Abstract: In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instillment at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.

Abstract: A biopsy system includes a biopsy tool and a control system in communication with the biopsy tool. The control system is configured to receive a command to perform a biopsy, retrieve a predefined dynamic trajectory for performing the biopsy from a memory device, and control the biopsy tool to move according to the predefined dynamic trajectory to perform the biopsy. The predefined dynamic trajectory includes a plurality of dynamic control modes. Each of the plurality of dynamic control modes has a different displacement profile. At least one different displacement profile comprises a cyclic displacement profile.

Abstract: A medical system includes a catheter and a processor. The catheter includes a first channel and a distal end portion associated with a catheter frame of reference. The processor is configured to receive a first image captured by a first imaging device provided by the catheter within a patient anatomy, and receive a second image of the patient anatomy captured by a second imaging device from outside the patient anatomy. The second image includes the catheter and the first imaging device. The processor is further configured to determine a relative pose between the first imaging device and the distal end of the catheter based on the second image, determine a target location associated with a target structure in the first image, and transform the target location in an image frame of reference associated with the first image to the catheter frame of reference based on the relative pose.

Abstract: Apparatuses and methods for providing change of custody signaling in a wireless sensor network are disclosed herein. In embodiments, an apparatus for providing transfer of custody signaling in a wireless sensor network (WSN) may be provided. The apparatus may include communications circuitry to interact with a cloud server to receive an instruction regarding a change of custody for at least one sensor node within a WSN, the at least one sensor node assigned to the apparatus for tracking, and the instruction may identify a second apparatus within the WSN to assume custody of the at least one sensor. The apparatus may further include a control unit coupled to the communications circuitry to signal the second apparatus and the at least one sensor node regarding the transfer of custody, wherein the signaling is over a wireless protocol of the WSN.

Abstract: A technology is described for a wireless sensor network. An example method may include detecting an aircraft takeoff preparation event using cabin air pressure data and accelerometer data indicating that an aircraft is preparing for takeoff. Transmitting a listen command to sensor nodes included in a sensor network, the listen command instructing the sensor nodes to disable the wireless network transmissions and listen for commands transmitted by the gateway. Disabling gateway wireless transmissions to the sensor nodes and a computing network. Detecting a landing event using the cabin air pressure data and the accelerometer data indicating that the aircraft has landed. Enabling the gateway wireless transmissions to the sensor nodes and the computing network, and transmitting an enable command to the sensor nodes included in the sensor network, the enable command instructing the sensor nodes to enable the wireless network transmissions and resume sending sensor data to the gateway.

Abstract: An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.

Abstract: Apparatuses and methods for providing change of custody signaling in a wireless sensor network are disclosed herein. In embodiments, an apparatus for providing transfer of custody signaling in a wireless sensor network (WSN) may be provided. The apparatus may include communications circuitry to interact with a cloud server to receive an instruction regarding a change of custody for at least one sensor node within a WSN, the at least one sensor node assigned to the apparatus for tracking, and the instruction may identify a second apparatus within the WSN to assume custody of the at least one sensor. The apparatus may further include a control unit coupled to the communications circuitry to signal the second apparatus and the at least one sensor node regarding the transfer of custody, wherein the signaling is over a wireless protocol of the WSN.

Abstract: Lost, misplaced, incorrectly delivered, and damaged assets are a common occurrence in shipment or asset tracking. Disclosed are various embodiments concerning a battery-less or intermittent battery use environments in which a node uses internal logic (e.g., circuitry and/or software) that, based at least in part on sensor information and stored information regarding the history of the node, may track events that have occurred to the node. The node may be responsive to events and determine whether exceptions have occurred that require attention. For example, detecting damage might cause the node to update an output to indicate the node and associated material, if any, needs to be rerouted to address the exception.

Abstract: Various mechanisms for implementing power activation of electronic tags via conductive contact labels are provided herein. An electronic shipping tag includes a housing to enclose: a printed circuit board having: a battery; load circuitry; and a plurality of pins that project from the housing, such that when contacted with a conductive substrate, cause activation of the load circuitry.

Abstract: A medical instrument system may comprise a control system and an operator input device coupled to a medical instrument through the control system. The control system may comprise a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to determine a distance between a distal tip of the medical instrument and an identified anatomical area and determine a motion scaling parameter based on the distance. The control system may also receive an input instruction from the operator input device and map the input instruction to an output instruction for the medical instrument. The motion scaling parameter may be applied to the input instruction to create the output instruction. The control system may also instruct an actuator to move the medical instrument based on the output instruction.

Abstract: Systems and methods for performing a minimally invasive procedure within anatomic passageways include an outer catheter including one or more first lumens, a sealing device coupled to the outer catheter, an inner instrument configured to be slideably deployed through one of the one or more first lumens, and one or more first sensors for detecting bleeding wherein the one or more first sensors are configured to be positioned distal to the sealing device. In some embodiments, the outer catheter includes a fiber optic shape sensor. In some embodiments, the inner instrument includes a second lumen, wherein a working instrument is configured to be slideably received through the second lumen. In some embodiments, the inner instrument or the working instrument includes a dilation device for expanding an opening in a surface of the anatomic passageways at a point of entry. In some embodiments, the inner instrument includes a biopsy needle.

Abstract: A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.

Abstract: Systems and methods for controlling an elongate device include an input control console. The console includes a first input control having an infinite length of travel in a first direction, a second input control having an infinite length of travel in more than one direction, one or more transceivers for coupling the console to a control unit for the elongate device, and interface circuits for coupling the first input control and the second input control to the one or more transceivers. The first input control provides a first command suitable for controlling an insertion depth of the elongate device. The second input control provides second commands suitable for controlling steering of a distal end of the elongate device. In some embodiments, the console includes raised rings or bezels within which the input controls are mounted. In some embodiments, pockets of a drape are anchored to the raised rings or bezels.

Abstract: Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

Abstract: A method of controlling a movement of a medical instrument comprises receiving an input instruction from an operator input device movement and determining a control factor based on the input instruction. The method also comprises receiving a motion scaling parameter determined from the control factor and mapping the input instruction to an output instruction for a medical instrument movement. The mapping includes applying the motion scaling parameter to the input instruction to create the output instruction. The method also includes moving the medical instrument according to the output instruction.

Abstract: An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.

Abstract: A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, generate a command to indicate or affect movement of the elongate instrument.

Abstract: A method comprising: displaying, in a first region of a display screen, an image of a patient anatomy for guiding a medical instrument to a deployment location during a medical procedure; and recording a plurality of sample identifiers. Each sample identifier is associated with a corresponding tissue sample of a plurality of tissue samples. The method further includes recording a plurality of location stamps. Each location stamp indicates a location in the patient anatomy of a corresponding tissue sample of the plurality of tissue samples. The method further includes: receiving tissue sample pathology information for each tissue sample in the plurality of tissue samples; and displaying, in a table in a second region of the display screen, the plurality of sample identifiers, the plurality of location stamps, and the tissue sample pathology information for each tissue sample during the medical procedure.