Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to predict reflections in an environment. One of the methods includes receiving a surfel map comprising a plurality of surfels, wherein each surfel corresponds to a respective different location in an environment. Sensor data for one or more locations in the environment is obtained. The sensor data has been captured by one or more sensors of a vehicle. A range map that represents a projection of the surfel map is generated. Range data in the sensor data is compared to the range map to identify one or more locations in the range map that do not match the range data in the sensor data. The one or more locations in the range map that do not match the range data in the sensor data is classified as reflections.

Abstract: Systems and methods for ablating tissue include an ablation device having an energy source and a sensor. The energy source provides a beam of energy directable to target tissue, and the sensor senses energy reflected back from the target tissue. The sensor collects various information from the target tissue in order to facilitate adjustment of ablation operating parameters, such as changing power or position of the energy beam. Gap distance between the energy source and target tissue, energy beam incident angle, tissue motion, tissue type, lesion depth, etc. are examples of some of the information that may be collected during the ablation process and used to help control ablation of the tissue.

Abstract: An ablation system for treating atrial fibrillation in a patient comprises an elongate shaft having proximal and distal ends, a lumen therebetween and a housing adjacent the distal end of the elongate shaft. An energy source is coupled to the housing and is adapted to deliver energy to a target tissue so as to create a zone of ablation in the target tissue that blocks abnormal electrical activity thereby reducing or eliminating the atrial fibrillation in the patient. A sensor is adjacent the energy source and adapted to detect relative position of the energy source to the target tissue or characteristics of the target tissue. The system also has a reflecting element operably coupled with the energy source and adapted to redirect energy emitted from the energy source in a desired direction or pattern.

Abstract: A cardiac ablation method including the following steps: inserting a treatment catheter into an atrium of a heart, the treatment catheter including an ultrasound emitter; positioning the ultrasound emitter to face heart tissue within the left atrium outside of a pulmonary vein; emitting ultrasound energy from the ultrasound emitter while rotating the ultrasound emitter about a rotation axis; and ablating heart tissue with the ultrasound energy to form a lesion outside of a pulmonary vein.

Abstract: Methods for ablating tissue in a patient having atrial fibrillation comprise advancing an elongate flexible shaft through a patient's vasculature into a chamber of a heart. The elongate flexible shaft has an energy source and a sensor. Tissue in the heart is scanned with the sensor and data about the tissue is captured. The captured data is grouped into one of a plurality of tissue classifications and an anatomical map of the tissue showing the grouped data is displayed. At least a portion of the tissue is ablated so as to form a conduction block that blocks aberrant electrical pathways in the heart. The ablated tissue is grouped into one or more predefined tissue classifications during or prior to the ablation.

Abstract: Methods for ablating tissue in a patient having atrial fibrillation comprise advancing an elongate flexible shaft through a patient's vasculature into a chamber of a heart. The elongate flexible shaft has an energy source and a sensor. Tissue in the heart is scanned with the sensor and data about the tissue is captured. The captured data is grouped into one of a plurality of tissue classifications and an anatomical map of the tissue showing the grouped data is displayed. At least a portion of the tissue is ablated so as to form a conduction block that blocks aberrant electrical pathways in the heart. The ablated tissue is grouped into one or more predefined tissue classifications during or prior to the ablation.

Abstract: Aspects of the disclosure relate generally to generating depth data from a video. As an example, one or more computing devices may receive an initialization request for a still image capture mode. After receiving the request to initialize the still image capture mode, the one or more computing devices may automatically begin to capture a video including a plurality of image frames. The one or more computing devices track features between a first image frame of the video and each of the other image frames of the video. Points corresponding to the tracked features may be generated by the one or more computing devices using a set of assumptions. The assumptions may include a first assumption that there is no rotation and a second assumption that there is no translation. The one or more computing devices then generate a depth map based at least in part on the points.

Abstract: An ablation system for treating atrial fibrillation in a patient comprises an elongate shaft having proximal and distal ends, a lumen therebetween and a housing adjacent the distal end of the elongate shaft. An energy source is coupled to the housing and is adapted to deliver energy to a target tissue so as to create a zone of ablation in the target tissue that blocks abnormal electrical activity thereby reducing or eliminating the atrial fibrillation in the patient. A sensor is adjacent the energy source and adapted to detect relative position of the energy source to the target tissue or characteristics of the target tissue. The system also has a reflecting element operably coupled with the energy source and adapted to redirect energy emitted from the energy source in a desired direction or pattern.

Abstract: A cardiac ablation method including the following steps: inserting a treatment catheter into an atrium of a heart, the treatment catheter including an ultrasound emitter; positioning the ultrasound emitter to face heart tissue within the left atrium outside of a pulmonary vein; emitting ultrasound energy from the ultrasound emitter while rotating the ultrasound emitter about a rotation axis; and ablating heart tissue with the ultrasound energy to form a lesion outside of a pulmonary vein.

Abstract: An ablation system for treating atrial fibrillation in a patient comprises an elongate shaft having proximal and distal ends, a lumen therebetween and a housing adjacent the distal end of the elongate shaft. An energy source is coupled to the housing and is adapted to deliver energy to a target tissue so as to create a zone of ablation in the target tissue that blocks abnormal electrical activity thereby reducing or eliminating the atrial fibrillation in the patient. A sensor is adjacent the energy source and adapted to detect relative position of the energy source to the target tissue or characteristics of the target tissue. The system also has a reflecting element operably coupled with the energy source and adapted to redirect energy emitted from the energy source in a desired direction or pattern.

