Abstract: The invention concerns a multifunctional electrosurgical device for treating biological tissues comprising a first member and a second member linked by a hinge allowing the members to be moved together and apart from each other; the first member comprising, at the front end of same, a first electrode for forming a first electrical contact with the tissues and the second member comprising, at the front end of same, a second electrode for forming a second electrical contact with the tissues. The first electrode has a concave cross-section, capable of partially housing the second electrode and of making the second electrode protrude from the first electrode when the two members are moved together. The device is remarkable in that the electrodes are configured to allow the formation of the first electrical contact on the outer surface of the first electrode and the formation of the second electrical contact on the protruding part of the second electrode.

Abstract: Systems and methods for treating a patient's mucus hypersecretion condition are disclosed herein. Certain implementations may involve a method for reducing mucus secretion in an upper airway of a patient to treat at least one of post nasal drip or chronic cough. The method may include advancing a treatment delivery portion of an energy-based treatment device into a nostril of the patient. The treatment delivery portion may contact mucosal tissue of the upper airway without piercing the mucosal tissue. The treatment delivery portion may deliver treatment to at least one tissue selected from the group of the mucosal tissue and another tissue underlying the mucosal tissue to modify a property of the at least one tissue and thus treat at least one of post nasal drip or chronic cough in the patient.

Abstract: A medical probe includes a shaft, a camera, a hollow cutting tool, and an inflatable balloon. The shaft is configured for insertion through a cut in a body of a patient, whereas the shaft includes a working vacuum channel running therethrough. The camera is fitted at a distal end of the shaft and is configured to provide images of a target tissue site in the body. The hollow cutting tool is for insertion over a guidewire in the working vacuum channel of the shaft, whereas the hollow cutting tool is configured to pierce the target tissue site under guidance of images taken by the camera. The inflatable balloon is configured to stabilize the distal end of the shaft, whereas the inflatable balloon is located proximally to the camera so as not to obstruct the images of the target tissue site.

Abstract: A cooled radiofrequency ablation system including a probe assembly having a proximal region, a distal tip region, and a shaft is provided. First and second internal cooling fluid tubes extend from the proximal region and are positioned inside a cavity defined by the shaft. The distal tip region includes a conductive portion for delivering energy to a target location within tissue. The system also includes a radiofrequency generator for delivering energy to the target location and a cooling fluid reservoir and a bidirectional pump assembly for circulating a cooling fluid from the reservoir through the first internal cooling fluid tube then the second internal cooling fluid tube when the pump operates in a first direction or through the second internal cooling fluid tube then the first internal cooling fluid tube when the pump operates in a second direction to form lesions of different sizes at the target location.

Abstract: A balloon catheter includes a shaft, a balloon including an expandable membrane, one or more ablation elements, and one or more passages via the expandable membrane. The shaft is configured for insertion into an organ of a patient. The balloon is fitted at a distal end of the shaft. The one or more ablation elements are disposed over the expandable membrane and are configured for tissue ablation. The one or more passages via the expandable membrane are configured to allow blood to flow between a distal end and a proximal end of the balloon, while the balloon is in an expanded configuration.

Abstract: An ablation electrode in a medical device includes first and second layers, and an adhesive layer. The adhesive layer, which is placed between the first and second layers, includes a mesh, which is made of a thermally conductive material defining voids in the mesh, and an adhesive that is configured to fill the voids of the mesh.

Abstract: A characterization system includes an inflatable balloon for insertion into a patient organ and one or more electrodes disposed on the balloon. When the balloon is in an inflated position, a distal end of the balloon has a recessed shape that orients respective regions of the electrodes perpendicularly to a longitudinal axis of the balloon.

Abstract: An ablation catheter having an expandable tip is disclosed herein. In some implementations, the ablation catheter includes a catheter shaft, an irrigation lumen, and an expandable tip secured to the catheter shaft. In some implementations, the expandable tip includes a balloon defining a volume in communication with the irrigation lumen. In these and other implementations, the balloon defines a plurality of irrigation orifices in fluid communication with the volume. In these and other implementations, the expandable tip comprises an ablation electrode and a plurality of sensing electrodes disposed along a distal section of the balloon. In these and still other implementations, the sensing electrodes disposed along the distal section of the balloon can be electrically isolated from and bounded by the ablation electrode.

