Abstract: A system and method for luminal navigation of a catheter including a sensor and a computing device. The computing device executing steps of receiving magnetic resonance signals from a magnetic resonance image (MRI) scanner and to generate an MRI image data set, generating a three-dimensional (3D) model from the MRI image data set, generating a pathway through the 3D model to a target, determining a location of the sensor within the patient, displaying a location of a portion of the catheter in the 3D model, updating the displayed location of the portion of the catheter, receiving second magnetic resonance signals and generate a second MRI image data set, receiving an indication of a distal end of the catheter in the second MRI image data set, and updating a relative position of a distal end of the catheter and the target in the 3D model.

Abstract: A method and system of correcting alignment of catheter relative to a target including receiving signals from an inertial measurement unit located at a distal end of a catheter, determining movement of the distal end of the catheter caused by physiological forces, receiving images depicting the distal end of the catheter and the target, identifying the distal end of the catheter and the target in the images, determining an orientation of the distal end of the catheter relative to the target and articulating the distal tip of the catheter in response to the detected movement to achieve and maintain an orientation towards the target such that a tool extended from an opening at the distal end of the catheter would intersect the target.

Abstract: An articulating microwave ablation catheter and methods of use the catheter including a catheter sheathing housing therein a radiating section defining an ablation zone, a first pull wire traversing the catheter sheathing, a pull ring secured in a distal portion of the catheter sheathing and configured to receive the pull wire, and a drive mechanism operably connected to the catheter sheathing and the pull wire, wherein operation of the drive mechanism alters the length of the pull wire and a shape of a distal portion of the catheter sheathing and the location of the ablation zone defined by the radiating section.

Abstract: A system and method of applying therapy to a patient including navigating a dual lumen catheter to a desired segmental bronchus, inflating a balloon located on a distal portion of the catheter via a first tube of the dual lumen catheter to isolate the segmental bronchus, injecting a therapeutic medium into the isolated segmental bronchus via a second tube of the dual lumen catheter, and retracting the dual lumen catheter to leave the balloon indwelling, wherein the balloon retains the injected therapeutic medium in the isolated segmental bronchus.

Abstract: A system for performing a surgical procedure includes a catheter including a camera and an electromagnetic sensor and a workstation operably coupled to the catheter, the workstation including a memory storing instructions, which when executed cause a processor to receive pre-procedure images of a patient's anatomy, generate a 3D representation of the patient's anatomy, identify first anatomical landmarks within the generated 3D representation, identify a location of the EM sensor within a reference coordinate frame, receive real-time images from the camera, identify second anatomical landmarks within the received real-time images corresponding to the identified first anatomical landmarks, identify a location of the camera within the reference coordinate frame using the identified second anatomical landmarks corresponding to the identified first anatomical landmarks, and register a location of the catheter to the 3D representation using the identified locations of the EM sensor and the camera within the refere

Abstract: A system for performing a surgical procedure includes a catheter including an ablation therapy delivering portion configured to deliver ablation therapy to an area of interest and an aperture configured to deliver a therapeutic agent to the area of interest, and a workstation operably coupled to the catheter, the workstation including an ablation therapy source operably coupled to the ablation therapy delivering portion of the catheter, a fluid source operably coupled to the aperture of the catheter, and a memory and a processor, the memory storing instruction, which when executed by the processor cause the processor to generate and deliver ablation therapy to the area of interest and deliver a therapeutic agent to the area of interest.

Abstract: Surgical navigation systems and methods display navigation options and other relevant information to assist a clinician during navigation of a medical device through a branched structure of a patient's body. The navigation systems and methods receive image data and procedure information including patient information and user information. The navigation systems and methods then determine navigation options including possible paths based on the image data and the procedure information, and display the navigation options and user controls for selecting one of the displayed navigation options.

Abstract: A system facilitating planning of a surgical procedure includes one or more storage devices, one or more input devices, a processor, and a memory. The storage device(s) stores, for previous surgical procedures, surgical instrument information, procedure information, and patient information. The input device(s) is configured to receive procedure information and patient information corresponding to a surgical procedure to be performed. The memory stores instructions that, when executed by the processor, cause the processor to identify similar previous surgical procedures, identify outcome information for each of the similar previous surgical procedures, determine whether there is a correlation between the surgical instrument information of the similar previous surgical procedures and the outcome information of the similar previous surgical procedures, and, if a correlation is determined, output the correlation to facilitate planning of the surgical procedure to be performed.

Abstract: Methods of respiration compensation including detecting a position of a catheter proximate a target within a patient, performing a local registration to update a displayed relative position and orientation of the catheter and the target in a three-dimensional model, detecting movement of a plurality of sensors, determining a respiration waveform from the detected movement of the plurality of sensors, and indicating on a user-interface a period during which advancement of a biopsy or therapy tool from the catheter is most likely to intersect the target, wherein the period corresponds to a portion of the respiration waveform during which the movement of the plurality of sensors is within a desired range.

Abstract: A system for performing a surgical procedure includes a controller including a memory and a processor, the memory storing instructions, which when executed by the processor cause the processor to receive a plurality of pre-procedure images of a patient's anatomy, label anatomical structures within at least a portion of the pre-procedure images, generate a three-dimensional reconstruction of the patient's anatomy using the plurality of pre-procedure images, receive an image captured by the camera, identify anatomical structures within the image captured by the camera to labeled anatomical structures within the plurality of pre-procedure images, identify an image from the plurality of pre-procedure images that corresponds to the image captured by the camera, and register the location where the image was captured by the camera to the three-dimensional reconstruction of the patient's anatomy.

