Covidien LP

Coviden LP

Magnisity Ltd.

Ariel Birenbaum

Ron Barak

Oren P Weingarten

Guy Alexandroni

Benjamin Greenburg

Evgeni Kopel

Nicolas J Merlet

Eyal Klein

Dafna Mardix

Efrat Kedmi-Shahar

Irina Shevlev

Ofer Barasofsky

Alexander Y Nepomniashchy

Daniel Ovadia

Shaked Pessah

Imaging systems and methods compensate for wigwag movement of a C-arm fluoroscope to refine camera pose estimates. The methods involve computing a primary movement axis from samples of markers in fluoroscopic images of a fluoroscopic sweep of a structure of markers and processing the primary movement axis to obtain a secondary movement axis. The methods further involve aligning two-dimensional samples of each marker with the primary and secondary movement axes to obtain an aligned signal and determining a difference signal for a secondary component of the aligned signal. The difference signal is then converted to a rotation axis translation signal. The method further involves estimating a 3D position of the rotation axis. The estimated pose of the C-arm fluoroscope is then refined to compensate for the wigwag movement using the rotation axis translation signal and the estimated 3D position of the rotation axis.

Systems and methods for C-arm fluoroscope camera pose refinement with secondary movement compensation

Object detection including receiving a fluoroscopic video including a plurality of fluoroscopic images captured by a fluoroscope rotated about a patient, generating a three-dimensional (3D) volumetric reconstruction from the fluoroscopic images, deleting values in the 3D volumetric reconstruction beyond a region of interest about an object, generating 2D images from a remaining 3D volumetric reconstruction following the deleting of values: detecting the object in the 2D images to determine an initial position of the object, and refining the detected initial position of the object.

Volumetric filter of fluoroscopic sweep video

Surgical guidance systems and methods visually mark a structure of interest (SOI) of an organ on intraoperative images captured by a locatable imaging device. A location of the SOI relative to a body structure (e.g., a passageway system) associated with the organ is determined in a preoperative image that is captured by a medical diagnostic imaging (MDI) system. The location of the SOI relative to the body structure in the preoperative image is then mapped onto a reconstructed version of the body structure based on location information provided by localization sensors distributed on the body structure. An intraoperative image taken by the locatable imaging device is aligned with the reconstructed version of the body structure and an image object representing the SOI is overlaid on the intraoperative image at a location that is mapped from the reconstructed version of the body structure.

Systems and methods for providing surgical guidance

A method of performing a surgical procedure includes obtaining images of a patient's anatomy using a cone beam computed tomography machine while the patient is sedated, identifying an area of interest in the images obtained by the cone beam computed tomography machine, identifying a pathway to the identified area of interest using the images obtained by the cone beam computed tomography machine, and navigating a catheter within the patient's airways to the identified area of interest using the identified pathway.

Cone beam computed tomography integration for creating a navigation pathway to a target in the lung and method of navigating to the target

Navigation systems and methods for magnetic interference correction involve antennae that generate magnetic fields at different frequencies, sensors that measure the magnetic fields, and a computing device that uses sensor measurements to determine the magnetic interference and produce accurate sensor position and orientation information.

Systems and methods for magnetic interference correction

A method and system implementing a method for detecting a catheter in fluoroscopic data and updating a displayed electromagnetic position of the catheter on a 3D rendering is provided including navigating a catheter to a target area and acquiring fluoroscopic data from a fluoroscopic sweep of the target area. An initial catheter detection is performed to detect catheter tip candidates in each 2D frame of the fluoroscopic data using a shallow neural network. A secondary catheter detection is performed to detect catheter tip candidates in each 2D frame of the fluoroscopic data using a deep neural network. False-positive catheter tip candidates are removed by reconstructing a 3D position of the catheter tip and finding an intersecting point of rays corresponding to each 2D frame.