Abstract: The present disclosure relates to devices, systems and methods providing evaluation and feedback to an operator of a device providing neuromodulation treatment, such as modulation of renal nerves of a human patient. In one embodiment, for example, a system monitors parameters or values generated before treatment. Feedback provided to an operator is based on the monitored values and relates to an assessment of various electrical properties associated with an electrode carried by a catheter. The electrode measures an electrical property of biological material making contact with the electrode while deploying the electrode, the electrical property being dependent on a ratio of a wall-interface area to a fluid-interface area.

Abstract: Systems, devices, and methods for electroporation ablation therapy are disclosed, with the system including a pulse waveform signal generator for medical ablation therapy, and an endocardial ablation device includes an inflatable member and at least one electrode for focal ablation pulse delivery to tissue. The signal generator may deliver voltage pulses to the ablation device in the form of a pulse waveform. The system may include a cardiac stimulator for generation of pacing signals and for sequenced delivery of pulse waveforms in synchrony with the pacing signal.

Abstract: A system and method for performing a radiofrequency (RF) ablation procedure with a cooled RF probe includes measuring one or more local perfusion characteristics at an ablation site within a patient. The method also includes determining a heat transfer due to local perfusion at the ablation site based on the one or more local perfusion characteristics. Further, the method includes determining an operating threshold for the cooled RF probe based, at least in part, on the heat transfer. Moreover, the method includes controlling the cooled RF probe based on the operating threshold to create a lesion at the ablation site within the patient.

Abstract: A microwave ablation probe (200; 300; 400), comprising: an applicator (202; 302; 402) arranged to apply microwave radiation to heat surrounding tissue; a feeding cable (204; 304; 404) arranged to supply electromagnetic energy to the applicator; a coolant flow path (206) via which coolant is able to flow; and a choke arranged to reduce power reflected from the applicator (202; 302; 402) along the feeding cable (204; 304; 404). The choke comprises a choke member (208; 209; 308; 408) cooled by coolant flowing in the coolant flow path (206). The choke member (208; 209; 308; 408) extends between two points spaced apart in a direction having at least a component parallel to a longitudinal axis of the feeding cable. The choke member (208; 209; 308; 408) comprises one or more turns extending around the longitudinal axis of the feeding cable. The choke member may be a spiral member (208; 308; 408).

Abstract: A system and method for measuring a hydration level in human tissue. The system includes a coaxial probe have a first end configured to be in contract with human tissue and configured to be emit and receive signals associated with a spectroscopic technique and having a second end adapted to be coupled to transmit and receive circuitry. The system further includes a patch or other means coupled to the coaxial probe and configured to be adhered to human tissue so as to provide a force upon at least a portion of the coaxial probe configured to be in contact with human tissue. In embodiments, the system may further include means coupled to receive signals from the coaxial probe, for determining an amount of liquid within a portion of human tissue in contact with the first end of the probe.

Abstract: A cooling element includes a frame including one or more datums. The cooling element also includes a first window including a first proximal surface and a first distal surface. The first window is sealed to the frame. The cooling element further includes a second window sealed to the frame. The second window includes a second proximal surface and a second distal surface. The second window is configured to contact a target tissue or a tissue adjacent to the target tissue via the second distal surface. The cooing element also includes a coolant chamber located between the first distal surface of the first window and the second proximal surface of the second window and configured to receive a coolant. The first window, the second window and the coolant chamber are configured to receive and electromagnetic radiation (EMR), and transmit a portion of the received EMR to the target tissue.

Abstract: An optical system adapted to detect an object including a beam splitting and combing element, a catheter, a focusing element, a deformation detecting module, and an object detecting module is provided. The catheter sleeves outside an optical fiber, and the optical fiber has at least one fiber Bragg gratings. The deformation detecting module and the object detecting module are coupled to the beam splitting and combing element. A first light is reflected by the at least one fiber Bragg gratings and then transmitted to the deformation detecting module. A second light is transmitted to and reflected by the object, so as to be transmitted to the object detecting module. A first wavelength range of the first light is different from a second wavelength range of the second light.

