Abstract: A catheter includes a shaft portion defining a non-circular transverse cross-section. The shaft portion includes an exterior sidewall and an interior sidewall defining two or more asymmetrical working channels.

Abstract: Augmented reality (AR) systems and methods involve an interactive head-mounted device (HMD), an external display, and a medical image computer, which is in communication with the HMD and the external display. The external display displays one or more planes of a medical image or a 3D model provided by the medical image computer. A user wearing the HMD may manipulate a medical image or 3D model displayed on the external display by focusing the user's gaze on a control object and/or a portion of a medical image or 3D model displayed on a display of the interactive HMD.

Abstract: A method for imaging involves scanning an anatomical object within a patient and capturing reflected IR light with a plurality of cameras that are separate from the scanner. The IR images captured by the IR cameras are associated together to create an integrated image based on parallax between the IR cameras and the scanner. The integrated image is associated with a separate or optical light image of the anatomical object to generate an intra-operative 3D image that can be created in real-time. Systems for effectuating such imaging may include multiple surgical instruments supporting various cameras positioned to capture different fields of view and to increase parallax.

Abstract: A system and method for enhanced surgical navigation and graphical user interfaces associated therewith. The system includes a 3D endoscope and a computing device including a display for displaying the graphical user interfaces. The 3D endoscope includes a camera source and a scan source and is utilized to generate a 3D spatial map of a surgical site. A position of a surgical tool is detected in the 3D spatial map, a distance between the position of the surgical tool in the 3D spatial map and a location of an anatomy is detected, and a warning is generated when it is determined that the distance between the position of the surgical tool in the 3D spatial map and the location of the anatomy is equal to or not greater than a threshold minimum distance.

Abstract: Methods of respiration compensation including detecting a position of a catheter proximate a target within a patient, performing a local registration to update a displayed relative position and orientation of the catheter and the target in a three-dimensional model, detecting movement of a plurality of sensors, determining a respiration waveform from the detected movement of the plurality of sensors, and indicating on a user-interface a period during which advancement of a biopsy or therapy tool from the catheter is most likely to intersect the target, wherein the period corresponds to a portion of the respiration waveform during which the movement of the plurality of sensors is within a desired range.

Abstract: Systems, apparatus, methods and non-transitory computer readable media facilitating telemetry data communication security between an implantable device and an external clinician device are provided. An implantable device can include a security component configured to generate security information based on reception of a clinician telemetry session request from the clinician device via a first telemetry communication protocol. The security information can include a session identifier and a first session key, and the clinician telemetry session request can include a clinician device identifier associated with the clinician device.

Abstract: A system and method for enhanced surgical navigation and graphical user interfaces associated therewith. The system includes a 3D endoscope and a computing device including a display for displaying the graphical user interfaces. The 3D endoscope includes a camera source and a scan source and is utilized to generate a 3D spatial map of a surgical site. A position of a surgical tool is detected in the 3D spatial map, a distance between the position of the surgical tool in the 3D spatial map and a location of an anatomy is detected, and a warning is generated when it is determined that the distance between the position of the surgical tool in the 3D spatial map and the location of the anatomy is equal to or not greater than a threshold minimum distance.

Abstract: A system for generating a 3D model of a surgical site includes a 3D endoscope and a computing device coupled to the 3D endoscope. The 3D endoscope includes a scanner for scanning a surface of a surgical site and a camera source for generating images of the surgical site. A 3D model of the surgical site, including objects therein, is generated using scan data and image data. The 3D model is updated by detecting a change in the surgical site, isolating a region of the surgical site where the change is detected, generating second scan data by scanning the surface of the isolated region, and updating the 3D model generated using the second scan data of the surface of the isolated region.

Abstract: A method for imaging involves scanning an anatomical object within a patient and capturing reflected IR light with a plurality of cameras that are separate from the scanner. The IR images captured by the IR cameras are associated together to create an integrated image based on parallax between the IR cameras and the scanner. The integrated image is associated with a separate or optical light image of the anatomical object to generate an intra-operative 3D image that can be created in real-time. Systems for effectuating such imaging may include multiple surgical instruments supporting various cameras positioned to capture different fields of view and to increase parallax.

Abstract: A method and system of correcting alignment of catheter relative to a target including receiving signals from an inertial measurement unit located at a distal end of a catheter, determining movement of the distal end of the catheter caused by physiological forces, receiving images depicting the distal end of the catheter and the target, identifying the distal end of the catheter and the target in the images, determining an orientation of the distal end of the catheter relative to the target and articulating the distal tip of the catheter in response to the detected movement to achieve and maintain an orientation towards the target such that a tool extended from an opening at the distal end of the catheter would intersect the target.

Abstract: Systems, apparatus, methods and non-transitory computer readable media facilitating telemetry data communication security between an implantable device and an external clinician device are provided. An implantable device can include a security component configured to generate security information based on reception of a clinician telemetry session request from the clinician device via a first telemetry communication protocol. The security information can include a session identifier and a first session key, and the clinician telemetry session request can include a clinician device identifier associated with the clinician device.

