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 hybrid overrunning clutch includes a metal outer race and a composite outer ring that are each sized and configured such that the metal race generates a preload on the composite outer race throughout the operational temperature of the clutch. The composite outer ring significantly reduces that total weight of the clutch, as compared to a completely metal outer race. The present application further includes a method of assembling the metal outer race and composite outer ring so that thermal expansion of the metal outer race creates the preload in the composite outer ring. The present application also includes a method of designing a hybrid overrunning clutch.

Abstract: A system for displaying a stereoscopic representation of a modeled object such as an anatomical model can include an electronic control unit (ECU), a computer-readable memory coupled to the ECU, display logic, a synchronization circuit, and stereoscopic eyewear. The system can show a stereoscopic view of the anatomical model according to active stereoscopy. Thus, the display logic can be configured to render at least two views of the anatomical model and to provide the at least two views in a sequence for output to a display. The synchronization circuit can be configured to synchronize the sequence of the at least two views with the operation of the stereoscopic eyewear. The at least two views can be displayed according to a viewing position of a user.

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: 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 system and method for synchronizing movement of a device within a body with a desired movement of the device commanded through a user interface are provided: The system includes an electronic control unit (ECU) configured to determine a viewing angle of an imaging system that captures an image of the device within the body and generates the image on a display. The ECU is configured to receive a command through the user interface, the command indicative of the desired movement of the device on the display and to generate a control signal to control movement of the device within the body responsive to the command and the viewing angle. The ECU may further be configured to generate a model of a region of interest and illustrate the position of the device and to adjust a display angle of the model responsive to the viewing angle of the imaging system.

Abstract: A system and method for automatically initializing or initiating a motion compensation algorithm is provided. The system includes a processing apparatus configured to acquire data representing information relating to movement of a medical device, determine whether the medical device is stationary based on the information represented by said data, and automatically initiate the execution of the motion compensation algorithm in response to a determination that the medical device is stationary. In an exemplary embodiment, the system further comprises the medical device. The method comprises acquiring data representing information relating to movement of a medical device. The method further comprises determining whether the medical device is stationary based on the information represented by the acquired data. The method still further comprises automatically initiating the execution of the algorithm in response to a determination that the medical device is stationary.

Abstract: A hybrid overrunning clutch includes a metal outer race and a composite outer ring that are each sized and configured such that the metal race generates a preload on the composite outer race throughout the operational temperature of the clutch. The composite outer ring significantly reduces that total weight of the clutch, as compared to a completely metal outer race. The present application further includes a method of assembling the metal outer race and composite outer ring so that thermal expansion of the metal outer race creates the preload in the composite outer ring. The present application also includes a method of designing a hybrid overrunning clutch.

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: A cardiac imaging system including an imaging module including an ultrasound emitter and one or more position markers. A tracking and control system may include a position sensing system for sensing a location and orientation of the position marker relative to a predetermined reference. The tracking and control system may be operable with the imaging module to produce at least a three dimensional image of a patient's anatomy. A method of cardiac imaging may include operatively attaching one or more position markers to an imaging module including an ultrasound emitter. The method may further include sensing a location and orientation of the position marker relative to a predetermined reference, and producing at least a three dimensional image of a patient's anatomy by evaluating one or more images obtained by the imaging module and aligning the image(s) obtained by the imaging module relative to the location and orientation of the position marker.

Abstract: A method of operating a positioning system by registering a first coordinate system of a first positioning system in a second coordinate system of a second positioning system includes determining an interpolation function configured to register the first, non-orthonormal coordinate system in the second, orthonormal coordinate system. Fiducial pairs are collected by the respective positioning systems, each of which contain a respective coordinate in the respective coordinate system, both of which refer to the same physical point in three dimensional space. Establishing a working interpolation function involves an analysis of the fiducial pairs using a thin-plate spline algorithm. The method further includes repeatedly obtaining a first coordinate in the first coordinate system and determining a corresponding second coordinate in the second coordinate system in accordance with the interpolation function.

Abstract: A haptic feedback system for a robotic catheter system including a robotic catheter manipulator assembly including one or more removably mounted robotic catheter device cartridges and robotic sheath device cartridges, with each cartridge being generally linearly movable relative to the robotic catheter manipulator assembly. The haptic feedback system may include a user interface device for controlling an operation associated with the catheter and/or sheath device cartridges, and a control system for evaluating a predetermined and/or a measured operational parameter of the haptic feedback system. The user interface device may provide haptic feedback to a user based on the evaluation by the control system.

Abstract: In an electrophysiology (EP) lab, a bedside interface device allows an EP physician to directly control various diagnostic and therapeutic systems, including an electro-anatomic mapping system. The bedside interface device can include a computer with wireless communication capability as well as a touch-responsive display panel and voice recognition. The bedside interface device can also be a hand-graspable wireless remote control device that is configured to detect motions or gestures made with the remote control by the physician, allowing the physician to directly interact with the mapping system. The bedside interface device can also be a motion capture camera configured to determine motion patterns of the physician's arms, legs, trunk, face and the like, which are defined in advance to correspond to commands for the mapping system. The bedside interface device may also include voice recognition capabilities to allow a physician to directly issue verbal commands to the mapping system.

Abstract: An interference cancelling receiver combines data from multiple paths after aligning to transmitter timing, and uses either an equalizer or a Rake receiver to compute symbol estimates. Interference estimates are generated from the symbol estimates, and multiple interference estimates are combined after re-aligning the interference estimates to receiver timing. At least two segments of symbol estimates are computed for each segment of interference cancelled data. Various techniques may be employed for controlling the latency and sequencing of these operations, and the subsystems within the canceller may use different processing clock speeds.

Abstract: A system and method for navigating a medical device within a body are provided. The system includes an electronic control unit configured to determine operating positions for electrical and magnetic position sensors on the medical device within corresponding first and second coordinate systems. The first and second coordinate systems are defined by an electric field based positioning system and a magnetic field based positioning system, respectively. The magnetic position sensor is disposed proximate the electrical position sensor. The ECU is further configured to apply a mapping function correlating the operating positions which generates a mapped position for the magnetic position sensor in the first coordinate system responsive to the operating position of the magnetic position sensor in the second coordinate system. The ECU determines an adjusted operating position for the electrical position sensor in the first coordinate system responsive to the mapped position of the magnetic position sensor.

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 functionfthat transforms position measurements expressed relative to the second coordinate frame B to the first coordinate frame A. The mapping function f is defined such that a distance between f(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 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 receiver in a CDMA system comprises a front end processor that generates a combined signal per source. A symbol estimator processes the combined signal to produce symbol estimates. An S-Matrix Generation module refines these symbol estimates based on the sub channel symbol estimates. An interference canceller is configured for cancelling interference from at least one of the plurality of received signals for producing at least one interference-cancelled signal.