Abstract: The present invention discloses systems comprising flat electromagnetic (EM) transmitters having a negligible interference with other devices, and methods of generating thereof.

Abstract: A system and method for constructing fluoroscopic-based three dimensional volumetric data from two dimensional fluoroscopic images including a computing device configured to facilitate navigation of a medical device to a target area within a patient and a fluoroscopic imaging device configured to acquire a fluoroscopic video of the target area about a plurality of angles relative to the target area. The computing device is configured to determine a pose of the fluoroscopic imaging device for each frame of the fluoroscopic video and to construct fluoroscopic-based three dimensional volumetric data of the target area in which soft tissue objects are visible using a fast iterative three dimensional construction algorithm.

Abstract: A system for position and/or shape-tracking of an elongated device including a shape sensor to estimate a position and orientation of the device at a plurality of points along the device, and a processor configured to: obtain a plurality of predetermined points along a tracked portion of the device; allocate, for each of the plurality of the predetermined points, a local energy function dependent on the estimated position and orientation of device that incorporates relevant mechanical and sensor measurement constraints; generate a resultant unified energy function for the full shape and position of the entire tracked portion of the device with respect to relative locations and orientation of adjacent plurality of the predetermined points, the unified energy function is constructed based on the allocated local energy functions and segmental energy functions; and calculate a fully localized curve along the tracked portion of the device by minimizing the energy function.

Abstract: The invention relates to an elongated device and method of producing thereof. The elongated device having an elongated body and a sensor array having a Flexible Printed Circuits (FPC) and a plurality of electronic components positioned on the FPC. The sensor array is helically wound around the elongated body the plurality of electronic components are aligned in relation to a longitudinal axis of the elongated body.

Abstract: Systems and methods for tracking movement of a catheter within airways of a lung. A deformable model of the lung represents airways of the lung as airway segments joined at bifurcations. Deformation of the lung model uses modification of the angles and/or positions of the airway segments with respect to each other. An initial model may be generated, for example, based on segmentation of a CT image. A baseline deformable registration of the initial model to a lung shape of the patient at the beginning of the procedure may be established from position measurements of the catheter along plurality of different pathways. Optionally, the baseline registration is dynamic according to respiratory phase. Relative to the baseline registration, real-time changes in lung shape may be modeled by using further measurements obtained using the catheter as it navigates to a target, preferably using position sensors distributed along the catheter body.

Abstract: Flexible, longitudinally extended sensors comprising variably resistive and/or inductive sensing material. Sensors connect to an external processing unit using as few as 2 wires. In operation, sensors measure resistance/inductance along their longitudinal extent (curve). Spectral de-multiplexing allows electrical property differences along sensors to be resolved. This enables shape tracking of the flexible sensor. The sensor principles are suitable for the production of ultra-small diameter probes (for example, smaller than 0.5 mm) of arbitrary length (for example, 30 cm long). There are potential advantages for cost efficiency and ease of manufacture. The sensor can be constructed as a shape tracked guidewire to enable endovascular navigation procedures. The sensor's tracked shape enables deformation tracking of the anatomy. Using the sensor's tracked shape rather than repetitive X-ray imaging improves navigational accuracy and reduces exposure to radiation.

Abstract: Systems and methods for tracking movement of a catheter within airways of a lung. A deformable model of the lung represents airways of the lung as airway segments joined at bifurcations. Deformation of the lung model uses modification of the angles and/or positions of the airway segments with respect to each other. An initial model may be generated, for example, based on segmentation of a CT image. A baseline deformable registration of the initial model to a lung shape of the patient at the beginning of the procedure may be established from position measurements of the catheter along plurality of different pathways. Optionally, the baseline registration is dynamic according to respiratory phase. Relative to the baseline registration, real-time changes in lung shape may be modeled by using further measurements obtained using the catheter as it navigates to a target, preferably using position sensors distributed along the catheter body.

Abstract: A system and method for communication in an extended multiplexed inter-integrated circuit bus configuration, in which an inter-integrated circuit bus including a plurality of wires, a plurality of target devices, each includes at least two ports of respective two types; and a controller device, communicatively connected to the plurality of target devices by an extended multiplexed configuration of the inter-integrated circuit bus, wherein a first group of at least two of the target devices are allocated to a first same target address, wherein each of the target devices of the first group is connected to the bus by a different wire configuration of which wire is connected to which port type.

Abstract: Navigation systems and methods for magnetic interference correction involve antennae that generate magnetic fields at different frequencies, sensors that measure the magnetic fields, and a computing device that uses sensor measurements to determine the magnetic interference and produce accurate sensor position and orientation information.

Abstract: A system and method for controlling an interventional robotic system, including an elongated flexible device, including a non-deflectable section in a proximal part of the device, a deflectable section in a distal part of the device, a curve sensor, configured to sense a curve of the deflectable section, and steering wires to deflect the deflectable section, and a processing module including a curve tracking module and a robot controller, configured to calculate and perform steering actions by positioning each of the steering wires in a certain state, for bringing the device to a target pose, receive curve tracking data from the curve tracking module, and use the received curve tracking data as feedback to the robot controller, to determine a difference between a current pose of the device to the target pose of the device, and adjust the state of the steering wires to decrease the calculated difference.

