Abstract: A flexible instrument comprises an antenna having a distal tip portion shaped to perforate tissue, a proximal base, and an antenna body therebetween. The antenna body comprises a patterned cylindrical structure having antenna body elements spatially separated from each other and having a proximal end coupled to the proximal base and a distal end coupled to the distal tip portion. The distal tip portion is disposed distally of the distal end. The antenna comprises a first material having a flexible plastic deformation limit and a second material plated onto the first material. The second material is more conductive than the first material. The flexible instrument further comprises an adjustment device configured to adjust pitch lengths between adjacent antenna body elements and is configured to generate a radiation pattern from the antenna that varies based on the pitch length between the adjacent antenna body elements to ablate tissue.

Abstract: An energy delivery system includes a transmission member, an antenna at a distal end of the transmission member, a jacket surrounding the transmission member and the antenna, a fluid channel between the transmission member and the jacket, and a plug disposed at the distal end of the transmission member and a proximal end of the antenna. The plug is configured to prevent migration of a cooling fluid from the fluid channel to a cavity between the antenna and the jacket.

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: 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: A method comprises deploying a tool to a passageway exit site through a lumen of a flexible elongate device. The flexible elongate device comprises a proximal end, a distal end, and the lumen therebetween, and the tool comprises a needle. The method further comprises puncturing a passageway wall at the passageway exit site with the needle. The method further comprises deploying the needle through the passageway wall and through target tissue at a target location beyond the passageway wall. The method further comprises deploying an instrument to perform treatment on the target tissue at the target location. The instrument is deployed within the tool and through a perforation created in the target tissue by the needle.

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 antenna system for tissue ablation includes an energy transmission member, a conductive hollow coil member, and a fluid cooling system. The energy transmission member has an inner conductor, an outer conductor, and a dielectric layer between the inner and outer conductors. A portion of the dielectric layer extends distally of a distal end of the outer conductor. The conductive hollow coil member includes a member lumen within a length of the conductive hollow coil member. The conductive hollow coil member is coiled around the portion of the dielectric layer and is separate from the inner conductor. The conductive hollow coil member extends along an entire length of the outer conductor of the energy transmission member. The fluid cooling system is coupled to the conductive hollow coil member for providing a flow of a cooling fluid through the member lumen for cooling the conductive hollow coil member.

Abstract: An antenna system for tissue ablation includes an energy transmission member, an antenna body coupled to the energy transmission member, a fluid source, and a choke member comprising an integrally formed choke body and choke connector electrically coupled to the energy transmission member by the choke connector. The choke body defines an outermost portion of the choke member. The choke body has an axial length and the choke connector extends along a majority of the length of the choke body and contacts the choke body along the majority of the length. The choke connector is in direct contact with a fluid from the fluid source. The choke connector is disposed between the choke body and the energy transmission member. The choke connector forms a delivery path for the fluid between the choke body and the energy transmission member. The choke connector and the choke body are a continuous wire mesh.

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: Flexible instruments and associated systems and methods are disclosed herein. In some embodiments, a flexible instrument comprises an elongate device having an inner conductor, an outer conductor surrounding the inner conductor, and a dielectric layer insulating the inner conductor from the outer conductor. The flexible instrument further includes a recess formed in the outer conductor. An insert is positioned within the recess and about the inner conductor.

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. The insulator includes a set of formed patterns along at least a portion of the insulator longitudinal axis.

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: 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 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: 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 radially spaced from the insulator and 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 flow of a cooling fluid.

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 apparatus of the present technology generally includes an elongated shaft having a proximal portion and a distal portion, a first elongated channel extending from the proximal portion to the distal portion, a second channel extending from the proximal portion to the distal portion, and a slidable imaging probe disposed within the first elongated channel. The apparatus can be manually, robotically, and/or teleoperably steerable and is configured for delivery to a subject and/or positioning within a subject near or at a target location. Once the steerable apparatus has been successfully positioned at the target location, the imaging probe can be repositioned relative to the first elongated channel, thereby opening a working lumen. The working lumen and second channel are configured for removal of material from the target location within the subject by applying simultaneous activities including suction, irrigation, and/or deliver a tool to the target location.

Abstract: An antenna system comprises an elongate flexible member and an optical fiber extending within the elongate flexible member. The system also comprises an energy conversion device optically coupled to a distal end of the optical fiber. The energy conversion device is operable to convert an optical signal received from the optical fiber to an electrical signal. The system also includes an antenna body coupled to the energy conversion device and powered by the electrical signal from the energy conversion device.

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.