Abstract: According to some embodiments, a medical instrument (for example, an ablation device) comprises an elongate body having a proximal end and a distal end, an energy delivery member positioned at the distal end of the elongate body, a first plurality of temperature-measurement devices carried by or positioned within the energy delivery member, the first plurality of temperature-measurement devices being thermally insulated from the energy delivery member, and a second plurality of temperature-measurement devices positioned proximal to a proximal end of the energy delivery member, the second plurality of temperature-measurement devices being thermally insulated from the energy delivery member.

Abstract: A system for performing an interventional procedure comprises an interventional instrument and a control system. The control system comprises a processor and a memory comprising machine-readable instructions that, when executed by the processor, cause the control system to receive a model of an anatomic structure record a target location for a target structure identified in the model, determine a planned deployment location for the interventional instrument to perform the interventional procedure on the target structure, receive sensor data including an operative image of the target structure from a sensor system, and identify, based on the operative image of the target structure, a revised deployment location for the interventional instrument to perform the interventional procedure on the target structure.

Abstract: A minimally invasive system comprises an elongate medical instrument including a lumen; an elongate, flexible stylet removably receivable within the lumen; a sensor system coupled to the stylet, the sensor system configured to detect characteristics of at least a portion of the elongate medical instrument; and a processor. The processor comprises an error detection module configured to receive the detected characteristics from the sensor system; compare the detected characteristics with expected characteristics of at least the portion of the elongate medical instrument; and notify a user of a deviation between the detected characteristics and the expected characteristics. The processor further comprises a path planning module configured to intraoperatively generate, based on a shape of at least the portion of the elongate medical instrument detected by the sensor system, a target trajectory for continuing advancement of the elongate medical instrument within a patient anatomy.

Abstract: A method includes registering a distal segment of a guide catheter with a patient coordinate system; tracking a position of the distal segment; determining an insertion length based on the tracked position, wherein the imaging probe is disposed within the guide catheter; receiving an image of an anatomic structure from the imaging probe, the image having an image frame of reference, the distal segment having a catheter frame of reference; receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference; and transforming the location data from the image frame of reference to the catheter frame of reference based on the determined insertion length and the tracked position of the distal segment, wherein transforming the location data further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

Abstract: A system for planning a procedure to be performed using an interventional instrument may comprise a sensor system that generates sensor data and a control system that may receive information about an operational capability of the interventional instrument within a plurality of passageways in a model of an anatomic structure. The control system may also identify a plurality of optional deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on a target structure in the model based on at least one of the sensor data or the information about the operational capability of the interventional instrument. A display system may display the model of the anatomic structure having the plurality of passageways and display the plurality of optional deployment locations in the model. A code may be displayed that provides information about a relative quality of each of the plurality of optional deployment locations.

Abstract: Systems, devices, and methods for transvascular ablation of target tissue. The devices and methods may, in some examples, be used for splanchnic nerve ablation to increase splanchnic venous blood capacitance to treat at least one of heart failure and hypertension. For example, the devices disclosed herein may be advanced endovascularly to a target vessel in the region of a thoracic splanchnic nerve (TSN), such as a greater splanchnic nerve (GSN) or a TSN nerve root. Also disclosed are methods of treating heart failure, such as HFpEF, by endovascularly ablating a thoracic splanchnic nerve to increase venous capacitance and reduce pulmonary blood pressure.

Abstract: A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D) endoscope; a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.

Abstract: A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D); a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.

Abstract: According to some embodiments, a medical instrument (for example, an ablation device) comprises an elongate body having a proximal end and a distal end, an energy delivery member positioned at the distal end of the elongate body, a first plurality of temperature-measurement devices carried by or positioned within the energy delivery member, the first plurality of temperature-measurement devices being thermally insulated from the energy delivery member, and a second plurality of temperature-measurement devices positioned proximal to a proximal end of the energy delivery member, the second plurality of temperature-measurement devices being thermally insulated from the energy delivery member.

Abstract: According to some embodiments, methods and systems of enhancing a map of a targeted anatomical region comprise receiving mapping data from a plurality of mapping electrodes, receiving high-resolution mapping data from a high-resolution roving electrode configured to be moved to locations between the plurality of mapping electrodes, wherein the mapping system is configured to supplement, enhance or refine a map of the targeted anatomical region or to directly create a high-resolution three-dimensional map using the processor receiving the data obtained from the plurality of mapping electrodes and from the high-resolution roving electrode.