Abstract: Systems and methods of imaging include projecting infrared (IR) light from the endoscope toward the at least one anatomical feature (e.g., the exterior of a liver or lung), capturing the IR light, projecting optical light from the endoscope toward a similar portion of the anatomical feature, and capturing the optical light. Once the IR light and the optical light are captured, both are associated with one another to generate an intra-operative 3D image. This projection and capture of IR and optical light may occur at discrete times during the imaging process, or simultaneously.

Abstract: A method for enhanced surgical navigation, and a system performing the method and displaying graphical user interfaces associated with the method. A 3D spatial map of a surgical site is generated using a 3D endoscope including a camera source and an IR scan source. The method includes detecting a needle tip protruding from an anatomy and determining a needle protrusion distance corresponding to a distance between the needle tip and a surface of the anatomy using the 3D spatial map. A position of a surgical tool in the 3D spatial map is detected and a determination is made by the system indicative of whether the needle protrusion distance is sufficient for grasping by the surgical tool. A warning is generated when it is determined that the needle protrusion distance is not sufficient for grasping by the surgical tool.

Abstract: A method and system of correcting alignment of catheter relative to a target including receiving signals from an inertial measurement unit located at a distal end of a catheter, determining movement of the distal end of the catheter caused by physiological forces, receiving images depicting the distal end of the catheter and the target, identifying the distal end of the catheter and the target in the images, determining an orientation of the distal end of the catheter relative to the target and articulating the distal tip of the catheter in response to the detected movement to achieve and maintain an orientation towards the target such that a tool extended from an opening at the distal end of the catheter would intersect the target.

Abstract: A system for performing a surgical procedure includes an endoscope. The endoscope includes a catheter attachment and a control handle selectively coupled to a portion of the catheter attachment such that inputs received by the control handle effectuate corresponding reactions of a portion of the catheter attachment when the control handle is coupled to the catheter attachment and when the control handle is separated from the catheter attachment.

Abstract: A method of displaying an area of interest within a surgical site includes modeling a patient's lungs and identifying a location of an area of interest within the model of the patient's lungs. The topography of the surface of the patient's lungs is determined using an endoscope having a first camera, a light source, and a structured light pattern source. Real-time images of the patient's lungs are displayed on a monitor and the real-time images are registered to the model of the patient's lungs using the determined topography of the patient's lungs. A marker indicative of the location of the area of interest is superimposed over the real-time images of the patient's lungs. If the marker falls outside of the field-of view of the endoscope, an arrow is superimposed over the real-time images to indicate the direction in which the marker is located relative to the field of view.

Abstract: A method for enhanced surgical navigation, and a system performing the method and displaying graphical user interfaces associated with the method. A 3D spatial map of a surgical site is generated using a 3D endoscope including a camera source and an IR scan source. The method includes detecting a needle tip protruding from an anatomy and determining a needle protrusion distance corresponding to a distance between the needle tip and a surface of the anatomy using the 3D spatial map. A position of a surgical tool in the 3D spatial map is detected and a determination is made by the system indicative of whether the needle protrusion distance is sufficient for grasping by the surgical tool. A warning is generated when it is determined that the needle protrusion distance is not sufficient for grasping by the surgical tool.

Abstract: Surgical systems and methods involve an instrumentation system disposed external to a body of a patient, sensors, which include a first antenna, configured to be placed within the body of the patient, and a surgical instrument including a second antenna disposed at a proximal portion of the surgical instrument. The surgical instrument communicates with the sensors via the first and second antennas. The surgical instrument also communicates messages with the instrumentation system when the surgical instrument is placed in the body of the patient, but the second antenna is disposed external to the body of the patient. The messages include sensor data from the sensors.

Abstract: Systems, apparatus, methods and computer-readable storage media facilitating management of operation of an implantable medical device (“IMD”) using a number of communication modes are provided. An IMD is configured to operate in a disabled mode wherein radio frequency (RF) telemetry communication is disabled, or operate in a first advertising mode using the RF telemetry communication. The IMD receives a clinician session request from a clinician device via an induction telemetry protocol while operating in the disabled mode or the first advertising mode, and transitions to operating from the disabled mode or the first advertising mode to operating in a second advertising mode based on receiving the clinician session request. From the second advertising mode, the IMD can establish a clinician telemetry session with the clinician device using the RF telemetry communication and a unique security mechanism facilitated by an identifier for the clinician device included in the clinician session request.

Abstract: A method for imaging involves scanning an anatomical object within a patient and capturing reflected IR light with a plurality of cameras that are separate from the scanner. The IR images captured by the IR cameras are associated together to create an integrated image based on parallax between the IR cameras and the scanner. The integrated image is associated with a separate or optical light image of the anatomical object to generate an intra-operative 3D image that can be created in real-time. Systems for effectuating such imaging may include multiple surgical instruments supporting various cameras positioned to capture different fields of view and to increase parallax.