Abstract: A method of medical imaging includes creating an anatomical map of an inner wall of a cavity in a body of a subject by inserting a probe into the body and collecting data using the probe. A three dimensional (3-D) contour is delineated in a 3-D image of the cavity based on the map.

Abstract: A method for tracking a position of an object includes using a field sensor associated with the object to measure field strengths of magnetic fields generated by two or more field generators, wherein a measurement of at least one of the field strengths is subject to a distortion. Rotation-invariant location coordinates of the object are calculated responsively to the measured field strengths. Corrected location coordinates of the object are determined by applying to the rotation-invariant location coordinates a coordinate correcting function so as to adjust a relative contribution of each of the measured field strengths to the corrected location coordinates responsively to the distortion in the measured field strengths.

Abstract: Visualization of a probe when impedance-based measurement technology is being used is improved by stabilizing a displayed image of the probe or catheter. Using a model of reasonable probe shapes and a matching algorithm, an erroneous probe image is adjusted so that it assumes a realistic shape on a display. A range of positional variations is also incorporated in the model. When an apparent probe position exceeds a permissible range of motion, the probe image is constrained to a realistic position.

Abstract: A method for operating a medical probe includes pressing a distal end of the medical probe, which includes one or more arms that extend diagonally outward from a central shaft and have respective position transducers coupled thereto, against an intra-body surface, so as to cause the arms to exert pressure on the surface and bend with respect to the central shaft in response to the pressure. Positions of the respective position transducers coupled to the arms are measured, and the pressure exerted by the arms is estimated responsively to the measured positions.

Abstract: Apparatus is provided for use with a steerable catheter that includes a thumb control adapted to control a deflection of a distal tip of the catheter. The apparatus includes a robot, including an end-effector, adapted to be coupled to the thumb control, and a controller, adapted to drive the end-effector to deflect the distal tip by manipulating the thumb control.

Abstract: A medical probe includes a flexible insertion tube, having a distal end for insertion into a body cavity of a patient, and a distal tip, which is disposed at the distal end of the insertion tube and is configured to be brought into contact with tissue in the body cavity. A coupling member couples the distal tip to the distal end of the insertion tube and includes a tubular piece of an elastic material having a helical cut therethrough along a portion of a length of the piece.

Abstract: A method for position tracking includes using first and second field generators located at respective different first and second locations to generate respective first and second magnetic fields in a vicinity of first and second objects. The first and second fields are measured using first and second position sensors respectively associated with the first and second objects. First and second potential relative coordinates of the first object relative to the second object are calculated responsively to the first and second magnetic field. The potential relative coordinates are processed in order to determine a correct relative coordinate of the first object relative to the second object.

Abstract: A method for position tracking includes receiving signals from a main position transducer at a distal end of a medical probe via wiring traversing the probe to a connector at a proximal end of the probe, for connection to a processor, which processes the signals to find a first position of the distal end. Calibration data with respect to an interference introduced into the signals at the connector is collected as a function of a position of the proximal end. A second position of an auxiliary position transducer at the proximal end of the probe is measured. The interference in the signals is canceled responsively to the measured second position and the calibration data. The first position is calculated based on the signals, after canceling the interference.

Abstract: An orifice device for delivering one or more drugs includes an inner member having a proximal end and a distal end; and a plurality of windings helically wound around the inner member. Each winding defines a separate layer and each winding includes at least one wire helically wound around the inner member. The plurality of windings and the inner member define at least two separate channels for carrying one or more drugs therethrough. An inlet is at the proximal end of each of the plurality of windings and an outlet is at the distal end of the plurality of windings. At least one of the plurality of windings has a plurality of distinct wires helically wound in parallel around the inner member and at least one of the plurality of windings respectively.

Abstract: Methods and systems for cable inspection operate by generating a relative motion between an electrical cable including multiple wires and a magnetic field. An electrical signal induced in the wires is measured responsively to the magnetic field. A variation in the electrical signal is sensed due to the relative motion. In response to the variation, a defect is detected in the electrical cable.