Abstract: A surgical system includes a robotic device, a surgical tool mounted on the robotic device, and a processing circuit. The processing circuit is configured to receive image data of an anatomy, generate a virtual bone model based on the image data, identify a soft tissue attachment point on the virtual bone model, plan placement of an implant based on the soft tissue attachment point, generate a control object based on the placement of the implant, and control the robotic device to confine the surgical tool within the control object.

Abstract: Disclosed herein is a surgical guide tool for use in total hip replacement surgery. The surgical guide tool may include a customized mating region and a resection guide. The customized mating region and the resection guide are referenced to each other such that, when the customized mating region matingly engages a surface area of a proximal femur, the resection guide will be aligned to guide a resectioning of the proximal femur along a preoperatively planned resection plane.

Abstract: A processing device receives first continuous motion capture data representing dynamic motion of at least one of a bone or a joint of the subject user while performing a physical movement. The processing device further generates, based on the continuous motion capture data, a three dimensional (3D) visualization comprising a virtual avatar performing the physical movement and provides a visualization of a surgical implant overlaid on the virtual avatar. The processing device receives input comprising an adjustment to an orientation of the visualization of the surgical implant relative to the at least one of the bone or the joint and determines whether the orientation of the visualization of the surgical implant satisfies a condition pertaining to the subject user performing the physical movement.

Abstract: In a surgical method using a robotic system, a distal end of a robotically controlled surgical instrument is positioned in a patient body cavity. Operation of the instrument is controlled in response to input provided by a surgeon at an input device. An image of the interior of the body cavity is captured for display on a display. A boundary in the body cavity is identified using the image processing software by distinguishing between different colors on the image.

Abstract: A method of using a surgical robotic system includes positioning a surgical instrument in a body cavity, the surgical instrument being one that is carried by a robotic arm. An image of an operative site within the body cavity is captured and used to identify a structure to be avoided. A user uses an input device to give input to the robotic system to cause movement of the surgical instrument at the site. The system determines determining whether the surgical instrument is approaching contact with the structure and, if it is, initiates an avoidance step.

Abstract: Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

Abstract: A medical system comprises a flexible device configured to be positioned at least partially within a patient anatomy. The patient anatomy includes a plurality of anatomical passageways. The medical system further comprises a memory device including computer executable instructions, the computer executable instructions for performing operations. The operations comprise determining a shape of the flexible device and determining a deformation force for a section of the flexible device. The operations further comprise registering a model of a candidate anatomical passageway of the plurality of anatomical passageways to a model of the flexible device based on the shape of the flexible device and the deformation force for the section of the flexible device. The operations further comprise generating a composite model of the patient anatomy based on the registering.

Abstract: Embodiments herein relate to distributed interactive medical visualization systems including user interface features and related methods. In an embodiment, a distributed interactive medical visualization system is included. The system can include a first video processing circuit, a first central processing circuit, a first communications circuit, and a first user-interface generated by the first video processing circuit. The first user interface can include a three-dimensional model of at least a portion of a subject's anatomy from a first perspective, the first perspective configured to be controlled by a first user. One or more graphical representations of one or more other users who are viewing the same three-dimensional model can also be included, wherein each of the one or more graphical representations identify individual users amongst the one or more other users. Other embodiments are also included herein.

Abstract: Example embodiments relate to surgical systems having an end-effector assembly, first arm assembly, elbow joint section, and second arm assembly. First arm assembly forms a first arm assembly axis. First end of elbow joint section is pivotable relative to its second end. Second arm assembly includes second arm assembly body and first elbow drive assembly. Second arm assembly body forms a second arm assembly axis. First elbow drive assembly includes a first integrated motor and first elbow drive portion. First elbow drive portion is controllable by the first integrated motor to pivotally move the first arm assembly relative to an elbow axis. First arm assembly includes a second elbow drive assembly having a second integrated motor and a second elbow drive portion. Second elbow drive portion is controllable by the second integrated motor to rotate first arm assembly relative to first arm assembly axis.

Abstract: An operation device for a surgical manipulator includes an input device that operates the surgical manipulator. The input device includes a plurality of joints and a plurality of motors that drives the plurality of joints, and reduction ratios in power transmission paths from the plurality of motors to the plurality of joints, respectively, are 0.5 or more and 30 or less.

