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 method and system for facilitating identification and marking of a target in a displayed Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient. The system includes a display and a storage device storing instructions for receiving an initial selection of the target in the F3DR, fining the F3DR based on the initial selection of the target, displaying the fined F3DR on the display, and receiving a final selection of the target in the fined F3DR via a user selection. The system further includes at least one hardware processor configured to execute said instructions. The method and instructions may also include receiving a selection of a medical device in two two-dimensional fluoroscopic images, where the medical device is located in an area of the target, and initially fining the F3DR based on the selection of the medical device.

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 system for navigating to a target includes an extended working channel having a lumen for receiving a tool, a computing device including a memory and at least one processor, and a display device. A plurality of images and a program are stored in the memory. The program, when executed by the at least one processor, presents a user interface. The user interface includes at least one image of the plurality of images depicting the target and a progression of the extended working channel through the airway. The user interface also includes a probability treatment zone defining a probability distribution of a trajectory of the tool once deployed beyond an opening of the extended working channel.

Abstract: A flexible catheter includes an elongated body, and a sensor. The elongated body has proximal and distal end portions and defines a working channel therethrough. The sensor is disposed in the distal end portion of the elongated body and is adapted for detecting the position of a distal end of the elongated body within the anatomy of a patient. The sensor is formed from a wire that forms a first layer of wraps about the distal end portion of the elongated body and that includes first and second leads that form a twisted pair proximal to the first layer of wraps. The twisted pair of the first and second leads extends to the proximal end portion of the elongated body.

Abstract: A medical image display apparatus for displaying medical images of a lung on a screen includes a network interface receiving positional information of a navigation instrument from a position sensor of the navigation instrument, a video stream from an optical sensor of the navigation instrument, and medical images from an imaging device, a memory storing a plurality of medical images and instructions, a processor executing the instructions, and a display dynamically displaying images on the screen. The instructions, when executed by the processor, cause the medical image display apparatus to determine whether status information indicates a pathway reviewing mode, a target management mode, or a navigation mode. The instructions, when executed by the processor, further cause the display to dynamically select and update images, which are displayed on the screen, among the plurality of medical images based on the positional information of the navigation instrument and status information.

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: Methods and systems for navigating to a target through a patient's bronchial tree are disclosed including a bronchoscope, a probe insertable into a working channel of the bronchoscope including a location sensor, and a workstation in operative communication with the probe and the bronchoscope the workstation including a user interface that guides a user through a navigation plan and is configured to present a three-dimensional (3D) view for displaying a 3D rendering of the patient's airways and a corresponding navigation plan, a local view for assisting the user in navigating the probe through peripheral airways of the patient's bronchial tree to the target, and a target alignment view for assisting the user in aligning a distal tip of the probe with the target.

Abstract: A medical image display apparatus for displaying medical images of a lung on a screen includes a network interface receiving positional information of a navigation instrument from a position sensor of the navigation instrument, a video stream from an optical sensor of the navigation instrument, and medical images from an imaging device, a memory storing a plurality of medical images and instructions, a processor executing the instructions, and a display dynamically displaying images on the screen. The instructions, when executed by the processor, cause the medical image display apparatus to determine whether status information indicates a pathway reviewing mode, a target management mode, or a navigation mode. The instructions, when executed by the processor, further cause the display to dynamically select and update images, which are displayed on the screen, among the plurality of medical images based on the positional information of the navigation instrument and status information.

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 and system for facilitating identification and marking of a target in a displayed Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient. The system includes a display and a storage device storing instructions for receiving an initial selection of the target in the F3DR, fining the F3DR based on the initial selection of the target, displaying the fined F3DR on the display, and receiving a final selection of the target in the fined F3DR via a user selection. The system further includes at least one hardware processor configured to execute said instructions. The method and instructions may also include receiving a selection of a medical device in two two-dimensional fluoroscopic images, where the medical device is located in an area of the target, and initially fining the F3DR based on the selection of the medical device.

Abstract: Methods and systems for navigating to a target through a patient's bronchial tree are disclosed including a bronchoscope, a probe insertable into a working channel of the bronchoscope including a location sensor, and a workstation in operative communication with the probe and the bronchoscope the workstation including a user interface that guides a user through a navigation plan and is configured to present a three-dimensional (3D) view for displaying a 3D rendering of the patient's airways and a corresponding navigation plan, a local view for assisting the user in navigating the probe through peripheral airways of the patient's bronchial tree to the target, and a target alignment view for assisting the user in aligning a distal tip of the probe with the target.

Abstract: A method and system for facilitating identification and marking of a target in a displayed Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient. The system includes a display and a storage device storing instructions for receiving an initial selection of the target in the F3DR, fining the F3DR based on the initial selection of the target, displaying the fined F3DR on the display, and receiving a final selection of the target in the fined F3DR via a user selection. The system further includes at least one hardware processor configured to execute said instructions. The method and instructions may also include receiving a selection of a medical device in two two-dimensional fluoroscopic images, where the medical device is located in an area of the target, and initially fining the F3DR based on the selection of the medical device.

Abstract: A system and method for navigating to a target using fluoroscopic-based three dimensional volumetric data generated from two dimensional fluoroscopic images, including a catheter guide assembly including a sensor, an electromagnetic field generator, a fluoroscopic imaging device to acquire a fluoroscopic video of a target area about a plurality of angles relative to the target area, and a computing device. The computing device is configured to receive previously acquired CT data, determine the location of the sensor based on the electromagnetic field generated by the electromagnetic field generator, generate a three dimensional rendering of the target area based on the acquired fluoroscopic video, receive a selection of the catheter guide assembly in the generated three dimensional rendering, and register the generated three dimensional rendering of the target area with the previously acquired CT data to correct the position of the catheter guide assembly.

Abstract: Methods and systems for navigating to a target through a patient's bronchial tree are disclosed including a bronchoscope, a probe insertable into a working channel of the bronchoscope including a location sensor, and a workstation in operative communication with the probe and the bronchoscope the workstation including a user interface that guides a user through a navigation plan and is configured to present a three-dimensional (3D) view for displaying a 3D rendering of the patient's airways and a corresponding navigation plan, a local view for assisting the user in navigating the probe through peripheral airways of the patient's bronchial tree to the target, and a target alignment view for assisting the user in aligning a distal tip of the probe with the target.

Abstract: A system for navigating to a target includes an extended working channel having a lumen for receiving a tool, a computing device including a memory and at least one processor, and a display device. A plurality of images and a program are stored in the memory. The program, when executed by the at least one processor, presents a user interface. The user interface includes at least one image of the plurality of images depicting the target and a progression of the extended working channel through the airway. The user interface also includes a probability treatment zone defining a probability distribution of a trajectory of the tool once deployed beyond an opening of the extended working channel.

Abstract: A system for navigating to a target, the system comprising an extended working channel having a lumen extending therethrough for receiving a tool, a computing device including a memory and at least one processor, a plurality of images stored in the memory, a program stored in the memory that, when executed by the at least one processor, presents a user interface. The user interface including, at least one image of the plurality of images depicting the target and a progression of the extended working channel through the airway, a probability treatment zone defining a probability distribution of a trajectory of the tool once deployed beyond an opening of the extended working channel displayed in the at least one image. The user interface is displayed on a display device.