Abstract: A method for tracking a position of an object includes using a field sensor associated with the object to measure field strengths of magnetic fields generated by two or more field generators, wherein a measurement of at least one of the field strengths is subject to a distortion. Rotation-invariant location coordinates of the object are calculated responsively to the measured field strengths. Corrected location coordinates of the object are determined by applying to the rotation-invariant location coordinates a coordinate correcting function so as to adjust a relative contribution of each of the measured field strengths to the corrected location coordinates responsively to the distortion in the measured field strengths.

Abstract: Methods and systems are provided for wirelessly powering a medical device in a living subject using external radiofrequency energy. A radiofrequency driving unit outside the subject irradiates the medical device. A passive antenna is positioned outside the subject, generally opposing the driving unit to redirect the field generally toward the device. The reradiating element increases uniformity of the electromagnetic field produced by the driving unit, which reduces local tissue heating in the subject and in personnel attending the subject.

Abstract: Using specialized cardiac catheters for image acquisition, features of the heart are readily identifiable on an ultrasound image, based on a previously generated electrical activation map of the heart. The electrical activation map is automatically registered with the ultrasound image using information obtained from position sensors in the catheters. Features identifiable on the electrical activation map, presented as points, tags, design lines, and textual identification, are projected into the plane of the ultrasound fan and overlaid on the ultrasound image, thereby clarifying the features that are visible on the latter.

Abstract: Apparatus is provided for use with a steerable catheter that includes a thumb control adapted to control a deflection of a distal tip of the catheter. The apparatus includes a robot, including an end-effector, adapted to be coupled to the thumb control, and a controller, adapted to drive the end-effector to deflect the distal tip by manipulating the thumb control.

Abstract: A surgical tracking system includes a wireless position sensor, which is adapted to be implanted in a bone of a subject, and responsively to externally-applied magnetic fields within a working volume of the tracking system, to generate and transmit sensor signals indicative of coordinates of the position sensor within the bone. A plurality of field generator coils are adapted to generate the magnetic fields so as to define the working volume. The field generators are fixed in predetermined locations to a reference structure, which is movable relative to the subject in order to position the working volume so as to intercept the bone. A system controller is coupled to receive and process the sensor signals so as to determine the coordinates of the position sensor within the bone.

Abstract: A method for tracking an object includes fixing to the object a transmitter for transmitting a position-indicative magnetic field and providing a map of distortion of the position-indicative magnetic field caused by the object. A distorted magnetic field transmitted from the object is sensed. The distorted magnetic field includes the position-indicative magnetic field subject to the distortion caused by the object. Estimated coordinates of the object based on the sensed, distorted magnetic field are determined. The estimated coordinates and the map are used to compute corrected coordinates.

Abstract: In a system for sensing electrical signals within a living body, and specifically for tracking location of an object in the body using impedance measurements, an isolation circuit maintains isolation between the pacing and position sensing circuits, even while the heart is being paced.

Abstract: A device for enhancing visualization of an esophagus when imaged by a visualization system includes a structure including material that is clearly visible when imaged by the visualization system. The structure is arranged, when inserted into the esophagus, to expand so as to conform to an inner surface of the esophagus in order to enhance a visualization quality of the surface when imaged by the visualization system. A cord attached to the structure is arranged to extend out of the esophagus so as to assist a removal of the device from the esophagus.

Abstract: An apparatus for calibration of a probe that includes a magnetic position sensor and an acoustic imaging device has a rigid mechanical framework. One or more field generators, fixed to the framework, generate a magnetic field of known spatial characteristics. An acoustic target assembly includes a phantom coupled to a motion mechanism, which is arranged to move the phantom in a known orbit relative to the framework. A jig, fixed to the framework, holds the probe within the magnetic field of the one or more field generators, in an orientation suitable for the imaging device to image the phantom. A processor processes position and image signals from the probe in order to calibrate coordinates of the imaging device relative to the position sensor.

Abstract: A method for imaging includes receiving a first three-dimensional (3D) image of a vicinity of an organ within a body of a subject and creating a geometrical model of a tubular structure in the first 3D image in the vicinity of the organ. An invasive probe is inserted into the organ, and a second 3D image containing the organ is captured using the invasive probe. One or more points are located on a surface of the tubular structure using the invasive probe, and the second 3D image is registered with the first 3D image by matching the one or more points to the geometrical model.