Abstract: A medical system comprises an elongate device, an elongate sheath configured to extend within the elongate device, and an imaging probe configured to extend within the elongate sheath. The elongate sheath includes an identification feature. The medical system further comprises a control system configured to receive imaging data from the imaging probe. The imaging data is captured by the imaging probe. The control system is further configured to analyze the imaging data to identify an appearance of the identification feature within the imaging data. The control system is further configured to, based on the appearance of the identification feature, register the imaging data to a reference frame of the elongate device.

Abstract: A system comprises an optical fiber, a manipulator assembly, and a control unit. The manipulator assembly comprises a chassis, an optical fiber cleaning assembly housed within the chassis, and a drive mechanism housed within the chassis. The optical fiber cleaning assembly comprises a cleaning tape, a first spool on which the cleaning tape is wound, and a second spool onto which the cleaning tape is drawn after use. The drive mechanism is configured to advance the cleaning tape from the first spool to the second spool such that a portion of the cleaning tape wipes a face of the optical fiber. The control unit is configured to control the drive mechanism to advance the cleaning tape.

Abstract: A method for controlling fluid delivery to a medical instrument comprises releasing, from a reservoir of a known size and having fluid at a volume and a first fluid pressure, a released fluid volume of the fluid to the medical instrument. The method also comprises measuring a vented fluid volume and determining a discharged fluid volume through the medical instrument based on the released fluid volume and the vented fluid volume.

Abstract: An optical fiber cleaning assembly includes a cleaning tape, a first spool having the cleaning tape wound thereon, a second spool onto which the cleaning tape is drawn, a drive mechanism configured to move the cleaning tape from the first spool to the second spool, and one or more first connectors configured to mate with one or more connectors of a system, the system including a first optical fiber. The optical fiber cleaning assembly further includes one or more second connectors configured to mate with one or more optical fiber connectors of a device while the optical fiber cleaning assembly is attached to the system by the one or more first connectors, the device including a second optical fiber. The drive mechanism is configured to move the cleaning tape from the first spool to the second spool to wipe the face of the first or second optical fiber.

Abstract: A medical instrument system includes an imaging probe and an elongated medical instrument. The imaging probe includes a first sealing feature comprising a first tapered profile formed on an external surface of the distal tip. The elongated medical instrument has a working channel extending to an opening in the distal portion. The distal portion includes a second sealing feature comprising a second tapered profile formed on an internal surface of the channel. A distal end surface of the distal tip extends through the opening and distally of a distal end surface of the elongated medical instrument when the first sealing feature is engaged with the second sealing feature. The first tapered profile and the second tapered profile form a seal that prevents fluid from passing through the opening when the imaging probe is within the working channel of the elongated medical instrument and the first and second sealing features contact.

Abstract: The following describes various applications and uses for a controllably rigidizable flexible, device or sheath, Such rigidizing mechanisms can allow for a transition between a rigid state and a flexible state of a sheath. Rigidization can be applied along an entire length of a flexible sheath or along select portions of the sheath, and the rigidization can be of varying stiffness. Rigidization can be user controlled or automatically controlled using computer processes.

Abstract: The following describes various applications and uses for a controllably rigidizable flexible device or sheath. Such rigidizing mechanisms can allow for a transition between a rigid state and a flexible state of a sheath. Rigidization can be applied along an entire length of a flexible sheath or along select portions of the sheath, and the rigidization can be of varying stiffness. Rigidization can be user controlled or automatically controlled using computer processes.

Abstract: An apparatus includes an instrument that comprises an elongated, flexible body including an inner surface and an outer surface, wherein the inner surface is shaped to define a lumen extending through at least a portion of the elongated, flexible body. The instrument further comprises a plurality of portions extending along a length of the elongated, flexible body. The apparatus further comprises a radiopaque material incorporated into a first portion of the plurality of portions and a second portion of the plurality of portions, wherein the radiopaque material is incorporated into the first portion such that the first portion has a first radiopacity, and the radiopaque material is incorporated into the second portion such that the second portion has a second radiopacity, wherein the first radiopacity is different from the second radiopacity.

Abstract: A catheter system may comprise an articulation joint including a first pair of links and a second pair of links. Each link may include a central channel enclosed at least in part by radially extending arcuate segments. The first pair of links may include a first link and a second link, and the second pair of links may include the second link and a third link. The system may also comprise a first pair of springs coupled between the first and second links. The system may also comprise a second pair of springs coupled between the second and third links. The system may also include control wires extending through the first pair of springs and a control wires extending through the second pair of springs. The spring walls may share a radial dimension with the link walls.