Abstract: A system and method of assessing a depth of view of an image by analyzing an image data set to determine a diameter of a luminal network proximate a determined position of a tool and displaying an image, the image including an indicator of a relative position of the catheter and the tool and an indicator of a position of a distal portion of the tool relative to a luminal wall of the luminal network.

Abstract: A method and system of correcting alignment of catheter relative to a target including receiving signals from an inertial measurement unit located at a distal end of a catheter, determining movement of the distal end of the catheter caused by physiological forces, receiving images depicting the distal end of the catheter and the target, identifying the distal end of the catheter and the target in the images, determining an orientation of the distal end of the catheter relative to the target and articulating the distal tip of the catheter in response to the detected movement to achieve and maintain an orientation towards the target such that a tool extended from an opening at the distal end of the catheter would intersect the target.

Abstract: An endoscope including a proximal portion, a distal portion selectively articulatable in two planes of articulation, and a user interface disposed on a portion of the proximal portion, the user interface operably coupled to the distal portion such that inputs received on the user interface effectuate articulation of the distal portion, wherein a portion of the user interface is actuatable to inhibit articulation of the distal portion in one plane of articulation of the two planes of articulation via inputs on the user interface.

Abstract: Systems and methods of guiding a clinician in a medical procedure for a nodule involve receiving three-dimensional (3D) image data, generating a volumetric vector map based on the 3D image data, and displaying the volumetric vector map in a way, e.g., via a heat map, that assists a clinician in performing a medical procedure. The systems and methods involve identifying volumetric parameters of the nodule in the 3D image data, generating a voxel map based on the volumetric parameters, identifying a maximum attenuation value in the 3D space of the voxel map, applying a differential equation, e.g., a gradient, to the 3D space of the voxel map from a voxel with the maximum attenuation value to other voxels within the voxel map, and generating a volumetric vector map based on the result of applying the differential equation.

Abstract: A surgical instrument includes a shaft defining an axis, an end effector coupled to a distal portion thereof, a fixed handle coupled to a proximal portion thereof, a drive bar, a movable handle, and a linkage. The drive bar is disposed within the shaft and operably coupled to the end effector. The movable handle is movable relative to the fixed handle between open and closed positions and is coupled to the drive bar via a first pin on the axis. The linkage includes a first end portion coupled to the movable handle via a second pin and a second end portion coupled to the shaft via a third pin on the axis. In the closed position of the movable handle, the second pin is disposed in a near-over-center position relative to the axis to reduce a force necessary to maintain the movable handle in the closed position.

Abstract: Systems and methods for visualizing navigation of a medical device with respect to a target using a live fluoroscopic view. The methods include displaying, in a screen, a three-dimensional (3D) view of a 3D model of a target from the perspective of a medical device tip. The methods also include displaying, in the screen, a live two-dimensional (2D) fluoroscopic view showing a medical device, and displaying a target mark, which corresponds to the 3D model of the target, overlaid on the live 2D fluoroscopic view. The methods may include determining whether the medical device tip is aligned with the target, displaying the target mark in a first color if the medical device tip is aligned with the target, and displaying the target mark in second color different from the first color if the medical device tip is not aligned with the target.

Abstract: A tissue marking system includes a tissue marking beacon and a near-infrared (NIR) camera configured to detect emission of pulsatile NIR light from the tissue marking beacon. The tissue marking beacon is suitable for being injected into a tumor to mark a position and depth of the tumor for treatment. NIR light is emitted from a light-emitting diode (LED) positioned on the tissue marking beacon and is detected by the NIR camera. A pulsatile emission of NIR light from the LED is controlled to by synchronized with a data capture rate and/or detector exposure (shutter) of the NIR camera.

Abstract: A surgical instrument includes a handle assembly, an elongate member, and a motor assembly. The elongate member extends from the handle assembly and defines a longitudinal axis of the surgical instrument. The motor assembly is disposed within the handle assembly and is configured to rotate the elongate member about the longitudinal axis relative to that handle assembly in response to sensed movement of the handle assembly about the longitudinal axis.

Abstract: A system facilitating planning of a surgical procedure includes one or more storage devices, one or more input devices, a processor, and a memory. The storage device(s) stores, for previous surgical procedures, surgical instrument information, procedure information, and patient information. The input device(s) is configured to receive procedure information and patient information corresponding to a surgical procedure to be performed. The memory stores instructions that, when executed by the processor, cause the processor to identify similar previous surgical procedures, identify outcome information for each of the similar previous surgical procedures, determine whether there is a correlation between the surgical instrument information of the similar previous surgical procedures and the outcome information of the similar previous surgical procedures, and, if a correlation is determined, output the correlation to facilitate planning of the surgical procedure to be performed.

Abstract: Endoluminal robotic systems and corresponding methods include subsystems for visualization, navigation, pressure sensing, platform compatibility, and user interfaces. The user interfaces may be implemented by one or more of a console, haptics, image fusion, voice controls, remote support, and multi-system controls.