Abstract: A method includes receiving, from a camera disposed on a robotic device, a two-dimensional (2D) image of a body of an actor and determining, for each respective keypoint of a first subset of a plurality of keypoints, 2D coordinates of the respective keypoint within the 2D image. The plurality of keypoints represent body locations. Each respective keypoint of the first subset is visible in the 2D image. The method also includes determining a second subset of the plurality of keypoints. Each respective keypoint of the second subset is not visible in the 2D image. The method further includes determining, by way of a machine learning model, an extent of engagement of the actor with the robotic device based on (i) the 2D coordinates of keypoints of the first subset and (ii) for each respective keypoint of the second subset, an indicator that the respective keypoint is not visible.

Abstract: A method includes receiving, from a camera disposed on a robotic device, a two-dimensional (2D) image of a body of an actor and determining, for each respective keypoint of a first subset of a plurality of keypoints, 2D coordinates of the respective keypoint within the 2D image. The plurality of keypoints represent body locations. Each respective keypoint of the first subset is visible in the 2D image. The method also includes determining a second subset of the plurality of keypoints. Each respective keypoint of the second subset is not visible in the 2D image. The method further includes determining, by way of a machine learning model, an extent of engagement of the actor with the robotic device based on (i) the 2D coordinates of keypoints of the first subset and (ii) for each respective keypoint of the second subset, an indicator that the respective keypoint is not visible.

Abstract: Systems and methods for separating an object such as a pacing lead from a patient tissue involve a flexible and torqueable shaft having an internal lumen sized to receive the object, and a hard separating mechanism for separating the object from the tissue. Typically the shaft and separating mechanism are advanced along or toward the object, and the separating mechanism is contacted with the tissue. The shaft is rotated to effect separation between the object and the tissue. The systems and methods are well suited for use in cardiac pacing or defibrillator lead explant procedures.

Abstract: An ablation system includes a radiofrequency (RF) generator configured to generate RF energy; an ablation catheter in communication with the RF generator and including a plurality of ablation electrodes; a camera positioned on the ablation catheter and arranged to take an image that includes at least some of the plurality of ablation electrodes; and one or more processors configured to recommend a subset of the plurality of ablation electrodes to be activate ablation electrodes based, at least in part, on the image.

Abstract: Systems and methods for separating an object such as a pacing lead from a patient tissue involve a flexible and torqueable shaft having an internal lumen sized to receive the object, and a hard separating mechanism for separating the object from the tissue. Typically the shaft and separating mechanism are advanced along or toward the object, and the separating mechanism is contacted with the tissue. The shaft is rotated to effect separation between the object and the tissue. The systems and methods are well suited for use in cardiac pacing or defibrillator lead explant procedures.

Abstract: Systems and methods for separating an object such as a pacing lead from a patient tissue involve a flexible and torqueable shaft having an internal lumen sized to receive the object, and a hard separating mechanism for separating the object from the tissue. Typically the shaft and separating mechanism are advanced along or toward the object, and the separating mechanism is contacted with the tissue. The shaft is rotated to effect separation between the object and the tissue. The systems and methods are well suited for use in cardiac pacing or defibrillator lead explant procedures.

Abstract: Systems and methods for separating an object such as a pacing lead from a patient tissue involve a flexible and torqueable shaft having an internal lumen sized to receive the object, and a hard separating mechanism for separating the object from the tissue. Typically the shaft and separating mechanism are advanced along or toward the object, and the separating mechanism is contacted with the tissue. The shaft is rotated to effect separation between the object and the tissue. The systems and methods are well suited for use in cardiac pacing or defibrillator lead explant procedures.

Abstract: Systems and methods for separating an object such as a pacing lead from a patient tissue involve a flexible and torqueable shaft having an internal lumen sized to receive the object, and a hard separating mechanism for separating the object from the tissue. Typically the shaft and separating mechanism are advanced along or toward the object, and the separating mechanism is contacted with the tissue. The shaft is rotated to effect separation between the object and the tissue. The systems and methods are well suited for use in cardiac pacing or defibrillator lead explant procedures.

Abstract: A lead locking device has a lead insertion member having a proximal end and a distal end and has a lead engaging assembly. The lead insertion member defines a lumen extending along a longitudinal axis between the distal end and the proximal end of the lead engaging assembly. A mandrel disposed in the lumen of the lead engaging assembly extends along substantially the entire length of the lumen and protrudes beyond the most proximal end of the lead insertion member. The mandrel includes a distal portion in slidable contact with at least a portion of the lead engaging assembly. The lead engaging assembly has a first configuration while being inserted into a lumen of a lead and a second configuration while engaging the lead from within the lumen of the lead. The lead engaging member has at least two expansion jaws that, in the first configuration, define a substantially cylindrical body.

Abstract: A lead locking device has a lead engaging member with a mandrel extending along a lumen and attached to the distal end of the lead engaging member such that it extends beyond the proximal end of the lead engaging member. The lead locking device also has a loop handle attached to the proximal end of the mandrel. The lead engaging member has a first configuration which is narrower than a second configuration and is sufficiently long to extend along substantially the entire length of a lead to be removed from a patient's body. At the distal end, a spring coil is disposed around a tapered section of the mandrel to improve tracking of the lead locking device through the inner lumen of a pacing or defibrillator lead.