Abstract: A system may comprise a catheter including a wall having an inner surface defining a main lumen. The system may also comprise a device including an elongate flexible shaft configured to be slideably inserted within the catheter main lumen and a structure disposed around an outer surface of the elongate flexible shaft. The structure may be configured to engage with a plurality of flat surfaces comprising a portion of the inner surface to prevent rotation of the device within the main lumen.

Abstract: An imaging instrument comprises an elongate flexible shaft, a camera disposed at a distal end of the elongate flexible shaft, and a housing coupled to a proximal end of the elongate flexible shaft. The instrument also includes a light emitting diode (LED) within the housing and a heat dissipation system in thermal communication with the LED to transfer heat produced by the LED away from the housing.

Abstract: Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein.

Abstract: Systems and methods for integrated real-time visualization while performing a minimally invasive procedure within anatomic passageways include a flexible catheter having one or more first lumens and a first positioning system, an imaging probe having one or more imaging elements, and a scaling device. In souse embodiments, the scaling device includes a plurality of second lumens and the flexible catheter and the imaging probe are each optionally deployed through a respective one of the second lumens. In some embodiments, the one or more imaging elements include one or more ultrasound transducers. In some embodiments, the scaling device seals the anatomic passageways at a scaling location using one or more balloons, and the anatomic passageways distal to the sealing location are collapsed. In some embodiments, the first positioning system includes one or more position sensors. In some embodiments, the procedure is performed after the passageways are collapsed.

Abstract: A medical instrument system comprises an imaging probe including a distal tip terminating at a first distal end of the imaging probe and a lens disposed at the first distal end. The imaging probe including a first sealing feature on an external surface of the imaging probe. The medical instrument also comprises an elongated medical instrument including a distal portion terminating at a second distal end and including a working channel configured to slidably receive the imaging probe. The working channel including a second sealing feature on a surface of the working channel. The first sealing feature and the second sealing feature are shaped and configured to contact one another to prevent the passage of fluid between the first and second sealing features.

Abstract: A medical system includes a flexible catheter, an imaging probe, a working catheter, and a positioning system. The flexible catheter includes a plurality of first lumens and a sealing device having one or more balloons to seal the anatomic passageways at a sealing location and one or more flaps or valves to remove air from the anatomic passageways. The imaging probe and working catheter are receivable within the plurality of first lumens and extend through the sealing device. The working catheter includes one or more second lumens to receive a medical instrument. The positioning system is configured to determine a position of a distal portion of the flexible catheter, the imaging probe, or the working catheter. The medical system is configured to collapse a portion of the anatomic passageways distal of the sealing location by removing air from the anatomic passageways to facilitate ultrasound imaging using the imaging probe.

Abstract: A medical instrument system comprises an imaging probe including a distal tip that includes a first sealing feature. The system includes an elongated medical instrument including a distal portion and a working channel extending to an opening in the distal portion to permit fluid to pass from the working channel. The distal portion includes a second sealing feature. A first interlocking feature is on an external surface of the imaging probe and a second interlocking feature is on an internal surface of the working channel. The imaging probe is configured to be selectively interlocked with the elongated medical instrument when the imaging probe is positioned within the working channel of the elongated medical instrument. The first and second sealing features are complementarily shaped and configured to contact one another to prevent passage of the fluid therebetween when the distal tip of the imaging probe has been advanced within the distal portion of the elongated medical instrument.

Abstract: An optical fiber cleaning assembly includes a cleaning tape, a first spool having the cleaning tape wound thereon, and a second spool onto which the cleaning tape is drawn. The optical fiber cleaning assembly further includes a drive mechanism for moving the cleaning tape from the first spool onto the second spool. A face of an optical fiber may be placed into contact with the cleaning tape, such that a portion of the cleaning tape wipes the face of the optical fiber as the drive mechanism moves the cleaning tape from the first spool onto the second spool.

Abstract: A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element fixedly attached to the medical instrument. The anchoring element has a first outer diameter. The system also includes a pull wire assembly comprising an elongate pull wire having a proximal end and a distal end and a securing element coupled to the distal end of the pull wire. The securing element includes a second outer diameter sized smaller than the first outer diameter of the anchoring element. The securing element is coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element.

Abstract: Disclosed herein are a range of stiffening mechanisms or systems that assist or enable holding a pose or shape of a flexible body (1010, 216, 410, 420, 801). These stiffening mechanisms may be part of the steering mechanism (500, 800), may be separately actuated and/or may themselves also enable steering of the flexible elongate device (400).

Abstract: An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber.