Abstract: The present invention is directed to the selective provision of interference canceled signal streams to demodulating fingers in a communication receiver. According to the present invention, potential interferer signal paths are identified. Signal streams having one or more potential interferer signals removed or canceled are created, and a correlation is performed to determine whether the strength of a desired signal path increased as a result. If the correlation indicates that the strength of a desired signal path was increased by the signal cancellation, the interference canceled signal stream is provided to the demodulation finger assigned to track the desired signal path. If the correlation determines that the strength of the desired signal path did not increase as a result of performing interference cancellation, the raw or a different interference canceled signal stream is provided to the demodulation finger.

Abstract: A method of registering two or more localization systems utilizing unique coordinate frames A and B to a common coordinate frames includes measuring position information for one or more reference locations r in each coordinate frame (e.g., Ar and Br). For each reference location, a fiducial grouping is created from the respective position measurements (e.g., (Ar, Br)). The fiducial groupings are used to generate a mapping function ƒ that transforms position measurements expressed relative to the second coordinate frame B to the first coordinate frame A. The mapping function ƒ is defined such that a distance between ƒ(Br) and Ar is about zero for each reference location r. Each localization system may also measure position information for a respective fixed reference localization element. Divergence between these fixed reference localization elements in the common coordinate system may be used to monitor, signal, and correct for anomalies such as dislodgement and drift.

Abstract: The present disclosure relates to a control system for user-guided robotic control of a medical device and includes an electronic control unit, a computer-readable memory coupled to the ECU, and a visualization system configured to provide a view of an anatomical model. The memory contains user interface logic configured to be executed by the ECU, and configured to obtain input from a touch screen display with respect to the view of an anatomical model. Control logic stored in the memory is also configured to be executed by said ECU and is configured to produce an actuation control signal responsive to the input to control actuation of a manipulator assembly so as to move the medical device.

Abstract: A medical device positioner for use with a remote catheter guidance system (RCGS) is provided, which can address angular, lateral and/or translational misalignment of an elongate medical device between the RCGS and an access point on a patient's body. Such a medical device positioner can comprise a base configured to attach to a remote catheter guidance system and a first support member extending from the base and having a receiving portion for receiving at least a portion of the elongate medical device. The medical device positioner can further include a second support member movably coupled to the first support member and including a second receiving area sized and configured to receive at least a portion of the elongate medical device. The medical device positioner can also include first and second tube sections with at least a portion of the first tube section being adapted to be inserted into a vascular system of a patient at an access point.

Abstract: A system and method for determining a position of a medical device within a body are provided. The system includes an electronic control unit that receives position signals from position sensors of a first type and a second type disposed on the device and applies a filter to each of the position signals to obtain filtered estimated positions for each sensor. The unit computes a spline connecting the position sensors of the first type responsive to the filtered estimated positions for the sensors and estimates a spline position for the sensor of the second type along the spline. The unit generates maps between the spline position and filtered and unfiltered estimated positions for the sensor of the second type and determines actual positions for the sensors of the first type responsive to the filtered estimated position for the sensors and a composite map of the two maps.

Abstract: A robotic catheter system includes an arch-shaped suspension system comprising a first and second vertical span, a horizontal span between the pair of vertical spans, and at least one robotic catheter head coupled to the horizontal span. The arch-shaped suspension system can include a pair of linear guide blocks that can be attached to a patient bed and in some embodiments the linear guide blocks can be configured to slidably move along a rail. The arch-shaped suspension system can be moved to allow for proper placement of the arch-shaped suspension system for use on a patient or for placing the system away from a patient or for storage. In some embodiments the robotic catheter system can include a suspension system cart for storing and moving the arch-shaped suspension system.

Abstract: A method and apparatus for mapping a location of a point within the body is disclosed. A plurality of positional reference nodes are determined, each aligned on a first element. A second element is mapped with reference to the plurality of reference nodes to determine the relative location of a point on the second element.

Abstract: A method for providing a localization system with detailed information regarding a catheter's construction, while at the same time preventing operator input errors, for use in a three-dimensional localization field, including providing a catheter having at least one feature, providing a catheter catalog for use by the localization system, wherein the catheter catalog comprises reference data relating to features of the catheter, placing the catheter into the localization field, creating a map with the localization field, locating the catheter on the map, and correlating features of the catheter within the localization field with measurements made by the localization system when the feature is at various locations.

Abstract: A medical device is provided comprising a shaft comprising a first segment and a second segment. The first segment is configured to buckle upon application of a first critical force. The second segment includes an outer surface and an inner surface and is configured to buckle upon application of a second critical force. The second critical force is lower than the first critical force. The medical device further comprises a coil disposed radially inwardly of the inner surface of the second segment.

