Abstract: A method of tracking translation and rotation of one or more objects within a region of interest. The method includes providing a passive transponder in the region of interest, the transponder having a position and an orientation, generating an electromagnetic field in the region of interest, causing the transponder to generate electromagnetic signal, mapping the electromagnetic field and the signal as functions of the position and the orientation of the transponder, fixing the transponder to the object being tracked, receiving the signals generated by the transponder while the transponder is fixed to the object being tracked, and processing the signal, with reference to the functions, to compute the three-dimensional translational position and three-axis rotational orientation of the object.

Abstract: A system for measuring the position of a hand-held tool relative to a body in six degrees of freedom employs a camera attached via a mechanical linkage to the tool so that the camera moves together with the proximal portion of the tool and has a field of view including the distal end of the tool. A processing system processes images from the camera to determine a position of at least part of the tool. By employing optically identifiable fiducial reference points defined on the external surface of the body, a projection of the tool tip position onto a plane containing the target can be derived and displayed together with the target position, thereby facilitating guiding the tool to the target.

Abstract: A system and method for planning a needle procedure include designating a target location within three-dimensional image data of a subject's body and defining a tentative route for insertion of a needle to the target location. The three-dimensional image data is processed to generate a graphic representation which indicates whether the tentative route intersects an obstacle of at least one type. In response to a user input, the graphic representation is then rotated about axes passing through the target location, thereby allowing selection of an updated route to the target which does not intersect an obstacle.

Abstract: Systems and methods employing a small gauge steerable catheter (30) including a locatable guide (32) with a sheath (40), particularly as an enhancement to a bronchoscope (14). A typical procedure is as follows. The location of a target in a reference coordinate system is detected or imported. The catheter (30) is navigated to the target which tracking the distal tip (34) of the guide (32) in the reference coordinate system. Insertion of the catheter is typically via a working channel of a convention bronchoscope. Once the tip of the catheter is positioned at the target, the guide (32) is withdrawn, leaving the sheath (40) secured in place. The sheath (40) is then used as a guide channel to direct a medical tool to target.

Abstract: A method of displaying at least one point-of-interest of a body during an intra-body medical procedure. The method is effected by (a) establishing a location of the body; (b) establishing a location of an imaging instrument being for imaging at least a portion of the body; (c) defining at least one projection plane being in relation to a projection plane of the imaging instrument; (d) acquiring at least one point-of-interest of the body; and (e) projecting said at least one point-of-interest on said at least one projection plane; such that, in course of the procedure, the locations of the body and the imaging instrument are known, thereby the at least one point-of-interest is projectable on the at least one projection plane even in cases whereby a relative location of the body and the imaging instrument are changed.

Abstract: A method is described for producing printed patches to provide a plurality of color markings and high-contrast markings as aligned arrangements of fiducial points. The printed color markings facilitate optical image processing and the printed high-contrast markings facilitate high-contrast image processing. These fiducial points enable a visible area of interest to be located by a person and associated with relevant high-contrast imaging data. This method includes providing a patch; printing at least one arrangement of color markings on the patch; and printing at least one arrangement of high-contrast markings on the patch. According to further features of certain embodiments the markings are aligned, can designate the same point, or can be disjointed.

Abstract: A catheter is navigated within a body cavity of a patient. This navigation is enabled by the provision of the transmitter of electromagnetic radiation under platform, a receiver of electromagnetic radiation rigidly attached to fluoroscope, and a receiver of radiation rigidly attached to the catheter, all three of which are connected by wires to a computer. The computer displays, on a display unit, the image of the body cavity acquired by the fluoroscope, with an icon representing the catheter superposed on the image in the location and orientation of catheter relative to the body. There is no representational imaging device equipped with a receiver in the apparatus of the current invention.

Abstract: A system and method for tracking the position and orientation of a probe. Three at least partly overlapping planar antennas are used to transmit electromagnetic radiation simultaneously, with the radiation transmitted by each antenna having its own spectrum. A receiver inside the probe includes sensors of the three components of the transmitted field, with sensors for at least two of the three components being pairs of sensors, such as coils, on opposite sides of a common reference point. In one variant of the receiver, the coils are collinear and are wound about cores that are mounted in pairs of diametrically opposed apertures in the housing of the probe. Each member of a pair of coils that sense the same component of the transmitted field is connected to a different input of a differential amplifier. The position and orientation of the receiver relative to the antennas are determined noniteratively.

Abstract: Systems and methods for endoscopic procedures employ a first technique to ensure initial correct alignment of an endoscope (100) with a desired target (10). A reference image (51) is then acquired from an imaging arrangement associated with the endoscope. During a subsequent stage of the procedure, tracking of the endoscope position relative to the target is performed partially or entirely by image-based tracking by comparing features in real-time video image (52) produced by imaging arrangement with features in the reference image (51). The feature comparison may be performed visually by a user, or may be automated to offer more specific corrective suggestions to the user.

Abstract: A miniature endoscope with an imaging arrangement associated with its distal tip portion includes an image sensor chip with a two-dimensional array of light-sensitive pixels and a lens arrangement deployed for focusing light from a field of view onto the image sensor chip so as to generate an image of a scene viewed from the distal tip portion. The lens arrangement is preferably directly affixed to the image sensor chip by a quantity of transparent adhesive. Use of bidirectional communication along data lines to the image sensor chip allows use of only four wires connecting to the chip. These and other features allow miniaturization of the endoscope to a diameter of about 2 millimeters while still generating color images of high dynamic range.

