Abstract: Via a trachea (5) of the subject, an end of a first tube (120) is advanced along a first airway route (127) to an imaging site (20) within the lung (55). Independently of the first tube, an end of a second tube (130) is advanced along a second airway route (130) to a tool site (30) within the lung. While the first tube remains extended along the first route and the second tube remains extended along the second route, an imaging device (128), extended from the end of the first tube, is used to image a tool (138) extended from the end of the second tube, and a target (40) within the lung. The tool can be used to perform a procedure on the target, guided by the imaging of the target and the tool. Other embodiments are also described.

Abstract: A three-dimensional printer comprising: a printing head that includes a heater for fusing a material; a plurality of nozzles, each nozzle including an opening through which the material that is fused by the heater is extrudable; and a mechanism for causing the fused material to be extruded solely through the opening of a selected nozzle of the plurality of nozzles.

Abstract: Via a trachea (5) of the subject, an end of a first tube (120) is advanced along a first airway route (127) to an imaging site (20) within the lung (55). Independently of the first tube, an end of a second tube (130) is advanced along a second airway route (130) to a tool site (30) within the lung. While the first tube remains extended along the first route and the second tube remains extended along the second route, an imaging device (128), extended from the end of the first tube, is used to image a tool (138) extended from the end of the second tube, and a target (40) within the lung. The tool can be used to perform a procedure on the target, guided by the imaging of the target and the tool. Other embodiments are also described.

Abstract: A method comprising: operating a swarm of autonomous vehicles to maximize a number of intercepted targets, wherein, for each of said autonomous vehicles, the method comprises: identifying a plurality of objects in an operational area as targets or obstacles; determining a location parameter for each of said plurality of objects; calculating a trajectory of motion for said autonomous vehicle based at least in part on said location parameters of each of said plurality of objects, wherein said calculating maximizes: (i) a probability of intercepting each of said targets, and (ii) a probability of avoiding collisions with each of said obstacles; and moving said autonomous vehicle along said trajectory of motion.

Abstract: A method comprising: operating a swarm of autonomous vehicles to maximize a number of intercepted targets, wherein, for each of said autonomous vehicles, the method comprises: identifying a plurality of objects in an operational area as targets or obstacles; determining a location parameter for each of said plurality of objects; calculating a trajectory of motion for said autonomous vehicle based at least in part on said location parameters of each of said plurality of objects, wherein said calculating maximizes: (i) a probability of intercepting each of said targets, and (ii) a probability of avoiding collisions with each of said obstacles; and moving said autonomous vehicle along said trajectory of motion.

Abstract: A long serial mechanism (LSM) extends from an actuator, distally along a chain of links. Each link comprises a moving mechanism (MM), actuation of which adjusts a position of the link with respect to another of the links. The LSM comprises a shaft, and a series of driving mechanisms (DMs) coupled to the shaft at each link. The LSM has (i) an engaging state in which each DM can potentially transfer rotation of the shaft into actuation of a respective MM, and (ii) a neutral state in which the DMs cannot transfer rotation. Via only (i) transitioning the shaft between the neutral state and the engaging state, and (ii) rotation of the shaft, the actuator is able to cause actuation of the first MM independently from actuation of the second MM, and actuation of the second MM independently of actuation of the first MM. Other embodiments are also described.

Abstract: A digital communication system comprising: an optical receiver comprising a detector configured to receive a laser optical signal from an optical transmitter; a curved mirror; an optical detector associated with said curved mirror; and an automated tracking system configured to: (i) determine a desired orientation of said optical receiver in relation to said optical transmitter, based, at least in part, on detecting a celestial location of said optical transmitter, (ii) move said optical receiver to said orientation, and (iii) continuously adjust said orientation to maximize a measured strength of said received optical signal.

Abstract: Disclosed are methods and devices for simulating ultrasound procedures and for training ultrasound users. Additionally disclosed are methods and devices for simulating needle insertion procedures, such as amniocentesis procedures, and for training physicians to perform such needle insertion procedures.

