Abstract: A system and method for communication in an extended multiplexed inter-integrated circuit bus configuration, in which an inter-integrated circuit bus including a plurality of wires, a plurality of target devices, each includes at least two ports of respective two types; and a controller device, communicatively connected to the plurality of target devices by an extended multiplexed configuration of the inter-integrated circuit bus, wherein a first group of at least two of the target devices are allocated to a first same target address, wherein each of the target devices of the first group is connected to the bus by a different wire configuration of which wire is connected to which port type.

Abstract: A system and method for controlling an interventional robotic system, including an elongated flexible device, including a non-deflectable section in a proximal part of the device, a deflectable section in a distal part of the device, a curve sensor, configured to sense a curve of the deflectable section, and steering wires to deflect the deflectable section, and a processing module including a curve tracking module and a robot controller, configured to calculate and perform steering actions by positioning each of the steering wires in a certain state, for bringing the device to a target pose, receive curve tracking data from the curve tracking module, and use the received curve tracking data as feedback to the robot controller, to determine a difference between a current pose of the device to the target pose of the device, and adjust the state of the steering wires to decrease the calculated difference.

Abstract: Flexible, longitudinally extended sensors comprising variably inductive sensing material. Sensors connect to an external processing unit using as few as 2 connections. In operation, sensors measure inductance along their longitudinal extent (curve). Spectral de-multiplexing allows electrical property differences along sensors to be resolved. This enables shape tracking of the flexible sensor. The sensor principles are suitable for the production of ultra-small diameter probes (for example, smaller than 0.5 mm) of arbitrary length (for example, 30 cm long). There are potential advantages for cost efficiency and ease of manufacture.

Abstract: The present invention relates to a self-steering endoluminal system comprising an endoluminal device comprising a steerable elongated body and a computer memory storage medium, comprising one or more modules: a Navigational module comprising instructions for generating navigational actions to be performed by said steerable elongated body of said endoluminal device to reach a desired location as selected in a digital endoluminal map; a Deformation module comprising instructions for assessing potential deformations to one or more lumens caused by said navigational actions performed; a Stress module comprising instructions for assessing potential stress levels on said lumens caused by said navigational actions; and a High-level module comprising instructions to receive information from one or more of said Navigational module, Deformation module and Stress module and generate instructions to actuate, and optionally also actuate, said steerable elongated body of said endoluminal device accordingly.

Abstract: A method for assembling an elongated device includes: making a standalone subassembly by assembling across a bendable section a FPC having at least one sensor attached therein; and threading the standalone subassembly in an outer tube. An elongated device, comprising: a plurality of serially connected links, forming a bendable section; and a flexible printed circuit (FPC) having at least one sensor attached therein, the FPC is assembled on the links across the bendable section.

Abstract: A coil topographical geometry including two or more armatures and multiple loops wound about the two or more armatures to form two or more coils. One or more fundamental loops of the multiple loops crosses over themselves at one point in the one or more fundamental loops to form a geometrical shape in the space occupied by the coil topographical geometry. The one or more fundamental loops of the multiple loops are configurable to generate one or more fundamental fields [Bfun] that are substantially the same as the fields [Bi(r)] generated by the two or more coils.

Abstract: A magnetic localization system including a magnetic field generator that generates an alternating magnetic field with a maintained frequency; and a receiver comprising: a DC magnetometer to sense a local magnetic field, at least in part due to the generated magnetic field; and at least one processor that calculates a six-degrees-of-freedom (6DOF) position and orientation of the receiver relative to the generator, based on the sensed magnetic field and the maintained frequency, and optionally based on the momentary phase of the generated field. Optionally, the generator includes an actuator that applies a rotational motion; at least one magnet rotating about a first axis by the actuator; a magnetometer to sense a momentary rotation phase of the at least one magnet; and a controller to maintain a desired rotation frequency of the at least one magnet. Optionally, the generator communicates the maintained rotation frequency and optionally the sensed momentary phase.