Abstract: An ablation system for treating atrial fibrillation in a patient including an elongate shaft having proximal and distal ends, a lumen therebetween and a housing adjacent the distal end of the elongate shaft. An energy source is coupled to the housing and is adapted to deliver energy to a target tissue so as to create a zone of ablation in the target tissue that blocks abnormal electrical activity thereby reducing or eliminating the atrial fibrillation in the patient. A sensor is adjacent the energy source and adapted to detect relative position of the energy source to the target tissue or characteristics of the target tissue. The system also has a reflecting element operably coupled with the energy source and adapted to redirect energy emitted from the energy source in a desired direction or pattern.

Abstract: A cardiac ablation method including the following steps: inserting a treatment catheter into an atrium of a heart, the treatment catheter including an ultrasound emitter; positioning the ultrasound emitter to face heart tissue within the left atrium outside of a pulmonary vein; emitting ultrasound energy from the ultrasound emitter while rotating the ultrasound emitter about a rotation axis; and ablating heart tissue with the ultrasound energy to form a lesion outside of a pulmonary vein.

Abstract: A tissue ablation system for treating fibrillation in a patient comprises a steerable interventional catheter having an energy source that emits a beam of energy to ablate tissue thereby creating a conduction block for aberrant electrical pathways. The system also includes a handle disposed near a proximal end of the interventional catheter and has an actuation mechanism for steering the interventional catheter. A console allows the system to be controlled and provides power to the system, and a display pod is electrically coupled with the console. The display pod has a display panel to display system information to a user and allows the user to control the system. A catheter pod is releasably coupled with the handle electrically and mechanically, and also electrically coupled with the display pod.

Abstract: Systems and methods are related to a camera rig and generating stereoscopic panoramas from captured images for display in a virtual reality (VR) environment.

Abstract: Echo-anatomically mapping tissue includes advancing a catheter having an ultrasound transducer toward tissue. A console adjacent the proximal end of the catheter controls catheter movement, and the ultrasound transducer senses tissue. First and second regions of the tissue are ultrasonically sensed while moving the ultrasound transducer along first, and second sensing patterns, respectively. A first 3-dimensional surface map of the first region, and a second 3-dimensional surface map of the second region are generated. The 3-dimensional surface maps are combined to form a combined surface map. Anatomical features may be identified in the first or second sensed regions. The tissue may be ultrasonically ablated while moving the ultrasound transducer along a first ablation path. The first ablation path may form a lesion around the identified anatomical features, and may be selected from a catalog of ablation paths or it may be prescribed by a physician.

Abstract: A method for creating a transmural lesion in tissue includes positioning a distal portion of a catheter near the tissue, where an ultrasound transducer is attached to the distal portion and is operatively coupled to a console and processor. The tissue is imaged by energizing the ultrasound transducer at a first power level to produce an ultrasound beam, where the imaging determines a thickness of the tissue, and a gap distance between the ultrasound transducer and the tissue. The tissue is ablated by energizing the ultrasound transducer at a second power level to produce the ultrasound beam. Energy delivered to the tissue during the ablating is controlled, using the processor, where the processor adjusts a speed of the ultrasound beam moving across the tissue based on the thickness and gap distance, to create the transmural lesion.

Abstract: Tissue ablation systems and methods of using the same are disclosed. The tissue ablation systems can have an ultrasound ablation device connected to a catheter. The ultrasound ablation device can have a first conical reflector having a first reflective surface and a second conical reflector having a second reflective surface. The distance between the first and second conical reflectors can be adjusted, e.g., increased and/or decreased, to adjust the radial and/or longitudinal dimension of a focal zone from the device.

Abstract: A cardiac ablation method including the following steps: inserting a treatment catheter into an atrium of a heart, the treatment catheter including an ultrasound emitter; positioning the ultrasound emitter to face heart tissue within the left atrium outside of a pulmonary vein; emitting ultrasound energy from the ultrasound emitter while rotating the ultrasound emitter about a rotation axis; and ablating heart tissue with the ultrasound energy to form a lesion outside of a pulmonary vein.

Abstract: A cardiac ablation method including the following steps: inserting a treatment catheter into an atrium of a heart, the treatment catheter including an ultrasound emitter; positioning the ultrasound emitter to face heart tissue within the left atrium outside of a pulmonary vein; emitting ultrasound energy from the ultrasound emitter while rotating the ultrasound emitter about a rotation axis; and ablating heart tissue with the ultrasound energy to form a lesion outside of a pulmonary vein.

Abstract: Systems and methods are described for defining a set of images based on captured images, receiving a viewing direction associated with a user of a virtual reality (VR) head mounted display, receiving an indication of a change in the viewing direction. The methods further include configuring, a re-projection of a portion of the set of images, the re-projection based at least in part on the changed viewing direction and a field of view associated with the captured images, and converting the portion from a spherical perspective projection into a planar perspective projection, rendering by the computing device and for display in the VR head mounted display, an updated view based on the re-projection, the updated view configured to correct distortion and provide stereo parallax in the portion, and providing, to the head mounted display, the updated view including a stereo panoramic scene corresponding to the changed viewing direction.