Abstract: An advancer system is described for moving an elongate medical device within a body. The system includes a drive unit having a motor. The drive unit is configured to translate movement of the motor to the device so as to alternately advance and retract the device relative to the body. The advancer system also includes a user-operable control system configured to control the drive unit. The control system can interface with a magnetic navigation system. The above-described system allows an operating physician to control catheter advancement and retraction while remaining outside an x-ray imaging field. Thus the physician is freed from repeated x-ray exposure.

Abstract: A method of treating cardiac arrhythmias resulting from errant electrical signals conducted through the cardiac tissue from a source location. The magnitude of the errant signals is reduced by shunting electrical signals from the source location with an electrically conductive element having a sufficiently low impedance.

Abstract: A method of navigating a medical device includes determining the location of a medical device at a point in an operating region in a subject's body, the medical device being responsive to at least one control variable to assume a desired configuration includes storing information representative of the at least one control variable being applied to the medical device at the point, and more preferably storing information representative of the at least one control variable and the device length.

Abstract: A method of turning a medical device, having a magnetically responsive element associated with its distal end, at an operating point within an operating region inside a patient's body from an initial direction to a desired final direction, through the movement of at least one external source magnet. The at least one external source magnet is moved in such a way as to change the direction of the distal end of the magnetic medical device from the initial direction to the desired final direction without substantial deviation from the plane containing the initial direction and the desired final direction.

Abstract: A method of navigating a medical device includes determining the location of a medical device at a point in an operating region in a subject's body, the medical device being responsive to at least one control variable to assume a desired configuration includes storing information representative of the at least one control variable being applied to the medical device at the point, and more preferably storing information representative of the at least one control variable and the device length.

Abstract: A method for obtaining registration of a three-dimensional image data set of an anatomical vessel with corresponding two-dimensional image data of the vessel in an X-ray imaging system, where the method comprise the user identifying two points on an anatomical vessel on at least two X-ray image planes, the user identifying two similar points on the surface of the corresponding three-dimensional anatomical image data, determining the orientation direction of the vessel from the two user identified image data surface points, determining the orientation direction of the vessel from the two points obtained from the X-ray image planes, and calculating a transformation of the three-dimensional image data to obtain a best fit registration of the direction derived from the image surface points with the direction derived from the X-ray image data points.

Abstract: A method is provided for establishing contact of a medical device against a three-dimensional surface geometry within a subject body, the method comprising obtaining a three-dimensional tissue surface geometry of an anatomical region within the subject body, obtaining a target location on the surface for the device to contact, determining local surface geometry information in a neighborhood of the target location, and using this information to determine a change of at least one control variable for effecting an over-torque of the medical device to enhance contact of the device with the target surface.

Abstract: A control for, and method of, operating at least two medical systems, each of which generates its own visual display output and accepts commands from an input device. The control includes a display, having an active display area, and at least one inactive display area, at least one input device which provides inputs to the medical system whose visual display output is being displayed on the active display area, and a controller that automatically selects the medical system whose visual display output is displayed on the active display area.

Abstract: A method of controlling a remote navigation system that remotely orients the distal end of the medical device in order to navigate a medical device through a body lumen, the method comprising: displaying an exterior image of the body lumen; superimposing an indicator of the current position of the medical device in the body lumen; displaying a plurality of segment labels; receiving oral commands and recognizing one of the spoken displayed segment labels; and causing the remote navigation system to orient the distal end of the device in a preselected direction associated with the segment corresponding to the displayed segment label.

Abstract: A method for controlling a remote navigation system includes operating the remote navigation system to bring a sensor carried on a medical device successively into a plurality of locations in a predetermined pattern, and using the sensor to sense a physiological property in each location. At least once thereafter, the remote navigation system is operated to bring a sensor carried on a medical device successively into a series of locations in a predetermined pattern relative to at least one location selected from the predetermined pattern in the immediately preceding step based upon the sensed physiological property value, and uses the sensor to sense the physiological property in each location. A local extreme value of the sensed physiological property is thereby located. The physiological properties that can be sensed include electrical signals, conductivity, temperature, fluid flow rate or fluid velocity, and range of motion of a surface.

Abstract: An apparatus that provides for rotation about two axes orthogonal to each other includes a gimbal having two arms adjoining a portion that is mounted to a base for rotation about a first axis. A shaft defining a second axis orthogonal to the first pivotally couples a mounting plate to the arms. The mounting plate has an arcuate edge with first and second parallel grooves therein adapted to receiving a drive cable. A drive cable that is engaged with a drive pulley is aligned by at least one idler pulley with the first and second grooves of the mounting plate. The drive cable has opposing free ends that are received in the first and second grooves of the mounting plate. A motor is coupled to the drive pulley for controlling the drive cable travel, to accordingly rotate the mounting plate to provide for orientating a device in a desired direction.