Abstract: A magnetic localization system including a magnetic field generator that generates an alternating magnetic field with a maintained frequency; and a receiver comprising: a DC magnetometer to sense a local magnetic field, at least in part due to the generated magnetic field; and at least one processor that calculates a six-degrees-of-freedom (6DOF) position and orientation of the receiver relative to the generator, based on the sensed magnetic field and the maintained frequency, and optionally based on the momentary phase of the generated field. Optionally, the generator includes an actuator that applies a rotational motion; at least one magnet rotating about a first axis by the actuator; a magnetometer to sense a momentary rotation phase of the at least one magnet; and a controller to maintain a desired rotation frequency of the at least one magnet. Optionally, the generator communicates the maintained rotation frequency and optionally the sensed momentary phase.

Abstract: Systems and methods for tracking movement of a catheter within airways of a lung. A deformable model of the lung represents airways of the lung as airway segments joined at bifurcations. Deformation of the lung model uses modification of the angles and/or positions of the airway segments with respect to each other. An initial model may be generated, for example, based on segmentation of a CT image. A baseline deformable registration of the initial model to a lung shape of the patient at the beginning of the procedure may be established from position measurements of the catheter along plurality of different pathways. Optionally, the baseline registration is dynamic according to respiratory phase. Relative to the baseline registration, real-time changes in lung shape may be modeled by using further measurements obtained using the catheter as it navigates to a target, preferably using position sensors distributed along the catheter body.

Abstract: A method for magnetic tracking of a flexible catheter device or another flexible elongated device, the method comprising: receiving by a host server a plurality of sensed values of a local magnetic field, sensed by a respective plurality of sensors, wherein the host server is optionally included in a controller of the sensors, the sensors are located along a flexible tube of a device, wherein the sensed values are at least partially due to at least one alternating magnetic field generated by at least one magnetic field generator, the source amplitude and frequency of each generated magnetic field are given to the host server; and calculating by the host server, based On the sensed magnetic field values and the given source amplitude and frequency of each generated magnetic field, a localization of the flexible tube.

Abstract: A method for magnetic tracking of a flexible catheter device or another flexible elongated device, the method comprising: receiving by a host server a plurality of sensed values of a local magnetic field, sensed by a respective plurality of sensors, wherein the host server is optionally included in a controller of the sensors, the sensors are located along a flexible tube of a device, wherein the sensed values are at least partially due to at least one alternating magnetic field generated by at least one magnetic field generator, the source amplitude and frequency of each generated magnetic field are given to the host server; and calculating by the host server, based on the sensed magnetic field values and the given source amplitude and frequency of each generated magnetic field, a localization of the flexible tube.

Abstract: A method for magnetic tracking of a flexible catheter device or another flexible elongated device, the method comprising: receiving by a host server a plurality of sensed values of a local magnetic field, sensed by a respective plurality of sensors, wherein the host server is optionally included in a controller of the sensors, the sensors are located along a flexible tube of a device, wherein the sensed values are at least partially due to at least one alternating magnetic field generated by at least one magnetic field generator, the source amplitude and frequency of each generated magnetic field are given to the host server; and calculating by the host server, based on the sensed magnetic field values and the given source amplitude and frequency of each generated magnetic field, a localization of the flexible tube.

Abstract: A magnetic localization system including a magnetic field generator that generates an alternating magnetic field with a maintained frequency; and a receiver comprising: a DC magnetometer to sense a local magnetic field, at least in part due to the generated magnetic field; and at least one processor that calculates a six-degrees-of-freedom (6DOF) position and orientation of the receiver relative to the generator, based on the sensed magnetic field and the maintained frequency, and optionally based on the momentary phase of the generated field. Optionally, the generator includes an actuator that applies a rotational motion; at least one magnet rotating about a first axis by the actuator; a magnetometer to sense a momentary rotation phase of the at least one magnet; and a controller to maintain a desired rotation frequency of the at least one magnet. Optionally, the generator communicates the maintained rotation frequency and optionally the sensed momentary phase.