Abstract: A medical device is provided comprising a shaft comprising a first segment and a second segment. The first segment is configured to buckle upon application of a first critical force. The second segment includes an outer surface and an inner surface and is configured to buckle upon application of a second critical force. The second critical force is lower than the first critical force. The medical device further comprises a coil disposed radially inwardly of the inner surface of the second segment.

Abstract: A method and apparatus for mapping a location of a point within the body is disclosed. A plurality of positional reference nodes are determined, each aligned on a first element. A second element is mapped with reference to the plurality of reference nodes to determine the relative location of a point on the second element.

Abstract: An imaging system comprises an image acquisition device configured to image certain internal anatomic structures of a patient, and an interventional device, at least a portion of which is configured to be inserted into the body of a patient. The interventional device includes one or more markers disposed on the insertable portion(s) of the interventional device. The material of which the marker is formed is suitable for detection by the image acquisition device, and is arranged in an identifying pattern. The image acquisition device is configured to detect the marker and to read the identifying pattern. In response to the detection and reading of the pattern, the image acquisition device is configured to identify and track the position of the interventional device.

Abstract: A method for providing a localization system with detailed information regarding a catheter's construction, while at the same time preventing operator input errors, for use in a three-dimensional localization field, including providing a catheter having at least one feature, providing a catheter catalog for use by the localization system, wherein the catheter catalog comprises reference data relating to features of the catheter, placing the catheter into the localization field, creating a map with the localization field, locating the catheter on the map, and correlating features of the catheter within the localization field with measurements made by the localization system when the feature is at various locations.

Abstract: A receiver includes a first finger that receives a non-interference-cancelled signal and output first demodulated data, a first phase estimate, and a first PN code. The receiver also includes a second finger that selectively receives the non-interference-cancelled signal and a first interference-cancelled signal generated from the non-interference-cancelled signal based on the first phase estimate and the first PN code. The second finger also outputs second demodulated data.

Abstract: A system for enabling a user to remotely control a robotic medical device system includes a motion capture apparatus to capture motion of a user in a sensing volume and generate indicative output data. The system includes a control unit configured to execute gesture recognition logic that recognizes a user gesture based on analysis of the indicative output data. The control unit executes interpreter logic that is configured to translate the recognized user gesture into a corresponding robotic medical device control command configured to control an aspect of the operation of the robotic medical device system.

Abstract: Location data associated with a cardiac wall motion during a cardiac cycle can be received. The cardiac cycle can be divided into incremental phases. The location data associated with the cardiac wall motion can be assigned to the incremental phases. A fiducial pair of coordinates can be determined for each of the incremental phases. The fiducial pair of coordinates can include location data for an intermediate cardiac phase and location data for a reference cardiac phase. A fiducial loop can be determined from the fiducial pair of coordinates for each of the incremental phases. A learned cardiac mapping between the reference cardiac phase and the intermediate cardiac phase can be determined using the fiducial loop.

Abstract: A method for determining a location of an object in a three-dimensional localization field created by a localization system includes the following steps: providing a catheter having known spacing between electrodes; providing a lookup table of data correlating locations of an object within the localization field with measurements made by the localization system; placing the catheter into the localization field; using the localization system to determine the location of the electrodes based on the lookup table; calculating an observed distance between electrodes; comparing the observed distance to the known electrode spacing; and adjusting the lookup table to more accurately measure the spacing of the electrodes. A Kernel function, such as the derivative of a Gaussian function, may be used to update the lookup table.

Abstract: The present invention provides systems and methods for parallel interference suppression. In one embodiment of the invention, a processing engine is used to substantially cancel a plurality of interfering signals within a received signal. The processing engine includes a plurality of matrix generators that are used to generate matrices, each matrix comprising elements of a unique interfering signal selected for cancellation. The processing engine also includes one or more processors that use the matrices to generate cancellation operators. A plurality of applicators applies the cancellation operators to parallel but not necessarily unique input signals to substantially cancel the interfering signals from the input signals. These input signals may include received signals, interference cancelled signals and/or PN codes.

Abstract: A robotic catheter control system includes a collision detection logic configured to determine a collision metric indicative of a collision between a medical device that is manipulated by the robotic control system and an object. The object may be an anatomical feature or can be another medical device, including another device being manipulated by the robotic control system. The collision detection logic produces virtual representations of the medical device and the object and uses these representation to determine collision. Geometrical solids, such as spheres, are used to represent the outer surfaces of the devices and the logic determines whether the respective surfaces intersect, thereby indicating collision. Collision avoidance involves estimating future device poses and then computing an alternate path computation so as avoid predicted collision(s).

Abstract: A receiver includes a first finger that receives a non-interference-cancelled signal and output first demodulated data, a first phase estimate, and a first PN code. The receiver also includes a second finger that selectively receives the non-interference-cancelled signal and a first interference-cancelled signal generated from the non-interference-cancelled signal based on the first phase estimate and the first PN code. The second finger also outputs second demodulated data.