Abstract: A positioning system includes a group of positioning devices including a first device comprising a first positioning source associated with a first positioning modality, the first positioning source being configured to view a first field, a second device comprising a second positioning source associated with a second positioning modality that is of a different type than the first positioning modality, the second positioning source being configured to view a second field, a third device comprising one or more first markers detectable within the first field using the first positioning modality, and a fourth device comprising one or more second markers detectable within the second field using the second positioning modality. A linking structure physically links two of the group of positioning devices to one another in a fixed, rigid relative position and orientation.

Abstract: Systems and methods for electromagnetic distortion detection are disclosed. In one aspect, the system includes an electromagnetic (EM) sensor configured to generate an EM sensor signal in response to detection of the EM field. The system may also include a processor configured to calculate a baseline value of a metric indicative of a position of the EM sensor at a first time and calculate an updated value of the metric during a time period after the first time. The processor may be further configured to determine that a difference between the updated value and the baseline value is greater than a threshold value and determine that the EM field has been distorted in response to the difference being greater than the threshold value.

Abstract: Systems and methods for electromagnetic distortion detection are disclosed. In one aspect, the system includes an electromagnetic (EM) sensor configured to generate an EM sensor signal in response to detection of the EM field. The system may also include a processor configured to calculate a baseline value of a metric indicative of a position of the EM sensor at a first time and calculate an updated value of the metric during a time period after the first time. The processor may be further configured to determine that a difference between the updated value and the baseline value is greater than a threshold value and determine that the EM field has been distorted in response to the difference being greater than the threshold value.

Abstract: Certain aspects relate to systems and techniques for mapping and/or navigation of an interior region of a body with a robotically-enabled medical instrument. The instrument may include a position sensor that provides positional information as the instrument navigates within the interior region. Visual indicia derived from the positional information may be superimposed on a reference image of the interior region. The visual indicia may characterize historical positions of the instrument. The instrument may include an imaging device. Images of the interior region captured with the imaging device can be linked to the position within the interior region where the images were captured.

Abstract: Certain aspects relate to systems and techniques for mapping and/or navigation of an interior region of a body with a robotically-enabled medical instrument. The instrument may include a position sensor that provides positional information as the instrument navigates within the interior region. Visual indicia derived from the positional information may be superimposed on a reference image of the interior region. The visual indicia may characterize historical positions of the instrument. The instrument may include an imaging device. Images of the interior region captured with the imaging device can be linked to the position within the interior region where the images were captured.

Abstract: Systems and methods for electromagnetic distortion detection are disclosed. In one aspect, the system includes an electromagnetic (EM) sensor configured to generate an EM sensor signal in response to detection of the EM field. The system may also include a processor configured to calculate a baseline value of a metric indicative of a position of the EM sensor at a first time and calculate an updated value of the metric during a time period after the first time. The processor may be further configured to determine that a difference between the updated value and the baseline value is greater than a threshold value and determine that the EM field has been distorted in response to the difference being greater than the threshold value.

Abstract: The safe therapeutic window for laser medicine tends to decrease as pulse length decreases. This problem is addressed by use of beam shapes and/or pulse shapes that improve temperature uniformity in the treated tissue. A beam shape with an adjustable on-axis intensity minimum improves spatial temperature uniformity in treated tissue. A pulse shape with a relatively intense early part (to set the temperature rise), followed by a less intense late part having decreasing intensity with time (to maintain a constant or nearly constant temperature rise) improves temporal temperature uniformity in the treated tissue. A therapeutic window (TW) of at least 3 is often required to provide a sufficient safety margin in practice. In one experiment, it was demonstrated that the minimum pulse length to provide a TW of 3 could be decreased from 20 ms to 10 ms following these principles.

Abstract: The safe therapeutic window for laser medicine (a ratio of the threshold power for detrimental outcome to that of a desired outcome) tends to decrease as pulse length decreases. This problem is addressed by use of beam shapes and/or pulse shapes that improve temperature uniformity in the treated tissue. A beam shape with an adjustable on-axis intensity minimum improves spatial temperature uniformity in treated tissue. A pulse shape with a relatively intense early part (to set the temperature rise), followed by a less intense late part having decreasing intensity with time (to maintain a constant or nearly constant temperature rise) improves temporal temperature uniformity in the treated tissue. A therapeutic window (TW) of at least 3 is often required to provide a sufficient safety margin in practice. In one experiment, it was demonstrated that the minimum pulse length to provide a TW of 3 could be decreased from 20 ms to 10 ms following these principles.