Abstract: The present invention is a myocardial lead attachment system for securing a lead within the myocardium. The attachment system includes an anchor configured to engage the heart, a tether coupled to the anchor and a lead body. The lead body has a proximal end, a distal end, a lumen for accepting the tether and a lock housing in the lumen. A lock structure is on the tether and mates with the lock housing and restrains motion of the lead with respect to the tether in either of a proximal or a distal direction.

Abstract: A myocardial lead attachment system for securing a distal end of a lead within a myocardium of a patient's heart. The system includes a lead body, an anchor mechanism formed of a bioabsorbable or biodegradable polymer for engaging a surface of the patient's heart and a surface feature formed on a portion of the lead body for promoting formation of scar tissue around said portion of the lead body.

Abstract: The present invention is a myocardial lead attachment system for securing a distal end of a cardiac lead within a myocardium of a patient's heart and anchoring against an epicardium of the patient's heart. The system includes an anchor configured to advance in a first orientation and anchor against an epicardial surface in a second orientation and a tether having a proximal end and a distal end. The anchor is coupled to the distal end of the tether. The system includes a cardiac lead having a lead body, a lumen extending through the lead body, a conductive member, a proximal end, a distal end, and an electrode configured for stimulating the myocardium located at the distal end. The lead body and the lumen are configured such that the lead body can be threaded over the proximal end of the tether and slideably advanced over the tether toward the anchor during implantation. The system includes a fixation mechanism at the distal end of the cardiac lead.

Abstract: The present invention is a myocardial lead attachment system and method for securing a distal end of a lead within the myocardium of a patient's heart. The system includes an anchor, a tether coupled at a distal end to the anchor and a lead body. The lead body has a proximal end, a distal end, and a lumen extending therethrough for receiving the tether. A fixation mechanism is at the distal end of the lead body, and is adapted to collapse to a first configuration during implantation and deploy to a second configuration after implantation.

Abstract: Systems and methods for separating an object such as a pacing lead from a patient tissue involve a flexible and torqueable shaft having an internal lumen sized to receive the object, and a hard separating mechanism for separating the object from the tissue. Typically the shaft and separating mechanism are advanced along or toward the object, and the separating mechanism is contacted with the tissue. The shaft is rotated to effect separation between the object and the tissue. The systems and methods are well suited for use in cardiac pacing or defibrillator lead explant procedures.

Abstract: A coupler for interfacing a light source, such as a laser, and a fiber optic cable is disclosed. The coupler includes a slide mount having a channel that is adapted to receive optical fibers. The channel extends from a proximal end of the slide mount to a distal end of the slide mount. The proximal end of the slide mount is adapted to fit into an aperture of the light source and the distal end of the slide mount is adapted to transmit light to the fiber optic cable. The coupler also includes a clamp that is mounted on the slide mount adjacent to its proximal end. The clamp covers at least a portion of the channel, thereby securing the optical fibers within the channel without the use of an adhesive.

Abstract: A myocardial lead attachment system for securing a distal end of a lead within a myocardium of a patient's heart. The system includes a lead body, an anchor mechanism formed of a bioabsorbable or biodegradable polymer for engaging a surface of the patient's heart and a surface feature formed on a portion of the lead body for promoting formation of scar tissue around said portion of the lead body.

Abstract: The present invention is a myocardial lead attachment system for securing a distal end of a lead within a myocardium of a patient's heart. The system includes an anchor, a tether coupled to the anchor, and a delivery instrument for receiving and advancing the anchor through a tract in the heart from a proximal entrance site to a distal exit site in such a manner that the tether extends proximally from the anchor through the tract. The delivery instrument includes a needle having a distal tip and a nest. The nest is positioned proximal to the distal tip and is sized to receive the anchor. The delivery instrument further includes an ejection mechanism for ejecting the anchor from the nest.

Abstract: A lead locking device has a lead insertion member having a proximal end and a distal end and has a lead engaging assembly. The lead insertion member defines a lumen extending along a longitudinal axis between the distal end and the proximal end of the lead engaging assembly. A mandrel disposed in the lumen of the lead engaging assembly extends along substantially the entire length of the lumen and protrudes beyond the most proximal end of the lead insertion member. The mandrel includes a distal portion in slidable contact with at least a portion of the lead engaging assembly. The lead engaging assembly has a first configuration while being inserted into a lumen of a lead and a second configuration while engaging the lead from within the lumen of the lead. The lead engaging member has at least two expansion jaws that, in the first configuration, define a substantially cylindrical body.

Abstract: A lead locking device has a lead insertion member having a proximal end and a distal end and has a lead engaging assembly. The lead insertion member defines a lumen extending along a longitudinal axis between the distal end and the proximal end of the lead engaging assembly. A mandrel disposed in the lumen of the lead engaging assembly extends along substantially the entire length of the lumen and protrudes beyond the most proximal end of the lead insertion member. The mandrel includes a distal portion in slidable contact with at least a portion of the lead engaging assembly. The lead engaging assembly has a first configuration while being inserted into a lumen of a lead and a second configuration while engaging the lead from within the lumen of the lead. The lead engaging member has at least two expansion jaws that, in the first configuration, define a substantially cylindrical body.