Abstract: A system for use with a mouth and a lung of a subject includes a catheter and a robot. The catheter has a head, and a tube that has a distal steering region. The robot includes a manipulator structure that includes a steering manipulator and an advancement manipulator. The steering manipulator is configured to receive the head in a manner that operatively couples the steering manipulator to the steering region such that a curvature of the steering region is adjustable by the steering manipulator manipulating the head. The advancement manipulator is configured to receive a part of the tube such that operation of the advancement manipulator feeds the tube through the advancement manipulator in a manner that (i) pulls the head and the steering manipulator distally toward the advancement manipulator and the mouth, and (ii) pushes at least the part of the tube distally through the mouth toward the lung.

Abstract: First and second tubes are advanceable into first and second airways of a lung. First and second cameras are positionable at the ends of the first and second tubes. An imaging device is advanceable through the first tube. A tool is advanceable through the second tube. A data-processing system comprises means for: (1) using the first camera, guiding advancement of the first tube along a first airway route to an imaging site within the first airway; (2) using the second camera, guiding advancement of the second tube along a second airway route to a tool site within the second airway; (3) using the imaging device at the end of the first tube at the imaging site, imaging a target within the lung; and (4) responsively to the imaging, providing a visual output that facilitates guidance of the tool, from the second airway, to the target. Other embodiments are also described.

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: Apparatus (100) for facilitating a procedure on a subject, the apparatus comprising a catheter that comprises a head (131); a tube (102) comprising a proximal region (106), coupled to the head; a steering region (110), distal from the proximal region, and dimensioned for advancement into the subject; a bearing surface (266, 268) at the steering region; and a circumferential wall (104) extending from the proximal region to the steering region; and a wire (140, 180), wherein the wire: extends, from the head, distally to the bearing surface, is slidable over the bearing surface, curves around the bearing surface and proximally away from the bearing surface, and has a terminus (158) that is anchored to the tube at an anchoring location (162). Other embodiments are also described.

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.