An end effector for a surgical robotic system, comprising a main body, one or members, and an adjustment mechanism. The main body has an interior sidewall and an opening extending through the main body. The one or more members are located within the main body and extend into and retract from the opening to vary a diameter of the opening through which a tool may be inserted. The adjustment mechanism coupled to the one or more members for varying the diameter of the opening, and comprises a collar coupled to the one or more members such that rotation of the collar in a first direction causes the one or more members to move away from the interior sidewall to reduce the diameter of the opening, and rotation in a second direction causes the one or more members to move towards the interior sidewall to increase the diameter of the opening.

An example radiography scanning system includes: a radiation detector configured to generate digital images based on incident radiation; a radiation source configured to output the radiation toward the radiation detector; a thermal sensor configured to capture thermal images and having a field of view that at least partially overlaps a projection field of the radiation; and a computing device configured to: control the radiation source; receive the digital images from the radiation detector; receive the thermal images from the thermal camera; and output the digital images and the thermal images, in real-time, to a display device.

A nuclear medicine (NM) multi-head imaging system is provided that includes a gantry, plural detector units mounted to the gantry, and at least one processor operably coupled to at least one of the detector units. The detector units are mounted to the gantry. Each detector unit defines a detector unit position and corresponding view oriented toward a center of the bore. Each detector unit is configured to acquire imaging information over a sweep range corresponding to the corresponding view. The at least one processor is configured to, for each detector unit, determine plural angular positions along the sweep range corresponding to boundaries of the object to be imaged, generate a representation of each angular position for each detector unit position, generate a model based on the angular positions using the representation, and determine scan parameters to be used to image the object using the model.

A radiation imaging apparatus comprises an image generating unit configured to generate a material characteristic image by using a plurality of radiation images of different radiation energy levels; an evaluation information calculation unit configured to calculate evaluation information which indicates a correlation between a plurality of material characteristic images; and a scattered ray amount estimation unit configured to estimate, based on the evaluation information, an amount of scattered rays included in the plurality of radiation images.

A radiation detector module includes a frame, a module circuit board connected to the frame, detector units that each include radiation sensors disposed above the frame and electrically connected to the module circuit board, and an optically and infrared radiation opaque, X-ray transparent, electrically insulating detector shield covering a top surface and at least one side surface of the radiation sensors.

A radiation shield assembly includes a shield configured to block radiation and a rail assembly configured to position the shield in between the radiation table and a radiation source. The shield is movable between a retracted position and an extended position along a length of the rail assembly. In the extended position, the shield extends along a portion of a radiation table and blocks radiation from the radiation source to the portion of the radiation table. In the retracted position, the shield exposes at least some of the portion of the radiation table to the radiation.

A support rig for a medical instrument can hold a medical instrument that is inserted into a patient in a fixed position and orientation relative to patient, so that the position and orientation of the medical instrument is not affected by the breathing or other motion of the patient. The support rig and medical instrument can be radiolucent and non-metallic, so that an image can be taken of the patient while the medical instrument is inserted in the patent and held by the support rig. The radiolucent support rig and medical instrument can allow for imaging, including x-ray, CT, and/or MRI, to occur simultaneously during the surgery. Surgical outcomes can be improved by using imaging to provide information about a tumor and/or anatomical structures during surgery.

Various embodiments discussed herein utilize a C-shaped imager to provide images with a minimal footprint, such as may be suitable in a surgical context. In addition the systems and methods described herein allow for suitable angular (i.e., azimuthal) scan coverage about the patient. To provide real-time 3D imaging, multiple X-ray tubes or a distributed X-ray source may be employed, coupled with an extended detector or multiple detectors. To reconstruct high-quality volumes, in some implementations reconstruction techniques may be employed that utilize pre-operative (pre-op) computed tomography (CT), magnetic resonance imaging (MRI), ultrasound (U/S), or other suitable modality images or data as prior information.

A nuclear medicine (NM) multi-head imaging system is provided that includes a gantry, plural detector units mounted to the gantry, and at least one processor operably coupled to at least one of the detector units. The detector units are mounted to the gantry. Each detector unit defines a detector unit position and corresponding view oriented toward a center of the bore. Each detector unit is configured to acquire imaging information over a sweep range corresponding to the corresponding view. The at least one processor is configured to, for each detector unit, determine plural angular positions along the sweep range corresponding to boundaries of the object to be imaged, generate a representation of each angular position for each detector unit position, generate a model based on the angular positions using the representation, and determine scan parameters to be used to image the object using the model.

The present invention relates to a lifting apparatus for a pressure paddle, the lifting apparatus for the pressure paddle comprising: a lifting belt rotated by a driving means; a lifting pulley manually rotated by the lifting belt hung thereon; a lifting frame on which the lifting pulley is mounted; and a pressure paddle mounted on the lifting frame.