A method for performing a procedure on a patient includes acquiring a three-dimensional image of a location of interest on the patient and a two-dimensional image of the location of interest can be acquired. A computer system can relate the three-dimensional image with the two-dimensional image to form a holographic image dataset. The computer system can register the holographic image dataset with the patient. The augmented reality system can render a hologram based on the holographic image dataset from the patient. The hologram can include a projection of the three-dimensional image and a projection of the two-dimensional image. The practitioner can view the hologram with the augmented reality system and perform the procedure on the patient. The practitioner can employ the augmented reality system to visualize a point on the projection of the three-dimensional image and a corresponding point on the projection of the two-dimensional image during the procedure.

A method and apparatus for treating tissue are disclosed, including intra-operative mapping of a probe ablation zone. The method uses a system that maps the proximal and distal margins of the probe ablation zone using tools that access the ablation target. In some embodiments, the tools comprise a bone drill, and an introducer assembly, including a cannula and a stylet. The tools have features or markings that cooperate to indicate which probe to use to achieve the desired ablation. The method further facilitates planning probe placement for delivering energy to treat (ablate) a desired ablation volume of a target tissue by using a system that maps both the target tissue and possible probe ablation zones.

Disclosed are systems, devices, and methods for registering a luminal network to a 3D model of the luminal network. An example method comprises generating a 3D model of a luminal network, identifying a target within the 3D model, determining locations of a plurality of carinas in the luminal network proximate the target, displaying guidance for navigating a location sensor within the luminal network, tracking the location of the location sensor, comparing the tracked locations of the location sensor and the portions of the 3D model representative of open space, displaying guidance for navigating the location sensor a predetermined distance into each lumen originating at the plurality of carinas proximate the target, tracking the location of the location sensor while the location sensor is navigated into each lumen, and updating the registration of the 3D model with the luminal network based on the tracked locations of the location sensor.

Methods and devices for producing cavitation in tissue are provided. Methods and devices are also provided for surgical navigation, including defining a target treatment zone and navigating a focus of a therapy transducer to the target treatment zone. Embodiments are provided for co-registering a plurality of surgical imaging and navigation systems. Systems for performing Histotripsy therapy are also discussed.

A method, a controller, and a surgical hybrid navigation system for transferring a registration of three dimensional image data of a surgical object from a first to a second surgical navigation system are described. A first tracker that is detectable by a first detector of the first surgical navigation system is arranged in a fixed spatial relationship with the surgical object and a second tracker that is detectable by a second detector of the second surgical navigation system is arranged in a fixed spatial relationship with the surgical object. The method includes registering the three dimensional image data of the surgical object in a first coordinate system of the first surgical navigation system and determining a first position and orientation of the first tracker in the first coordinate system and a second position and orientation of the second tracker in a second coordinate system of the second surgical navigation system.

A kit for a fiducial marker-based registration of preinterventional image data to an intra-interventional scene is disclosed. The kit comprises: at least one first component, wherein the first component is configured for attachment to a body of a patient, wherein the first component comprises at least one base part of an arresting mechanism, at least one second component, wherein the second component comprises at least one fiducial which is localizable in the preinterventional image data, wherein the second component comprises at least one first counterpart of the arresting mechanism, at least one third component, wherein the third component comprises at least one mounting unit for mounting a spatially localizable tracking object on the third component, wherein the third component comprises at least one second counterpart of the arresting mechanism;
wherein the second component and the third component are selectively attachable to the first component by establishing a releasable mechanical connection between the base part and the first counterpart or between the base part and the second counterpart.

The present invention comprises an apparatus for facilitating the acquisition of a scan during an intraoral scanning procedure using an intraoral scanner, including: an elongate body having an attachment portion configured to attach the elongate body with an implant in a patient's mouth, the implant having a longitudinal axis, whereby the elongate body is adapted to extend substantially perpendicular to the longitudinal axis of the implant when mounted to the implant; the elongate body having a substantially planar upper surface and one or more side walls extending downwardly away from the upper surface; wherein the upper surface and the one or more side walls are observable in a resulting scan when the intraoral scanner scans the apparatus in a direction perpendicular to the upper surface.

The invention extends to a kit including a plurality of items of the apparatus and to a method of performing an intraoral scanning procedure.

Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.

The present disclosure relates to a surgical navigation system for the alignment of a surgical instrument and methods for its use, wherein the surgical navigation system may comprise a head-mounted display comprising a lens. The surgical navigation system may further comprise tracking unit, herein the tracking unit may be configured to track a patient tracker and/or a surgical instrument. Patient data may be registered to the patient tracker. The surgical instrument may define an instrument axis. The surgical navigation system may be configured to plan one or more trajectories based on the patient data. The head-mounted display may be configured to display augmented reality visualization, including an augmented reality position alignment visualization and/or an augmented reality angular alignment visualization related to the surgical instrument on the lens of the head-mounted display.

A guidance device for guidance of surgical interventions on a patient, the surgical interventions requiring an intervention device to surgically enter the body and be directed through body tissues to a target site within the patient's head, the guidance device comprising: a guide piece 4 for guiding the intervention device and directing it to the target site within the patient's head; a mouthpiece 2 arranged to anchor the device in a fixed orientation relative to the patient's upper jaw or lower jaw; and a targeted or targetable mounting 6 supporting the guide piece on the mouthpiece, the mounting 6 being for directing the guide piece 4 in a desired orientation relative to the mouthpiece 2 to thereby direct the intervention device through body tissues to the target site in the patient's head.