Abstract: In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instrument at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.

Abstract: A system may comprise an elongate flexible instrument including an imaging device and a localization sensor. The system may capture a first 2D image with the imaging device in a first imaging configuration and receive first localization data for the distal portion of the elongate flexible instrument from the localization sensor while the imaging device is in the first imaging configuration. The system may also create a first image data set including the first localization data and the first 2D image, capture a second 2D image with the imaging device in a second imaging configuration, and receive second localization data for the distal portion while the imaging device is in the second imaging configuration. The system may also create a second image data set including the second localization data and the second 2D image and generate a 3D image based on a plurality of image data sets.

Abstract: A medical system may comprise a flexible elongate device including a flexible body with proximal and distal ends and at least one lumen. The flexible elongate device may also include a support structure coupled with the flexible body. The support structure may include a plurality of sub-elements arranged in series. At least a portion of the sub-elements are configured to spread apart when the flexible body flexes into a pose. The flexible elongate device may also include a stiffening mechanism having at least one stiffening element extending along at least a portion of the flexible body and configured for actuation independent of the support structure. After the flexible body has flexed into the pose, actuation of the stiffening element stiffens the support structure to hold at least a portion of the pose of the flexible body. The stiffening element includes a compression feature to engage the support structure.

Abstract: A non-transitory computer readable medium stores instructions which, when executed by one or more processors, are adapted to cause the one or more processors to: receive a command to initiate a medical procedure at a target location with a medical instrument; retrieve a predefined dynamic trajectory for the medical procedure; move the medical instrument according to the predefined dynamic trajectory to perform the medical procedure at the target location; detect a force received at a distal tip of the medical instrument during movement of the medical instrument; and determine a tissue impedance profile based on the detected force.

Abstract: Stiffening mechanisms or systems that assist or enable holding a pose or shape of a flexible body may be part of a steering mechanism for an end effector. The stiffening mechanisms may be separately actuated and/or may themselves also enable steering of a flexible elongate device. Further, the stiffening mechanisms may use information from sensor systems, such as a shape sensor in the form of an optical fiber, a plurality of EM sensors distributed along the length of a flexible device, and/or navigation systems, such as a sensor system that computes the approximate location of medical instruments (such as a flexible body) within the anatomy of the patient and/or medical tools that are delivered through a main lumen of the flexible body, to inform a control system which then controls formation and holding of a shape of the flexible body.

Abstract: A system may comprise an elongated tool through which a lumen extends and may comprise a stylet including an expandable electrode portion. The expandable electrode portion may have a collapsed configuration within the lumen and may have an expanded configuration outside of the lumen. A diameter of the expandable electrode portion may be larger in the expanded configuration than the collapsed configuration. In the expanded configuration, the expandable electrode portion may be configured to create a plurality of path segments in a target tissue. Each path segment in the plurality of path segments may be extended in a different direction. The expandable electrode portion in the expanded configuration may be configured to deliver energy to ablate the target tissue.

Abstract: A medical system may comprise a flexible elongated tool in which a lumen extends. The lumen may be defined by an inner wall of the elongated tool. The medical system may also comprise a flexible stylet configured to extend within the lumen and contact the inner wall of the elongated tool at a plurality of points. Energy conducted through the stylet may be transmitted at the plurality of points to the elongated tool.

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.