Abstract: A system for measuring the position of a hand-held tool relative to a body in six degrees of freedom employs a camera attached via a mechanical linkage to the tool so that the camera moves together with the proximal portion of the tool and has a field of view including the distal end of the tool. A processing system processes images from the camera to determine a position of at least part of the tool. By employing optically identifiable fiducial reference points defined on the external surface of the body, a projection of the tool tip position onto a plane containing the target can be derived and displayed together with the target position, thereby facilitating guiding the tool to the target.

Abstract: A method for local treatment of a target region of tissue within a body of a subject includes navigating a first probe (210, 310) intra-bodily to a first location within the body of the subject and employing the first probe to locally change at least one characteristic of a selected region of tissue. Either the same probe (210, 310) or another probe (250, 330) is employed to apply a treatment to the target region of the body of the subject. The changed characteristic of the selected region of tissue is chosen so as to enhance at least one parameter of the treatment.

Abstract: An anchoring mechanism and method for anchoring a device within a biological conduit include an expandable element configured for retaining the device at a desired angle relative to a central axis of the biological conduit. A steering mechanism is preferably provided for orienting the device prior to operation of the anchoring mechanism. The anchoring mechanism and method are employed in drug delivery devices, brachytherapy devices or for anchoring a catheter or sheath to provide a working channel for reliable guidance of a wide range of tools to a target location within the body.

Abstract: Systems and methods employing a small gauge steerable catheter (30) including a locatable guide (32) with a sheath (40), particularly as an enhancement to a bronchoscope (14). A typical procedure is as follows. The location of a target in a reference coordinate system is detected or imported. The catheter (30) is navigated to the target which tracking the distal tip (34) of the guide (32) in the reference coordinate system. Insertion of the catheter is typically via a working channel of a convention bronchoscope. Once the tip of the catheter is positioned at the target, the guide (32) is withdrawn, leaving the sheath (40) secured in place. The sheath (40) is then used as a guide channel to direct a medical tool to target.

Abstract: A method of displaying at least one point-of-interest of a body during an intra-body medical procedure. The method is effected by (a) establishing a location of the body; (b) establishing a location of an imaging instrument being for imaging at least a portion of the body; (c) defining at least one projection plane being in relation to a projection plane of the imaging instrument; (d) acquiring at least one point-of-interest of the body; and (e) projecting said at least one point-of-interest on said at least one projection plane; such that, in course of the procedure, the locations of the body and the imaging instrument are known, thereby the at least one point-of-interest is projectable on the at least one projection plane even in cases whereby a relative location of the body and the imaging instrument are changed.

Abstract: Systems and methods employing a small guage steerable catheter (30) including a locatable guide (32) with a sheath (40), particularly as an enhancement to a bronchoscope (14). A typical procedure is as follows. The location of a target in a reference coordinate system is detected or imported. The catheter (30) is navigated to the target which tracking the distal tip (34) of the guide (32) in the reference coordinate system. Insertion of the catheter is typically via a working channel of a convention bronchoscope. Once the tip of the catheter is positioned at the target, the guide (32) is withdrawn, leaving the sheath (40) secured in place. The sheath (40) is then used as a guide channel to direct a medical tool to target.

Abstract: This invention is a method of displaying cross-sectional images of a body so as to render the cross-sectional images more interpretable. The method is effected by using a first imaging device (110, 120), obtaining at least one cross-sectional image of a portion of the body, at least one cross-sectional image being defined by at least one first plane; and projecting each of at least one cross-sectional image of the portion of the body onto a predefined second plane, so as to obtain at least one projected cross-sectional image of the portion of the body, each of the at least one projected cross-sectional image becoming more interpretable by a user.

Abstract: A catheter, including: a housing having a transverse inner dimension of at most about two millimeters; and a coil arrangement including five coils and five solid cores. Each of the coils is wound around one of the solid cores. The coils are non-coaxial. The coil arrangement is mounted inside the housing.

Abstract: A method for guiding an apparatus to a location within the body includes providing a sheath having a lumen and inserting along the lumen a position sensor such that said position sensor is located within, or adjacent to, a distal portion of the sheath. Position information generated using the position sensor is then employed during guiding of the distal portion of the sheath to the location within the body. Once the sheath is in place, the position sensor is withdrawn along the lumen to free the lumen for guiding an apparatus to the location within the body. The position sensor is preferably part of a six-degrees-of-freedom position sensing system. A corresponding catheter system typically includes at least one, and preferably two, steering mechanisms. At least one of the steering mechanisms is preferably deployed in a separate center-support distally with respect to the position sensor.

Abstract: A multiple-electrode catheter assembly includes a hollow catheter having an internal elongated channel and a flexible distal portion. A number of electrodes are spaced along the flexible distal portion. An inner element, slidingly engaged within the elongated channel, has a steering mechanism configured for selectively deflecting a steerable distal portion of the inner element. According to additional, or alternative, features, the inner element includes sliding contacts for forming electrical connections with the electrodes, and displaceable locating elements for determining the position of an electrode during operation. Also provided is a method for operating such a catheter.