Abstract: Certain aspects relate to systems and techniques for a medical device. The medical device can include an elongated shaft having a proximal end, a distal end, and a bendable section between the proximal end and the distal end. The medical device can include a tip assembly at the distal end of the elongated shaft. The tip assembly include a control member and a distal tip component attached to the control member. At least one cable can extend through the elongated shaft and be anchored to the control member. The at least one cable can be configured to bend the bendable section based on a force applied thereto. At least one electronic component can be embedded in the distal tip component.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.

Abstract: A user interface for a surgical robotic system includes a plurality of handles, each removably attachable to a user interface assembly by a quick release connector. The selection of handles can include handles of varying size, degree of complexity, handles adapted for laparoscopic motion, handles adapted for true cartesian motion or handles customized to surgeon anthropometric data, etc.

Abstract: A robot-assisted surgical system comprises a plurality of robotic system components independently positionable relative to a patient in a room, at least one of the robotic system components being a robotic manipulator configured for robotic positioning of a surgical instrument in a body cavity. Other robotic system components may include a second robotic manipulator and/or a patient bed. A camera is positioned to generate an image of a portion of the room, including the robotic manipulator, or an instrument carried by the robotic manipulator as it is moved within the body. Image processing is used to detect the robotic system components on the image captured by the camera, or the tracked portion of the instrument. Once the robotic components or tracked portion of the instruments are detected in the image, the relative positions of the bases within the room may be determined.

Abstract: The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Abstract: The present disclosure is directed to robotic surgical system that includes an operating console configured to operate at least one robotic arm and at least one drive motor configured to receive an input from the operating console and control the at least one robotic arm based on the input from the operating console. A surgical instrument is coupled to the at least one robotic arm. The surgical instrument is inserted into a patient and captures an image of a region of interest inside the patient during a surgical procedure. A controller receives the image and applies at least one image processing filter to identify at least one non-visible property of an object in the region of interest. A display displays the image to a user.

Abstract: Methods and systems are provided that can include accessing a three-dimensional (3D) model of an object with a visualization tool including a touchscreen, displaying, via the touchscreen, an image of the 3D model, detecting a pressure based and/or contact based input at the touchscreen, and changing a display parameter of a first component of the 3D model as a result of the input. Selecting the component and/or changing the display can be indicated by visual and/or haptic signals. A method is provided that can include selectively making components of the 3D model transparent or non-transparent, and changing a center of rotation of the 3D model based on the remaining non-transparent components. A method is provided that can include identifying gestures of a selection tool via a stereo camera and changing display parameters based on the detected gesture(s).

Abstract: A surgical assembly for use with and for selective connection to a robotic arm includes an electromechanical instrument and an instrument drive unit. The instrument drive unit includes a motor and a feedback assembly. The motor is configured to effect rotation of the electromechanical instrument. The feedback assembly includes control circuitry and first and second annular members. The control circuitry is configured to sense a change in a condition of the motor. The first annular member has a surface feature projecting therefrom. The second annular member is disposed adjacent the first annular member and has a first surface feature projecting therefrom, circumferentially aligned with the surface feature of the first annular member. Upon a threshold amount of rotation of the first annular member, the surface feature of the first annular member abuts the first surface feature of the second annular member to change the condition of the motor.

Abstract: A surgical system according to one or more embodiments may include: manipulators respectively supporting an endoscope and first and second surgical instruments; a remote control apparatus including a display device, a first operation handle for right hand to operate the first surgical instrument, and a second operation handle for left hand to operate the second surgical instrument; and a control apparatus. The control apparatus may display, on the display device, a graphical user interface, overlapped with the image captured by the endoscope, the graphical user interface including a first area that displays information on the first surgical instrument to be operated by the first operation handle, a second area that displays information on the second surgical instrument to be operated by the second operation handle, and a third area that displays information on the endoscope, which are arranged side by side in order from right to left.