System and method for catheter detection in fluoroscopic images and updating displayed position of catheter

A method and system for reducing divergence between computed tomography images and a patient using three-dimensional reconstructions. The method utilizes cone beam imaging or three-dimensional fluoroscopy to supplement or supplant pre-operative computed tomography imaging.

Cone beam and 3D fluoroscope lung navigation

A system and method of image processing including a processor in communication with a display and a computer readable recording medium having instructions executed by the processor to read an image data set from the memory, segment the image data set, and skeletonize the segmented image data set. The instructions cause the processor to graph the skeletonized image data set, assign a branch identification (ID) for each branch in the graph, and associate each voxel of the segmented image data set with a branch ID. The instructions cause the processor to generate a three-dimensional (3D) mesh model from the graphed skeletonized image data set, associate each vertex of the 3D mesh model with a branch ID; and display in a user interface the 3D mesh model, and an image of the image data set.

System and method for linking a segmentation graph to volumetric data

A magnetic localization system including a magnetic field generator that generates an alternating magnetic field with a maintained frequency; and a receiver comprising: a DC magnetometer to sense a local magnetic field, at least in part due to the generated magnetic field; and at least one processor that calculates a six-degrees-of-freedom (6DOF) position and orientation of the receiver relative to the generator, based on the sensed magnetic field and the maintained frequency, and optionally based on the momentary phase of the generated field. Optionally, the generator includes an actuator that applies a rotational motion; at least one magnet rotating about a first axis by the actuator; a magnetometer to sense a momentary rotation phase of the at least one magnet; and a controller to maintain a desired rotation frequency of the at least one magnet. Optionally, the generator communicates the maintained rotation frequency and optionally the sensed momentary phase.

Magnetic localization using a DC magnetometer

Systems and methods of estimating movement of anatomical structures of a new patient include learning one or more deformation models from preoperative and intraoperative imaging data of a set of other patients and estimating movement of anatomical structures of the new patient based on the one or more deformation models and preoperative imaging data of the new patient. Estimating movement of the anatomical structures may include applying deformation models to map data derived from preoperative imaging data of a new patient to obtain deformed map data for each deformation model, and determining the deformation model that best fits the intraoperative imaging data of the new patient. Applying a deformation model to map data may include applying a transformation to the deformation model and interpolating to obtain a deformed map data. Registration is computed between locations of a medical device sampled during navigation of the medical device through the new patient and the original and deformed map data. The map data which fits the 3D locations the best is applied to the targets of the new patient.

Systems and methods for estimating the movement of a target using a universal deformation model for anatomic tissue

A system for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient from two-dimensional fluoroscopic images including a structure of markers, a fluoroscopic imaging device configured to acquire a sequence of images of the target area and of the structure of markers, and a computing device. The computing device is configured to estimate a pose of the fluoroscopic imaging device for at least a plurality of images of the sequence of images based on detection of a possible and most probable projection of the structure of markers as a whole on each image of the plurality of images. The computing device is further configured to construct fluoroscopic-based three-dimensional volumetric data of the target area based on the estimated poses of the fluoroscopic imaging device.

System and method for local three dimensional volume reconstruction using a standard fluoroscope

The disclosure is directed to a method for generating a three dimensional (3D) volume including a treatment target including receiving a plurality of two dimensional (2D) input images of a patient, determining a metal artifact in each of the plurality of 2D input images, removing the metal artifacts from the plurality of 2D input images based on the determination of the metal artifact, and replacing metal artifacts with alternative pixel data to generate a plurality of filtered 2D images. A 3D volume is generated from the plurality of filtered 2D images. The plurality of 2D input images including a treatment target.

Imaging reconstruction system and method

Systems and methods for visualizing navigation of a medical device with respect to a target using a live fluoroscopic view. The methods include determining a level of zoom of a fluoroscope when acquiring a reference frame. The methods further include determining whether the live fluoroscopic images evidence movement of the fluoroscope relative to its position when capturing a reference frame.

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Raanana, Israel

Ariel Birenbaum