Abstract: A system for moving an elongate tool through a lumen can include a proximal device and a distal device. The proximal device moves linearly in proximal and distal directions and includes a proximal shutter that between an open state in which an elongate tool moves freely through the proximal shutter and a closed state in which the elongate tool is fixedly held by the proximal shutter. The distal device moves linearly in the proximal and distal directions and includes a distal shutter that transitions between an open state in which the elongate tool moves freely through the distal shutter and a closed state in which the elongate tool is fixedly held by the distal shutter. The motions of the proximal and distal devices can be coordinate to provide smooth, continuous, and/or uninterrupted insertion or retraction of the elongate tool.

Abstract: A system for moving a catheter over a parked elongate tool through a lumen can include a catheter device, a proximal elongate tool device, and a distal elongate tool device. The catheter device can be engaged with the catheter device. An elongate device can be inserted through the lumen of the catheter and through the proximal elongate tool device and the distal elongate tool device. The catheter device can be configured to move proximally and distally to insert or retract the catheter. The proximal and distal elongate tool devices can be configured to walk proximally and distally along the parked elongate tool to maintain a desired spatial relationship between the catheter device and proximal and distal elongate tool devices.

Abstract: System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.

Abstract: Systems and methods for vision-based position and orientation determination for endovascular tools are disclosed. In one example, a method includes receiving a two-dimensional medical image including a view of at least a distal portion of a medical instrument, the distal portion of the medical instrument including one or more fiducials positioned thereon, the one or more fiducials being radio-opaque and visible in the medical image. The method also includes detecting, within the medical image, a two-dimensional appearance of the one or more fiducials, and based on the two-dimensional appearance of the one or more fiducials, determining at least one of a roll angle of the distal portion of the medical instrument, and an incline of the distal portion of the medical instrument.

Abstract: A steerable catheter system is disclosed. The system includes a steerable catheter including a handle and a steerable elongated body. The handle includes user inputs for image space control commands for articulating the elongated body with respect to a plane of a medical image. The elongated body includes pose determination features that allow determination of a roll angle of the elongated body. The system also includes a control unit that receives the image space control commands, determines the roll angle of the elongated body based on the pose determination features, translates the image space control commands into pullwire commands based on the roll angle, and transmits the pullwire commands to the steerable catheter, whereby the elongated body is articulated according to the pullwire commands.

Abstract: A system for moving a catheter over a parked elongate tool through a lumen can include a catheter device, a proximal elongate tool device, and a distal elongate tool device. The catheter device can be engaged with the catheter device. An elongate device can be inserted through the lumen of the catheter and through the proximal elongate tool device and the distal elongate tool device. The catheter device can be configured to move proximally and distally to insert or retract the catheter. The proximal and distal elongate tool devices can be configured to walk proximally and distally along the parked elongate tool to maintain a desired spatial relationship between the catheter device and proximal and distal elongate tool devices.

Abstract: A system for moving an elongate tool through a lumen can include a proximal device and a distal device. The proximal device moves linearly in proximal and distal directions and includes a proximal shutter that between an open state in which an elongate tool moves freely through the proximal shutter and a closed state in which the elongate tool is fixedly held by the proximal shutter. The distal device moves linearly in the proximal and distal directions and includes a distal shutter that transitions between an open state in which the elongate tool moves freely through the distal shutter and a closed state in which the elongate tool is fixedly held by the distal shutter. The motions of the proximal and distal devices can be coordinate to provide smooth, continuous, and/or uninterrupted insertion or retraction of the elongate tool.

Abstract: A steerable catheter system is disclosed. The system includes a steerable catheter including a handle and a steerable elongated body. The handle includes user inputs for image space control commands for articulating the elongated body with respect to a plane of a medical image. The elongated body includes pose determination features that allow determination of a roll angle of the elongated body. The system also includes a control unit that receives the image space control commands, determines the roll angle of the elongated body based on the pose determination features, translates the image space control commands into pullwire commands based on the roll angle, and transmits the pullwire commands to the steerable catheter, whereby the elongated body is articulated according to the pullwire commands.

Abstract: A steerable catheter system is disclosed. The system includes a steerable catheter including a handle and a steerable elongated body. The handle includes user inputs for image space control commands for articulating the elongated body with respect to a plane of a medical image. The elongated body includes pose determination features that allow determination of a roll angle of the elongated body. The system also includes a control unit that receives the image space control commands, determines the roll angle of the elongated body based on the pose determination features, translates the image space control commands into pullwire commands based on the roll angle, and transmits the pullwire commands to the steerable catheter, whereby the elongated body is articulated according to the pullwire commands.