Abstract: A user interface for a robotic system includes a processing unit, an input handle, and a foot pedal. The input handle includes an actuation control that has an actuated position. In the actuated position of the input handle, the input handle transmits a handle signal to the processing unit. The foot pedal includes an actuation switch and has an actuated position. In the actuated position of the foot pedal, the foot pedal transmits a foot signal to the processing unit. The processing nit is configured to associate the input handle with the foot pedal in response to the actuation control being actuated and released. The processing unit is also configured to generate a control signal configured to actuate a tool associated with the input handle when the processing unit simultaneously receives a handle signal from the associated input handle and a foot signal form the foot pedal.

Abstract: A control device of a robot system including a plurality of robots having servo motors of a plurality of axes. The control device includes a plurality of controllers each having a plurality of servo amplifiers that drives the servo motors of the plurality of axes of the robots, and a control unit that controls the plurality of servo amplifiers. The control unit determines a driving number of the servo motors of the plurality of axes in accordance with the robots connected to the controllers, and sets a parameter for the servo amplifiers that drive the axes of the servo motors of a number corresponding to the determined driving number.

Abstract: A robot-assisted surgical system has a user interface operable by a user, a first robotic manipulator having a first surgical instrument, and a second robotic manipulator having a second surgical instrument. The system receives user input in response to movement of the input device by a user and causes the manipulator to move the first surgical instrument in response to the user input, determines a vector defined by the position of the first surgical instrument relative to the second surgical instrument, generates dynamic control signals based on the determined vector, and causes the manipulator to move the second surgical instrument in response to said dynamic control signals.

Abstract: A medical manipulator according to an embodiment may include an arm base including a first engagement portion and a manipulator arm including a distal end portion to support a surgical tool and a proximal end portion including a second engagement portion. One of the first and second engagement portions includes a shaft member and the other includes an engagement member engageable with the shaft member such that the engagement member engaged with the shaft member is rotatable with respect to the shaft member. The arm base includes a restriction portion to restrict rotation of the manipulator arm about the shaft member to which the engagement member is engaged. The proximal end portion of the manipulator arm is fixed to the restriction portion of the arm base with a fixing member in a state where restriction portion stops the rotation of the manipulator arm.

Abstract: A shaft being, e.g., flexible, that includes an elongated outer sheath, at least one drive shaft disposed within the outer sheath and a ring non-rotatably mounted on the at least one rotatable drive shaft and at least one light source mounted within the shaft, such that, upon rotation of the at least one rotatable drive shaft, the ring alternately blocks and allows light from the light source to be detected. The shaft may also include a moisture sensor disposed within the outer sheath of the shaft and configured to detect moisture within the outer sheath. The shaft may include couplings that connect a distal end of the outer sheath to a surgical attachment and a proximal end of the outer sheath to a remote power console.

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system including receiving a sequence of user inputs from one or more user interface devices of the surgical robotic system; determining, by one or more processors communicatively coupled to the user interface devices and the surgical instrument, whether the sequence of user inputs indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by user inputs received from the user interface devices; in response to determining of engagement, transition the surgical robotic system into the teleoperation mode; and in response to determining of disengagement, transition the surgical robotic system out of the teleoperation mode such that the user interface devices are prevented from controlling the surgical instrument.

Abstract: A robotic manipulator arm comprises a base, a robotic manipulator arm on the base, a surgical instrument removably attachable to the robotic manipulator arm. The base is mounted on a plurality of holonomic wheel to allow movement of the manipulator arm in any desired direction.

Abstract: A portable transport system for containing and transporting monitoring system components includes a case for enclosing the monitoring system components. At least two wheels are located on the case. A collapsible monitoring component assembly for supporting the monitoring system components that telescopes between a collapsed position, wherein the collapsible monitoring component assembly is substantially contained within the case and an open position. A handle assembly is associated with the collapsible monitoring component assembly for moving the collapsible monitoring component assembly between the collapsed position and the open position. The handle assemble further acts as a pull handle for moving the portable transport system on the at least two wheels.

Abstract: A system for containing and transporting a medical device may include a container including a bottom face and surrounding side faces as a closed first end and an open second end to form an inner portion for receiving and retaining the medical device. At least a portion of one or more of the side faces may have an indentation extending along a length of the respective side face. A liner and cover may be removably enclosable about the container. The liner may be extendable over the side faces to line the inner portion of the container to an outer surface of the bottom face of the container. The cover may enclose the medical device in the container between the liner and cover. The indentation may be formed into the inner portion of the container. The container may be compatibly receivable in a first transportation device in a first orientation.

