Abstract: A robotic system includes an instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body, one or more instrument manipulators configured to control movement of the outer and inner bodies, and one or more computer devices configured to store data representing a model of at least a portion of a luminal network, a position of a target with respect to the luminal network, and a path to the target, identify a portion of the luminal network along the path having a shape matching a park assistance signature, and cause an output to be provided indicating an outer body parking position corresponding to the identified portion of the luminal network.

Abstract: Certain aspects relate to systems and techniques for driving a medical instrument having an inner body and an outer body. In one aspect, a system includes a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body. The system may further include a set of one or more instrument manipulators configured to control movement of the outer and inner bodies and a set of one or more processors configured to: receive a change drive mode command, and in response to receiving the change drive mode command, change a drive mode of the medical instrument from a paired drive mode to an unpaired drive mode.

Abstract: A system including an instrument having an elongate body, and a control system communicatively coupled to the instrument. The control system is configured to access a branched skeleton model defining a skeleton including a plurality of segments representing respective segments of a luminal network, identify a segment of the plurality of segments of the branched skeleton model corresponding to a position of a distal end of the instrument, determine a depth along the segment corresponding to the position of the distal end of the instrument, and determine a position of the distal end of the instrument relative to an anatomical map of the luminal network based on the identified segment and the depth along the segment.

Abstract: Certain aspects relate to systems and techniques for medical instrument navigation and targeting. In one aspect, a system includes a medical instrument having an elongate body and at least one sensor, a display, a processor, and a memory storing a model of a mapped portion of a luminal network and a position of a target with respect to the model. The processor may be configured to: determine, based on data from the at least one sensor, a position and orientation of a distal end of the medical instrument with respect to the model, and cause, on at least a portion of the display, a rendering of the model, the position of the target, and the position and orientation of the distal end of the medical instrument. The rendering may be based on a viewpoint directed at the target and different from a viewpoint of the medical instrument.

Abstract: Certain aspects relate to systems and techniques for mapping and/or navigation of an interior region of a body with a robotically-enabled medical instrument. The instrument may include a position sensor that provides positional information as the instrument navigates within the interior region. Visual indicia derived from the positional information may be superimposed on a reference image of the interior region. The visual indicia may characterize historical positions of the instrument. The instrument may include an imaging device. Images of the interior region captured with the imaging device can be linked to the position within the interior region where the images were captured.

Abstract: A wall-mounted lighting fixture includes a mounting plate, a canopy and an aiming assembly. The canopy is secured to a mounting plate mounted to a wall. The aiming assembly includes a disk, a tilting assembly, and a light emitting assembly. The canopy defines a circular recess which the disk is positioned flush within. The tilting assembly is coupled to the disk and the light emitting assembly, and includes a pivot joint, for example a hinge, allowing the light emitting assembly to tilt relative to the disk. The disk is rotatably coupled to the canopy allowing the light emitting assembly to rotate relative to the canopy, and therefore the wall. The tilting and rotation allow emitted light from the light emitting assembly to be aimed in two degrees of freedom.

Abstract: A wall-mounted lighting fixture includes a mounting plate, a canopy and an aiming assembly. The canopy is secured to a mounting plate mounted to a wall. The aiming assembly includes a disk, a tilting assembly, and a light emitting assembly. The canopy defines a circular recess which the disk is positioned flush within. The tilting assembly is coupled to the disk and the light emitting assembly, and includes a pivot joint, for example a hinge, allowing the light emitting assembly to tilt relative to the disk. The disk is rotatably coupled to the canopy allowing the light emitting assembly to rotate relative to the canopy, and therefore the wall. The tilting and rotation allow emitted light from the light emitting assembly to be aimed in two degrees of freedom.

Abstract: Certain aspects relate to systems and techniques for medical instrument navigation and targeting. In one aspect, a system includes a medical instrument having an elongate body and at least one sensor, a display, a processor, and a memory storing a model of a mapped portion of a luminal network and a position of a target with respect to the model. The processor may be configured to: determine, based on data from the at least one sensor, a position and orientation of a distal end of the medical instrument with respect to the model, and cause, on at least a portion of the display, a rendering of the model, the position of the target, and the position and orientation of the distal end of the medical instrument.

Abstract: Certain aspects relate to systems and techniques for medical instrument navigation and targeting. In one aspect, a system includes a medical instrument having an elongate body and at least one sensor, a display, a processor, and a memory storing a model of a mapped portion of a luminal network and a position of a target with respect to the model. The processor may be configured to: determine, based on data from the at least one sensor, a position and orientation of a distal end of the medical instrument with respect to the model, and cause, on at least a portion of the display, a rendering of the model, the position of the target, and the position and orientation of the distal end of the medical instrument. The rendering may be based on a viewpoint directed at the target and different from a viewpoint of the medical instrument.