Abstract: System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.

Abstract: A system for advancing a guidewire through a patient lumen including a first advancement device and a second advancement device. The second advancement device may be positioned between the first advancement device and an access point to the patient lumen. The first advancement device may close to contact the guidewire and open to not contact the wire. When the first advancement device is closed the first advancement device may move from a first position to a second position to advance the guidewire through the patient lumen. The first advancement device may rotate to rotate the guidewire. The second advancement device may be coupled to a microcatheter.

Abstract: Systems and methods for vision-based position and orientation determination for endovascular tools are disclosed. In one example, a method includes receiving a two-dimensional medical image including a view of at least a distal portion of a medical instrument, the distal portion of the medical instrument including one or more fiducials positioned thereon, the one or more fiducials being radio-opaque and visible in the medical image. The method also includes detecting, within the medical image, a two-dimensional appearance of the one or more fiducials, and based on the two-dimensional appearance of the one or more fiducials, determining at least one of a roll angle of the distal portion of the medical instrument, and an incline of the distal portion of the medical instrument.

Abstract: Systems and methods for image space control of a medical instrument are provided. In one example, a system is configured to display a two-dimensional medical image including a view of at least a distal end of an instrument. The system can determine, based on one or more fiducials on the instrument, a roll estimate of the instrument. The system further can receive a user input comprising a heading command to change a heading of the instrument within a plane of the medical image, or an incline command to change an incline of the instrument into or out of the plane of the medical image. Based on the roll estimate and the user input, the system can generate one or more motor commands configured to cause a robotic system coupled to the medical instrument to move the robotic medical instrument.

Abstract: System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.

Abstract: Systems and methods for vision-based position and orientation determination for endovascular tools are disclosed. In one example, a method includes receiving a two-dimensional medical image including a view of at least a distal portion of a medical instrument, the distal portion of the medical instrument including one or more fiducials positioned thereon, the one or more fiducials being radio-opaque and visible in the medical image. The method also includes detecting, within the medical image, a two-dimensional appearance of the one or more fiducials, and based on the two-dimensional appearance of the one or more fiducials, determining at least one of a roll angle of the distal portion of the medical instrument, and an incline of the distal portion of the medical instrument.

Abstract: System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.

Abstract: Systems and methods for image space control of a medical instrument are provided. In one example, a system is configured to display a two-dimensional medical image including a view of at least a distal end of an instrument. The system can determine, based on one or more fiducials on the instrument, a roll estimate of the instrument. The system further can receive a user input comprising a heading command to change a heading of the instrument within a plane of the medical image, or an incline command to change an incline of the instrument into or out of the plane of the medical image. Based on the roll estimate and the user input, the system can generate one or more motor commands configured to cause a robotic system coupled to the medical instrument to move the robotic medical instrument.

Abstract: Systems and methods for vision-based position and orientation determination for endovascular tools are disclosed. In one example, a method includes receiving a two-dimensional medical image including a view of at least a distal portion of a medical instrument, the distal portion of the medical instrument including one or more fiducials positioned thereon, the one or more fiducials being radio-opaque and visible in the medical image. The method also includes detecting, within the medical image, a two-dimensional appearance of the one or more fiducials, and based on the two-dimensional appearance of the one or more fiducials, determining at least one of a roll angle of the distal portion of the medical instrument, and an incline of the distal portion of the medical instrument.

Abstract: Systems and methods for image space control of a medical instrument are provided. In one example, a system is configured to display a two-dimensional medical image including a view of at least a distal end of an instrument. The system can determine, based on one or more fiducials on the instrument, a roll estimate of the instrument. The system further can receive a user input comprising a heading command to change a heading of the instrument within a plane of the medical image, or an incline command to change an incline of the instrument into or out of the plane of the medical image. Based on the roll estimate and the user input, the system can generate one or more motor commands configured to cause a robotic system coupled to the medical instrument to move the robotic medical instrument.

Abstract: Systems and methods for vision-based position and orientation determination for endovascular tools are disclosed. In one example, a method includes receiving a two-dimensional medical image including a view of at least a distal portion of a medical instrument, the distal portion of the medical instrument including one or more fiducials positioned thereon, the one or more fiducials being radio-opaque and visible in the medical image. The method also includes detecting, within the medical image, a two-dimensional appearance of the one or more fiducials, and based on the two-dimensional appearance of the one or more fiducials, determining at least one of a roll angle of the distal portion of the medical instrument, and an incline of the distal portion of the medical instrument.