The Brigham and Women's Hospital, Inc.

Navigation Sciences, Inc.

Jayender Jagadeesan

Raphael Bueno

Ferenc A Jolesz

Alan Lucas

Haoyin Zhou

Larry Roth

Tim Robinson

A system for tracking the location of an anatomical structure, the system comprising: a J-bar and electrical lead assembly comprising: a J-bar comprising a tracker, a distal electrical connector formed on the tracker, and at least one mount for mounting the tracker to tissue, wherein the tracker is configured to provide a signal representative of the position of the tracker when the tracker is supplied with electrical power; an expandable basket configured to assume (i) a radially-reduced profile when the expandable basket is radially constricted, and (ii) a radially-expanded profile when the expandable basket is not radially constricted, the expandable basket further comprising a distal electrical connector; and an electrical lead extending distally between the J-bar and the expandable basket, the electrical lead being electrically connected to (i) the distal electrical connector formed on the tracker, and (ii) the distal electrical connector of the expandable basket.

System and method for a tissue resection margin measurement device

A method for nonrigid mosaicking of images, including: obtaining, using a processor, a plurality of images including a first image and a second image of a sample, the first image and the second image containing information from partially overlapping portions of the sample; identifying, using the processor, at least one feature match between the first image and the second image; estimating, using the processor, a deformation between the first image and the second image based on identifying the at least one feature match; and combining, using the processor, the first image and the second image based on estimating the deformation between the first image and the second image.

System for and method of real-time nonrigid mosaicking of laparoscopy images

Embodiments of the invention provide a system and method for resecting a tissue mass. The system for resecting a tissue mass includes a surgical instrument and a first sensor for measuring a signal corresponding to the position and orientation of the tissue mass. The first sensor is dimensioned to fit insider or next to the tissue mass. The system also includes a second sensor attached to the surgical instrument configured to measure the position and orientation of the surgical instrument. The second sensor is configured to receive the signal from the first sensor. A controller is in communication with the first sensor and/or the second sensor, and the controller executes a stored program to calculate a distance between the first sensor and the second sensor. Accordingly, visual, auditory, haptic or other feedback is provided to the clinician to guide the surgical instrument to the surgical margin.

Systems and methods for creating images of an environment includes controlling at least one camera to acquire imaging data from the environment and selecting, from the imaging data, a three-dimensional-two-dimensional correspondence as a control point for use in a perspective-n-point problem to determine a position and orientation of the at least one camera from n known correspondences between three-dimensional object points and their two-dimensional image projections in the environment. The method also includes reprojecting at least a selected number of the projections, determining a reprojection error for each of the projections, and performing a weight assignment of reprojection errors to distinguish the inliers form outliers. These steps of the method are repeated to apply the weight assignment to outliers in a decreased fashion during iterations to reduce an impact of outliers in the real-time display of the environment.

System and methods for a trackerless navigation system

Embodiments of the invention provide a system and method for resecting a tissue mass. The system for resecting a tissue mass includes a surgical instrument and a first sensor for measuring a signal corresponding to the position and orientation of the tissue mass. The first sensor is dimensioned to fit inside or next to the tissue mass. The system also includes a second sensor attached to the surgical instrument configured to measure the position and orientation of the surgical instrument. The second sensor is configured to receive the signal from the first sensor. A controller is in communication with the first sensor and/or the second sensor, and the controller executes a stored program to calculate a distance between the first sensor and the second sensor. Accordingly, visual, auditory, haptic or other feedback is provided to the clinician to guide the surgical instrument to the surgical margin.

Embodiments of the invention provide a system and method for resecting a tissue mass. The system for resecting a tissue mass includes a first sensor for measuring a signal corresponding to the position and orientation of the tissue mass. The first sensor is dimensioned to fit inside of or next to the tissue mass. The system also includes a second sensor attached to a surgical instrument configured to measure the position and orientation of the surgical instrument. A controller is in communication with the first sensor and the second sensor, and the controller executes a stored program to calculate a distance between the first sensor and the second sensor. Accordingly, visual, auditory, haptic or other feedback is provided to the clinician to guide the surgical instrument to the surgical margin.

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Boston, MA, United States of America

Jayender Jagadeesan