Abstract: An ablation catheter configured to ablate tissue in a lung of a patient including: a flexible shaft that advances endobronchially into an airway of the lung and has an outer diameter of 2.0 mm or less; an ablation electrode attached to a distal portion of the flexible shaft and to deliver radiofrequency (RF) electrical current to the tissue and conductively connectable to an RF electrical energy source external to the patient; wherein an outer diameter of an assembly of the flexible shaft and the ablation electrode is no greater than 2.0 mm; a liquid outlet on the distal portion and configured to be in fluid communication with a source of hypertonic saline solution; and a first occluder attached to the flexible shaft proximal to the ablation electrode and proximal to the liquid outlet, wherein the first occluder is configured to expand to occlude the airway.

Abstract: According to some embodiments, methods and systems of enhancing a map of a targeted anatomical region comprise receiving mapping data from a plurality of mapping electrodes, receiving high-resolution mapping data from a high-resolution roving electrode configured to be moved to locations between the plurality of mapping electrodes, wherein the mapping system is configured to supplement, enhance or refine a map of the targeted anatomical region or to directly create a high-resolution three-dimensional map using the processor receiving the data obtained from the plurality of mapping electrodes and from the high-resolution roving electrode.

Abstract: According to some embodiments, a medical instrument (for example, an ablation device) comprises an elongate body having a proximal end and a distal end, an energy delivery member positioned at the distal end of the elongate body, a first plurality of temperature-measurement devices carried by or positioned within the energy delivery member, the first plurality of temperature-measurement devices being thermally insulated from the energy delivery member, and a second plurality of temperature-measurement devices positioned proximal to a proximal end of the energy delivery member, the second plurality of temperature-measurement devices being thermally insulated from the energy delivery member.

Abstract: A device is provided that includes an endoscope; an image sensor array is disposed to image a field of view adjacent to the endoscope, each sensor includes a pixel array that is separate from the pixel arrays of other sensors; and a light source is disposed to illuminate the field of view.

Abstract: A system to produce a replacement anatomical structure, comprising: a quantitative three-dimensional (Q3D) endoscope disposed to image a structure within a field of view that includes target tissue; at least one processor configured to: produce a first Q3D model of an anatomical structure that includes target tissue; produce a second Q3D model of the anatomical structure that includes remainder tissue in a location from which the target has been tissue removed; and produce a third Q3D model of a replacement structure based at least in part upon the first Q3D model and the second Q3D model.

Abstract: A system is provided that includes a quantitative three-dimensional (Q3D) endoscope that is inserted through a first port providing access to a body cavity to a first position at which a first 3D image of a first portion of an anatomical structure is captured from a perspective of said endoscope. A first Q3D model is produced based upon the captured first image. The endoscope is inserted through a second port providing access to the body cavity to a second position at which a second image of a second portion of the anatomical structure is captured. A second quantitative Q3D model is produced based upon the captured second image. The first Q3D model and the second Q3D model are combined together to produce an expanded Q3D model of the anatomical structure. The expanded Q3D model can be stored for further manipulation or can be displayed in 3D.

Abstract: Systems, devices, and methods for transvascular ablation of target tissue. The devices and methods may, in some examples, be used for splanchnic nerve ablation to increase splanchnic venous blood capacitance to treat at least one of heart failure and hypertension. For example, the devices disclosed herein may be advanced endovascularly to a target vessel in the region of a thoracic splanchnic nerve (TSN), such as a greater splanchnic nerve (GSN) or a TSN nerve root. Also disclosed are method of treating heart failure, such as HFpEF, by endovascularly ablating a thoracic splanchnic nerve to increase venous capacitance and reduce pulmonary blood pressure.

Abstract: A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.

Abstract: According to some embodiments, a method of confirming successful ablation of targeted cardiac tissue of a subject using a high-resolution mapping electrode comprises pacing said cardiac tissue at a predetermined pacing level to increase the heart rate of the subject from a baseline level to an elevated level, the predetermined pacing level being greater than a pre-ablation pacing threshold level but lower than a post-ablation pacing threshold level, delivering ablative energy to the ablation electrode, detecting the heart rate of the subject, wherein the heart rate detected by the high-resolution mapping electrode is at the elevated level before the post-ablation pacing threshold level is achieved, and wherein the heart rate detected by the high-resolution mapping electrode drops below the elevated level once ablation achieves its therapeutic goal or target, and terminating the delivery of ablative energy to the ablation electrode after the heart rate drops below the elevated level.

Abstract: According to some embodiments, a medical instrument (for example, an ablation device) comprises an elongate body having a proximal end and a distal end, an energy delivery member positioned at the distal end of the elongate body, a first plurality of temperature-measurement devices carried by or positioned within the energy delivery member, the first plurality of temperature-measurement devices being thermally insulated from the energy delivery member, and a second plurality of temperature-measurement devices positioned proximal to a proximal end of the energy delivery member, the second plurality of temperature-measurement devices being thermally insulated from the energy delivery member.