Abstract: A steering device and navigation system for interventional procedures. Included are devices, systems, and methods that incorporate a steering device which consists of an expandable structure that can be controlled to spread out within the vessel lumen, or cardiac chamber, and may apply circumferential force to the tissue. This structure, once spread out, can anchor relative to the anatomy and provides support for an internal catheter through a set of strings connected to the internal catheter. The internal catheter is configured to allow an interventional device, such as a guidewire or catheter, to pass through it. Using the strings that are connected to actuation mechanisms within the device's handle, the internal catheter can be manipulated to allow 10 controlling the position of a device that runs within it or is connected to it and can be used for the purpose of navigation of devices and obtaining measurements from known positions.

Abstract: A steering device and navigation system for interventional procedures. Included are devices, systems, and methods that incorporate a steering device which consists of an expandable structure that can be controlled to spread out within the vessel lumen, or cardiac chamber, and may apply circumferential force to the tissue. This structure, once spread out, can anchor relative to the anatomy and provides support for an internal catheter through a set of strings connected to the internal catheter. The internal catheter is configured to allow an interventional device, such as a guidewire or catheter, to pass through it. Using the strings that are connected to actuation mechanisms within the device's handle, the internal catheter can be manipulated to allow controlling the position of a device that runs within it or is connected to it and can be used for the purpose of navigation of devices and obtaining measurements from known positions.

Abstract: A mechanism for actuation and control of a device, such as an interventional device, in two dimensions via a cable-driven arrangement. The mechanism can include multiple spring-loaded cam followers and a conical control surface acting as the cam. The translation of the conical cam results in the perpendicular linear motion of the cam followers. With the cables coupled to the cam followers from one end, and to the device of interest at the other end, the motion of the followers results in cable displacements that lead to the manipulation of the interventional device. Adjustment of the cable lengths are made possible with a proportion determined by the cam. This allows maintaining a set tension and while avoiding sagging. The resulting system can be an entirely passive mechanism in some embodiments that allows for accurate device position control, position estimation, and haptic feedback.

Abstract: A steering device and navigation system for interventional procedures. Included are devices, systems, and methods that incorporate a steering device which consists of an expandable structure that can be controlled to spread out within the vessel lumen, or cardiac chamber, and may apply circumferential force to the tissue. This structure, once spread out, can anchor relative to the anatomy and provides support for an internal catheter through a set of strings connected to the internal catheter. The internal catheter is configured to allow an interventional device, such as a guidewire or catheter, to pass through it. Using the strings that are connected to actuation mechanisms within the device's handle, the internal catheter can be manipulated to allow controlling the position of a device that runs within it or is connected to it and can be used for the purpose of navigation of devices and obtaining measurements from known positions.