Abstract: A flexible instrument comprises an antenna having a distal tip portion, a proximal base, and an antenna body therebetween. The antenna body comprises a patterned cylindrical structure having a proximal end coupled to the proximal base and a distal end coupled to the distal tip portion. The flexible instrument is configured to generate a radiation pattern from the antenna to ablate tissue.

Abstract: A device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device.

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: A device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device.

Abstract: An antenna system for tissue ablation comprises an energy transmission member, an antenna body coupled to the energy transmission member, a fluid source, and a choke member including a choke body and a choke connector electrically coupling the choke body to the energy transmission member. The choke connector is in direct contact with fluid from the fluid source and forms a delivery path for the fluid between the choke body and the energy transmission member. The choke connector and the choke body are integrally formed of a continuous wire mesh.

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: An antenna system for tissue ablation includes an energy transmission member, a conductive hollow coil member coupled to the energy transmission member, and a fluid cooling system coupled to the conductive hollow coil member for providing a flow of cooling fluid through a member lumen of the conductive hollow coil member for cooling the conductive hollow coil member. In some examples, at least one of the antenna body, a choke member, and a hybrid choke member includes the conductive hollow coil member. In some examples, the hybrid choke member includes a choke portion wound around a portion of the energy transmission member, an antenna body portion wound around a portion of the energy transmission member, and an insulator portion extending between the choke portion and the antenna body portion. In some examples, the antenna system includes a sheath extending over the energy transmission member and the conductive hollow coil member.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Abstract: An antenna system comprises a transmission member and an antenna at a distal end of the transmission member. The antenna includes a first conductive arm, an insulator extending around the first conductive arm, and a second conductive arm wound around at least a first portion of the insulator to form a second conductive arm coil. A property of the insulator varies along an insulator longitudinal axis of the insulator.

Abstract: An energy delivery system comprises a transmission member and an antenna at a distal end of the transmission member. The antenna includes a first conductive arm, an insulator extending around the first conductive arm, and a second conductive arm. The second conductive arm includes a coil. The system also comprises a barrier layer surrounding the transmission member and antenna. The barrier layer extends from a proximal portion of the transmission member to a distal portion of the antenna. The system also comprises a jacket surrounding the barrier layer and forming a fluid channel for receipt of a cooling fluid.

Abstract: Systems and methods for minimally invasive treatment of target tissue among one or more passageways include a flexible elongate device, a tool including a first tubular member, and an instrument to perform treatment on target tissue around the target location. The flexible elongate device includes a proximal end, a distal end, and a lumen therebetween. The tool is configured for deployment within the lumen to a passageway exit site, puncturing a passageway wall at the passageway exit site, and deployment to a target location. The instrument is sized to be deployed within the tool. In some embodiments, the systems and methods further include an anchor configured to stabilize the tool. In some embodiments, the first tubular member is a first hollow sheath configured to be deployed past the distal end of the flexible elongate device to the passageway exit site.

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: Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Abstract: The systems and methods of the present disclosure are for use in a surgical procedure in which an elongate flexible medical device is utilized to create a model of patient anatomy using information from one or more of a localization sensor and an imaging sensor. Anatomical areas of interest may be identified and displayed on the model of patient anatomy, which may be used in performing a medical procedure on at least one of those areas of interest.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Abstract: Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.