Abstract: Flexible, longitudinally extended sensors comprising variably inductive sensing material. Sensors connect to an external processing unit using as few as 2 connections. In operation, sensors measure inductance along their longitudinal extent (curve). Spectral de-multiplexing allows electrical property differences along sensors to be resolved. This enables shape tracking of the flexible sensor. The sensor principles are suitable for the production of ultra-small diameter probes (for example, smaller than 0.5 mm) of arbitrary length (for example, 30 cm long). There are potential advantages for cost efficiency and ease of manufacture.

Abstract: The present invention relates to a self-steering endoluminal system comprising an endoluminal device comprising a steerable elongated body and a computer memory storage medium, comprising one or more modules: a Navigational module comprising instructions for generating navigational actions to be performed by said steerable elongated body of said endoluminal device to reach a desired location as selected in a digital endoluminal map; a Deformation module comprising instructions for assessing potential deformations to one or more lumens caused by said navigational actions performed; a Stress module comprising instructions for assessing potential stress levels on said lumens caused by said navigational actions; and a High-level module comprising instructions to receive information from one or more of said Navigational module, Deformation module and Stress module and generate instructions to actuate, and optionally also actuate, said steerable elongated body of said endoluminal device accordingly.

Abstract: A method and system implementing a method for detecting a catheter in fluoroscopic data and updating a displayed electromagnetic position of the catheter on a 3D rendering is provided including navigating a catheter to a target area and acquiring fluoroscopic data from a fluoroscopic sweep of the target area. An initial catheter detection is performed to detect catheter tip candidates in each 2D frame of the fluoroscopic data using a shallow neural network. A secondary catheter detection is performed to detect catheter tip candidates in each 2D frame of the fluoroscopic data using a deep neural network. False-positive catheter tip candidates are removed by reconstructing a 3D position of the catheter tip and finding an intersecting point of rays corresponding to each 2D frame.

Abstract: A method for assembling an elongated device includes: making a standalone subassembly by assembling across a bendable section a FPC having at least one sensor attached therein; and threading the standalone subassembly in an outer tube. An elongated device, comprising: a plurality of serially connected links, forming a bendable section; and a flexible printed circuit (FPC) having at least one sensor attached therein, the FPC is assembled on the links across the bendable section.

Abstract: A system and method for constructing fluoroscopic-based three dimensional volumetric data from two dimensional fluoroscopic images including a computing device configured to facilitate navigation of a medical device to a target area within a patient and a fluoroscopic imaging device configured to acquire a fluoroscopic video of the target area about a plurality of angles relative to the target area. The computing device is configured to determine a pose of the fluoroscopic imaging device for each frame of the fluoroscopic video and to construct fluoroscopic-based three dimensional volumetric data of the target area in which soft tissue objects are visible using a fast iterative three dimensional construction algorithm.

Abstract: A coil topographical geometry including two or more armatures and multiple loops wound about the two or more armatures to form two or more coils. One or more fundamental loops of the multiple loops crosses over themselves at one point in the one or more fundamental loops to form a geometrical shape in the space occupied by the coil topographical geometry. The one or more fundamental loops of the multiple loops are configurable to generate one or more fundamental fields [Bfun] that are substantially the same as the fields [Bi(r)] generated by the two or more coils.

Abstract: A magnetic localization system including a magnetic field generator that generates an alternating magnetic field with a maintained frequency; and a receiver comprising: a DC magnetometer to sense a local magnetic field, at least in part due to the generated magnetic field; and at least one processor that calculates a six-degrees-of-freedom (6DOF) position and orientation of the receiver relative to the generator, based on the sensed magnetic field and the maintained frequency, and optionally based on the momentary phase of the generated field. Optionally, the generator includes an actuator that applies a rotational motion; at least one magnet rotating about a first axis by the actuator; a magnetometer to sense a momentary rotation phase of the at least one magnet; and a controller to maintain a desired rotation frequency of the at least one magnet. Optionally, the generator communicates the maintained rotation frequency and optionally the sensed momentary phase.

Abstract: Methods, systems, and computer-readable media for registering electromagnetic navigation data of a luminal network to a 3D model of the luminal network includes accessing a 3D model of a luminal network based on computed tomographic (CT) images of the luminal network, the 3D model corresponding to a CT coordinate space, selecting a plurality of reference points within the 3D model of the luminal network, accessing a plurality of survey points within the luminal network, the plurality of survey points being based on electromagnetic navigation data and corresponding to a body coordinate space, correlating the plurality of reference points and the plurality of survey points to determine pairs of correlated reference points and survey points; and deriving a transformation that maps the body coordinate space to the CT coordinate space based on the pairs of correlated reference points and survey points.

Abstract: Systems, methods, and computer-readable media for registering initial computed tomography (CT) images of a luminal network with subsequent CT images of the luminal network include obtaining initial CT images of the luminal network and subsequent CT images of the luminal network, generating an initial three-dimensional (3D) model of the luminal network based on the initial CT images of the luminal network, generating a subsequent 3D model of the luminal network based on the subsequent CT images of the luminal network, and matching the initial 3D model with the subsequent 3D model based on a registration.

Abstract: A method and system for facilitating identification and marking of a target in a displayed Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient. The system includes a display and a storage device storing instructions for receiving an initial selection of the target in the F3DR, fining the F3DR based on the initial selection of the target, displaying the fined F3DR on the display, and receiving a final selection of the target in the fined F3DR via a user selection. The system further includes at least one hardware processor configured to execute said instructions. The method and instructions may also include receiving a selection of a medical device in two two-dimensional fluoroscopic images, where the medical device is located in an area of the target, and initially fining the F3DR based on the selection of the medical device.