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: An articulating catheter defining a first curve at a distal portion of the catheter and a second curve proximal of the first curve.

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: Computer-assisted surgical systems and methods provide intraoperative playback of and interaction with recorded video images and/or a 3D model while displaying current video images. The methods and related surgical systems involve capturing, by a two-dimensional (2D) or three-dimensional (3D) video camera, current video images and recording the captured video images. A user interface displays the current video images and the recorded video images and/or the 3D model and enables a user to interact with either or both of them.

Abstract: Computer-assisted surgical systems and methods provide intraoperative playback of and interaction with recorded video images and/or a 3D model while displaying current video images. The methods and related surgical systems involve capturing, by a two-dimensional (2D) or three-dimensional (3D) video camera, current video images and recording the captured video images. A user interface displays the current video images and the recorded video images and/or the 3D model and enables a user to interact with either or both of them.

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 system and method for capturing in-vivo images of an endoluminal network and generating a pathway for directing an endoluminal robot to drive a catheter to a desired location.

Abstract: Endoluminal robotic systems and corresponding methods include subsystems for visualization, navigation, pressure sensing, platform compatibility, and user interfaces. The user interfaces may be implemented by one or more of a console, haptics, image fusion, voice controls, remote support, and multi-system controls.

Abstract: An endoluminal robotic system includes at least one robotic arm that operates tools to perform suturing procedures. The tools may include at least one of a suture needle driver tool, an endoscope, and a grasping tool. Methods performed by the endoluminal robotic system include driving a suture needle through anterior and posterior sides of a defect using the suture needle driving tool, the end portion of which is rotated after passing through tissue, to form a desired suture pattern. Then, the two ends of the suture thread are pulled and tied together to form a knot. Methods performed by the endoluminal robotic system also include overlaying a suture needle path on an image captured by the endoscope and controlling the at least one robotic arm to operate the driving tool and the suture needle driver tool based on the overlaid suture needle path.

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 and method for a catheter in a luminal network including capturing images via an optical sensor, comparing the captured images to pre-operative images, identifying fiducials in the captured images that correspond to fiducials in the pre-operative images; and depicting the position of the catheter in a three-dimensional (3D) model or two-dimensional (2D) images derived from the pre-operative images.

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: 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 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 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 system and method for imaging tissue including an endoscope capable of illuminating tissue with white and near infrared light.

Abstract: Methods and systems for generating a three-dimensional (3D) scan of a body inside of a patient include automatically interleaving scanning of a focused area within a first field of view (FOV) of an image sensor using a first light source in a fine mode with scanning of an area of the first FOV in a coarse mode to generate a scanned image of the body within the first FOV and generating 3D scan data of the body within the first FOV based on the scanned image.

Abstract: Computer-assisted surgical systems and methods provide intraoperative playback of and interaction with recorded video images and/or a 3D model while displaying current video images. The methods and related surgical systems involve capturing, by a two-dimensional (2D) or three-dimensional (3D) video camera, current video images and recording the captured video images. A user interface displays the current video images and the recorded video images and/or the 3D model and enables a user to interact with either or both of them.

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 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.