toward an anatomical structure. The emitter assembly comprises a structured light emitter configured to emit a structured light pattern on a surface of the anatomical structure and a spectral light emitter configured to emit spectral light capable of penetrating the anatomical structure. The surgical visualization feedback system further comprises a waveform sensor assembly configured to detect reflected electromagnetic radiation corresponding to the emitted electromagnetic radiation and a control circuit in signal communication with the waveform sensor assembly. The control circuit is configured to receive an input corresponding to a selected surgical procedure, determine an identity of a targeted structure within the anatomical structure based on the selected surgical procedure and the reflected electromagnetic radiation, and confirm the determined identity of the targeted structure through a user input.

A surgical robot system includes a surgical robot, a robot arm connected to such surgical robot, and an end-effector connected to the robot arm. A registration fixture is used in conjunction with various registration systems in the surgical robot system. Such registration systems likewise include a detachable base in the form of a detachable dynamic reference base, along with an associated mount, the dynamic reference base and mount having certain features which permit the dynamic reference base to be selectively attached, detached, and reattached at different phases of an operation, whether pre-operative or intra-operative, and such successive attachments are done without the dynamic reference base, and tracking markers associated therewith, losing registration. Related methods allow for the more efficient and effective performance of operations by virtue of the dynamic reference base maintaining its registration during attachments and reattachments.

One or more example embodiments of the present invention relates in one aspect to a computer-implemented method for providing a configuration information for a laser guidance system for a medical intervention, comprising receiving laser projection data regarding a laser projection geometry of the laser guidance system; receiving 3D model data regarding a surface, the surface being located within an effective range of the laser guidance system; calculating shadowing data regarding a shadowing effect of the surface on the laser projection geometry based on the laser projection data and the 3D model data; selecting the configuration information based on the shadowing data, the configuration information being indicative of a configuration of the laser guidance system for visualizing a planned path of an instrument for the medical intervention; and providing the configuration information.

In general, devices, systems, and methods for fiducial identification and tracking are provided.

In general, devices, systems, and methods for multi-source imaging are provided.