Abstract: A system and method are provided for attracting a magnetically responsive substance inserted in a subject's body towards a target area within the body to treat the area. The system generally comprises a medical device having a proximal end, a distal end, and at least one magnetic element disposed at the distal end of the medical device for orienting the distal end in a desired direction to place an aperture against the opposite wall of the vessel. The system further includes a voltage that may be applied to a coil that is disposed on the side of the medical device and proximally spaced from the magnetic element. A voltage is applied to the coil to attract the magnetically responsive substances inserted into the body around the coil. A high frequency alternating current voltage is applied to an adjacent transducer to ultrasonically disperse the collected magnetically responsive substances into the surrounding target tissue.

Abstract: A method for determining a transformation of a three-dimensional pre-operative image data set to obtain a registration of the three-dimensional image data with an X-ray imaging system. In one aspect of the present invention, the method comprises the steps of the user identifying a center point and extreme contour points of the object from an X-ray image, obtaining a set of contour points for the image object in each of a plurality of section-planes, and selecting from a sampling of section-planes the points projecting nearest to the user-identified extreme points. The method then defines a grid having a predetermined number of intervals at a predetermined interval spacing with the grid center at the user-identified center of the pre-operative image, and performs a projection of the center point of the three-dimensional image data set onto each grid point for evaluation and selection of the grid point projecting nearest to the user-identified center.

Abstract: A system for moving an elongate medical device has at least one drive element for engaging and moving an elongate medical device. Various embodiments provide for moving the separate inner and outer elements of a telescoping medical device. Some systems also provide for the rotation of a rotatable distal element on a rotatable medical device or the rotation of extension element in a telescoping medical device.

Abstract: An interface system and method for controlling a magnetic surgery system by displaying a virtual image of the device, adjusting the configuration of the device or the actuation controls to be applied to the device until the configuration of the displayed device assumes the configuration desired by the user, or selecting a desired target location for the tip, and causing a set of actuation controls to be applied to the actual device to cause the actual device to assume the configuration of the virtual device or to steer the device tip to the desired location.

Abstract: The movement of a catheter through a medium, which may be living tissue such as a human brain, is controlled by mechanically pushing a flexible catheter having a magnetic tip through the medium and applying a magnetic field having a magnitude and a direction that guides the mechanically-pushed catheter tip stepwise along a desired path. The magnetic field is controlled in a Magnetic Stereotaxis System by a processor using an adaptation of a PID (proportional, integral, and derivative) feedback method. The magnetic fields are applied by superconducting coils, and the currents applied through the coils are selected to minimize a current metric.

Abstract: A method of operating a navigation system that can orient the distal end of a medical device in a selected direction to navigate the medical device through a network of body lumens in an operating region in a subject that includes identifying a path through the network of body lumens in the operating region; displaying a two-dimensional image of the operating region including the path through the body lumens; determining at least one location on the path; and operating the navigation system to orient the distal end of the medical device in a direction substantially aligned with the path at the at least one location and advancing the distal end of the medical device.

Abstract: A method for determining a translation of a three-dimensional pre-operative image data set to obtain a registration of the three-dimensional image data with a patient positioned in a projection imaging system. In one embodiment the user identifies an initial three-dimensional organ center from projections and extreme contour landmark points of the object on a set of projections. A set of contour points for the image object in each of a plurality of three-dimensional cross-section planes; is obtained and the points projecting nearest to the user-identified landmark points are selected. A three-dimensional grid having a predetermined number of intervals at a predetermined interval spacing centered at the user-identified organ center is defined. The three-dimensional image data contour points as centered onto each grid point are projected for evaluation and selection of the grid point leading to contour points projecting nearest to the user-identified landmark points.

Abstract: A system for imaging and magnetically navigating a medical device within an operating region in a subject's body includes a first C-arm and a second C-arm. The system includes an imaging beam source and an imaging beam receiver mounted on the first C-arm disposed on opposite sides of the operating region to image the operating region. The system includes a pair of magnetic pods, which are movably mounted on either the first or second C-arm. The magnetic pods are movable between an imaging position and a navigating position in which the pods are disposed on opposite sides of the operating region in the same plane as at least one imaging beam source. The second C-arm is movable between an imaging position in which the imaging beam source and imaging beam receiver on the second C-arm is positioned so that the imaging beam sources and receivers are in the same plane.

Abstract: An integrated control and display system for operating a plurality of separate computer systems each having a visual display, includes at least one cursor control device for seamlessly moving a cursor among the visual displays of the separate computer systems, the cursor control device operating to control the computer system associated with the display on which the cursor appears.