Abstract: A system for navigation of a luminal network including a catheter with a distal portion configured for articulation and a handle, a cradle configured to receive and support the handle, a first motor connected to the catheter, wherein the motor is operable to articulate the distal portion of the catheter, a second motor connected to the catheter, wherein the motor is operable to rotate the catheter about its longitudinal axis, and a user interface including at least one input, wherein signals generated by manipulation of the input are delivered to the first motor to articulate the catheter and to the second motor to rotate the catheter.

Abstract: Endoscopic systems and methods use a multi-view camera tool inside the body, including airways of a lung, to capture images, and use a combination of positional informational from EM and/or IMU sensors of the multi-view camera tool to estimate image depth and generate a three-dimensional (3D) point cloud volume of the patient anatomy. The 3D point cloud volume is generated from a known vantage point using stereoscopic images captured by the camera tool. This 3D structure generation may use a stereo image rectification algorithm. A machine learning algorithm may also be applied in place of, or in combination with, an image rectification algorithm to improve computational efficiency.

Abstract: A catheter drive system including a motor pack having a plurality of motors, each motor connected to a driver, a catheter quick connect, having a catheter mounted therein, and rotary interfaces configured to mate with the drivers, a plurality of spindles, each spindle coupled to one of the rotary interfaces such that rotation of the rotary interface is transferred to the spindle, a plurality of pull-wires, each pull-wire connected to one of the spindles and extending into a distal portion of the catheter, a Z-drive quick connect configured to receive the catheter and move the catheter along its longitudinal axis, and a Z-drive including at least one motor and a plurality of drivers mechanically coupled to the motor, each driver coupleable to a rotary interface on the Z-drive quick connect, wherein rotation of the drivers by the motor is transferred to the rotary interfaces of the Z-drive quick connect.

Abstract: A control system, including a controller having a display and a handle detachably coupled to the display and including an input device, a motor assembly, wherein the display is detachably coupled to the motor assembly, the motor assembly including a drive motor in communication with the handle, and a catheter drive detachably coupled to the motor assembly, wherein actuation of the drive motor effectuates movement of a catheter operatively coupled to the catheter drive.