Abstract: Certain aspects relate to systems and techniques for driving a medical instrument having an inner body and an outer body. In one aspect, a system includes a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body. The system may further include a set of one or more instrument manipulators configured to control movement of the outer and inner bodies and a set of one or more processors configured to: receive a change drive mode command, and in response to receiving the change drive mode command, change a drive mode of the medical instrument from a paired drive mode to an unpaired drive mode.

Abstract: Certain aspects relate to systems and techniques for driving a medical instrument having an inner body and an outer body. In one aspect, a system includes a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body. The system may further include a set of one or more instrument manipulators configured to control movement of the outer and inner bodies and a set of one or more processors configured to: receive a change drive mode command, and in response to receiving the change drive mode command, change a drive mode of the medical instrument from a paired drive mode to an unpaired drive mode.

Abstract: A method of increasing oil recovery form a carbonate oil reservoir by determining the presence of microorganisms, determining a specific nutrient package to stimulate the microorganisms, delivering the nutrient package to the carbonate oil reservoir, and allowing the stimulated microorganisms to change the adhesion tension between the carbonate oil rock formation and the oil and the water.

Abstract: A method of increasing oil recovery form a carbonate oil reservoir by determining the presence of microorganisms, determining a specific nutrient package to stimulate the microorganisms, delivering the nutrient package to the carbonate oil reservoir, and allowing the stimulated microorganisms to change the adhesion tension between the carbonate oil rock formation and the oil and the water.

Abstract: Certain aspects relate to systems and techniques for mapping and/or navigation of an interior region of a body with a robotically-enabled medical instrument. The instrument may include a position sensor that provides positional information as the instrument navigates within the interior region. Visual indicia derived from the positional information may be superimposed on a reference image of the interior region. The visual indicia may characterize historical positions of the instrument. The instrument may include an imaging device. Images of the interior region captured with the imaging device can be linked to the position within the interior region where the images were captured.

Abstract: Certain aspects relate to systems and techniques for driving a medical instrument having an inner body and an outer body. In one aspect, a system includes a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body. The system may further include a set of one or more instrument manipulators configured to control movement of the outer and inner bodies and a set of one or more processors configured to: receive a change drive mode command, and in response to receiving the change drive mode command, change a drive mode of the medical instrument from a paired drive mode to an unpaired drive mode.

Abstract: A method of increasing oil recovery form a carbonate oil reservoir by determining the presence of microorganisms, determining a specific nutrient package to stimulate the microorganisms, delivering the nutrient package to the carbonate oil reservoir, and allowing the stimulated microorganisms to change the adhesion tension between the carbonate oil rock formation and the oil and the water.

Abstract: Certain aspects relate to systems and techniques for medical instrument navigation and targeting. In one aspect, a system includes a medical instrument having an elongate body and at least one sensor, a display, a processor, and a memory storing a model of a mapped portion of a luminal network and a position of a target with respect to the model. The processor may be configured to: determine, based on data from the at least one sensor, a position and orientation of a distal end of the medical instrument with respect to the model, and cause, on at least a portion of the display, a rendering of the model, the position of the target, and the position and orientation of the distal end of the medical instrument.

Abstract: A method of enhancing oil recovery includes the step of determining a specific nutrient package used to initiate a microbiological response under actual reservoir conditions in combination with low salinity water injection. Once determined, the specific nutrient package is applied to at least one targeted well to stimulate resident microorganisms such that size or hydrophobic properties are beneficially altered so that interaction with oil contained in a reservoir rock formation is improved.

Abstract: A method of monitoring fluid flow in an oil reservoir includes the step of delivering a nutrient package to an oil reservoir. The nutrient package stimulates the growth of resident microbes/organisms which changes the morphology and function of the microbes. A sample is taken from produced fluids from wells in the reservoir and possible connections thereof and analyzed. Based on the analysis, determinations are made regarding the movement of fluids in the reservoir by observing changes in the range, concentration, and cell morphology of the microbes after nutrient stimulation by comparing pre-treatment versus post treatment measurements.

Abstract: A method for enhancing oil and oil residue recovery from oil-containing rock formations by supplementing a water cycle of a water alternate gas process with nutrients such that the formation resident microorganisms are stimulated as an additional oil release mechanism is provided. The method alters three-phase relative permeability in order to increase displacement efficiency while increasing oil release by microbially assisted water alternate gas processing.