Abstract: An instrument tray for storing and supplying surgical instruments, and a system and a method for at least semi-automatically handling trays of this type. The tray includes a container for receiving surgical instruments, and the container has unique visual markers for individual instruments. The system also includes a manipulator and an image recognition unit.

Abstract: In some embodiments, an insertion device for a robotic surgery apparatus can include one or more guides configured to receive and/or engage a plurality of control links. The one or more guides can each include a plurality of channels. The insertion device can include a tool interface configured to engage one or more surgical tools for performing a surgical procedure. At least one control link of the first, second, or third pluralities of control links can be overlapping, coaxially aligned, or otherwise placed in a nested configuration with respect to another control link of the first, second, or third pluralities of control links. One or more of the plurality of first, second, or third control links can be configured to be actuated to adjust spatial position of the tool interface to facilitate repositioning of the surgical tool.

Abstract: A tilted needle biopsy assembly is provided for mounting on an x-ray system. Because the biopsy needle is angled relative to at least one of the detector and the x-ray source, x-ray imaging may be performed during the biopsy procedure without interference by the biopsy device. The angled biopsy needle additionally allows improved access to the axilla and chest wall of the patient. The stereotactic biopsy device of the present invention may be coupled to any x-ray system, whether upright or prone, including but not limited to mammography systems, tomosynthesis systems, and combination mammography/tomosynthesis systems. The system flexibly supports the use of any mode of image capture (i.e., scout, two dimensional mammogram, three-dimensional reconstructed volume) for either or both target visualization and target localization. With such an arrangement, a needle biopsy assembly having improved patient coverage is provided for use with a variety of different x-ray imaging platforms.

Abstract: Medical software tools platforms utilize a surgical display to provide access to specific medical software tools, such as medically-oriented applications or widgets, that can assist surgeons or surgical team in performing various procedures. In particular, an endoscopic camera may register the momentary rise in the optical signature reflected from a tissue surface and in turn transmit it to a medical image processing system which can also receive patient heart rate data and display relevant anomalies. Changes in various spectral components and the speed at which they change in relation to a source of stimulus (heartbeat, breathing, light source modulation, etc.) may indicate the arrival of blood, contrast agents or oxygen absorption. Combinations of these may indicate various states of differing disease or margins of tumors, and so forth. Also, changes in temperatures, physical dimensions, pressures, photoacoustic pressures and the rate of change may indicate tissue anomalies in comparison to historic values.

Abstract: Embodiments related to methods of use of an image analysis system for identifying residual cancer cells after surgery are disclosed. In some embodiments, a patient-specific threshold used to detect abnormal cells in a surgical site can be determined. A medical imaging device can be configured to produce a set of images of an anatomy of a patient. An image analysis system, comprising one or more processors, can be configured to receive the set of images, and analyze the set of images to determine a patient-specific threshold to use to detect abnormal tissue of the patient.

Abstract: A hooked surgery camera for use in surgical robotic systems includes a hook coupled to a side or end of a camera body, for attaching the camera to tissue during a surgery. The camera also includes a lens on another end of the camera body, and electronic components inside the camera body. The electronic components include a battery, a digital camera module and a wireless data transmitter. The hooked surgery camera provides a supplementary view of the surgical site, that is from a different perspective than the view provided by an endoscope, during laparoscopic surgeries. Other aspects are also described and claimed.

Abstract: A system includes a balloon catheter having a shaft, an inflatable balloon fitted at a distal end of the shaft, and multiple electrodes disposed on the inflatable balloon, a display, and a processor configured to receive signals that are indicative of respective electrode positions of the multiple electrodes in 3D space, compute the respective electrode positions of the multiple electrodes based on the received signals, from among a plurality of virtual planes defined by different respective groups of the electrode positions, select a virtual plane that contains a maximum number of the electrode positions to within a given tolerance, fit a virtual circle to the electrode positions that are within the given tolerance of the selected virtual plane, and render to the display a 3D representation of the balloon catheter based on a position and orientation of the fitted virtual circle in 3D space.