Abstract: Disclosed are methods, assemblies and devices useful for identifying the location and/or motion of a mobile device in a specified area, for assisting in mapping a specified area and also to methods, assemblies and devices for determining a location of anchors found at fixed locations in a specified area.

Abstract: Disclosed are methods, assemblies and devices useful for identifying the location and/or motion of a mobile device in a specified area, for assisting in mapping a specified area and also to methods, assemblies and devices for determining a location of anchors found at fixed locations in a specified area.

Abstract: Disclosed are methods, assemblies and devices useful for identifying the location and/or motion of a mobile device in a specified area, for assisting in mapping a specified area and also to methods, assemblies and devices for determining a location of anchors found at fixed locations in a specified area.

Abstract: There is provided, in accordance with some embodiments, a method comprising using one or more hardware processors for receiving a stream of video frames from a camera mounted on a moving vehicle. Hardware processor(s) are used for computing two or more three-dimensional (3D) orientation vectors of two or more light sources visible in the video frames. Hardware processor(s) are used for computing a 3D location for each of the light sources based on the 3D orientation vectors. Hardware processor(s) are used for computing two or more geographical locations of the camera based on the 3D locations. Hardware processor(s) are used for computing a lane positioning of the vehicle based on the geographical locations. Hardware processor(s) are used for sending the lane positioning and/or the geographical locations to a navigation system.

Abstract: A method for star tracking, the method comprising using at least one hardware processor for receiving at least one digital image at least partially depicting at least three light sources visible from the at least one sensor, wherein the at least one sensor captured the at least one digital image. The method comprises an action of processing the at least one digital image to calculate image positions of the depicted at least three light sources in each image. The method comprises an action of identifying the at least three light sources in each image by comparing a parameter computed from the at least one image and a respective parameter computed from a database. The method comprises an action of determining a position of the at least one sensor based on the identified at least three light sources.

Abstract: Disclosed are devices suitable for connection to a light fixture, that in some embodiments are useful as components of a network and/or position-determining system.

Abstract: The invention, in some embodiments, relates to the field of global navigation satellite systems, and more particularly to the field of methods and devices for identifying whether a satellite in a global navigation satellite system has a line of sight to a specific global navigation satellite system receiver (LOS satellite) or does not have a line of sight to the global navigation satellite system receiver (NLOS satellite).

Abstract: Disclosed are devices suitable for connection to a light fixture, that in some embodiments are useful as components of a network and/or position-determining system.

Abstract: The invention, in some embodiments, relates to the field of global navigation satellite systems, and more particularly to the field of methods and devices for identifying whether a satellite in a global navigation satellite system has a line of sight to a specific global navigation satellite system receiver (LOS satellite) or does not have a line of sight to the global navigation satellite system receiver (NLOS satellite).

Abstract: Disclosed is a method of aiming a firearm operated by an operator, comprising: a) at a range-determining rate of at least as frequent as once a second, determining the range to an object along an aiming line of a firearm; b) generating a signal audible to the operator, wherein at least one characteristic of the audible signal is modulated as a function of said determined range; and c) discharging the firearm in response to the characteristic of the signal. Also disclosed is a device useful in helping to aim a firearm, comprising: a) a range-determining unit configured for mounting on a firearm, further configured for determining the range to an object along an aiming line at a range-determining rate of at least as frequent as once a second; and b) a reporting unit functionally associated with the range-determining unit, configured to generate a signal audible to a human operator, wherein at least one characteristic of the signal is modulated as a function of a range determined by the range-determining unit.

Abstract: Disclosed are methods, assemblies and devices useful for identifying the location and/or motion of a mobile device in a specified area, for assisting in mapping a specified area and also to methods, assemblies and devices for determining a location of anchors found at fixed locations in a specified area.

Abstract: Disclosed are devices suitable for connection to a light fixture, that in some embodiments are useful as components of a network and/or position-determining system.