Abstract: An obstruction removal system for capturing and removing obstructions, such as clots or other matter, from a vascular system. The obstruction removal system may include one or more engaging members connected to an elongated member, such as to a distal end of the elongated member. The engaging member(s) may have an asymmetric body shape and/or an asymmetric cell configuration between its proximal and distal portions, such as a “tear drop” shape. The engaging member(s) may be comprised of a plurality of struts. One or more radiopaque markers may be connected to at least one of the struts, which may be comprised of a “dog bone” shape. A mesh structure may be positioned internally or externally to the engaging member(s) to act as a filter. A support wire may be positioned internally to aid in propping open the engaging member(s). Where multiple engaging members are used, they may have different sizes.

Abstract: A device, a thrombectomy apparatus and a method for extraction of thrombus from a blood vessel are disclosed. The device comprises a segment changing its shape from a retracted position in a compressed state to an extended and expanded position. The segment is formed by a mesh of at least two sets of helicoidal filaments turning respectively in opposite directions and being intertwined. The mesh comprises two distinct tubular sections. The mesh of the first section has helicoidal filaments with a braiding angle providing radial forces higher than in the second section, thus the first section becomes appositioned against the inner wall of the blood vessel. The second section comprises two sub-sections. The first sub-section has a conical shape and comprises a braiding angle changing at its proximal and distal ends to provide radial strength to maintain the conical shape and to stop a proximal blood flow during the removal of the thrombus.

Abstract: A mechanical thrombectomy apparatus for removing a clot from a vessel includes an elongate inversion support catheter having a distal end opening, an elongate puller extending within the support catheter, and a knitted tractor tube extending over an outer surface of the support catheter, inverting into the distal end opening of the support catheter, and attached to the elongate puller at a first end within the support catheter, wherein the portion of the knitted tractor tube extending over the support catheter comprises a wire forming a helical spiral of alternating teardrop shaped-links each having a rounded apex, wherein each link is connected to two adjacent links so that the apex of each link is on an outward-facing surface of the tractor tube, wherein the links flare outward from an outer wall of the support catheter when the puller is pulled proximally within the support catheter.

Abstract: A device for treating hemorrhoids includes a first ligating member which moves between a first position in which the first member is tightened to a degree required to maintain a desired position of the first member around the first portion without significantly cutting off blood flow and a second configuration in which the first member is cinched down around the first portion to substantially cut off blood flow to the encircled first portion. Also, the device includes a first applicator having a proximal lumen and first and second opposed distal lumens open to the proximal lumen. The first member is extending from a proximal end distally through the proximal lumen into the first lumen to exit a distal end of the first lumen, loop around and enter the distal end of the second lumen. The first member is passing through the second lumen into the proximal lumen.

Abstract: Provided is a method for operating an apparatus for destroying biological tissue operated by at least one processor, which generates a trapping control signal for controlling movement of the biological tissue moving by a fluid. An acoustic field for controlling the movement of the biological tissue is generated by outputting a first focused ultrasound based on the trapping control signal. A second focused ultrasound is output to the biological tissue based on a destruction control signal for destroying the biological tissue whose movement is controlled by the acoustic field.

Abstract: Systems and methods provided for comprehensive eustachian tube and/or sinus treatment that integrate a dilation balloon, a dilation sleeve and tip, an image navigation system, a sinus stent, an intranasal scanner, and/or an irrigation system into a single device. Embodiments offer versatile and efficient solutions for diagnosing, treating, and monitoring eustachian tube and/or sinus conditions by providing precise dilation, accurate image-guided navigation, optimal stent placement, real-time intranasal scanning, and/or effective irrigation capabilities. This innovative approach significantly enhances the quality of patient care, simplifies the surgical process, and improves overall treatment outcomes in the field of eustachian tube and/or sinus treatments.

Abstract: A manually operated tongue scraper with suction application assist is disclosed. The scraper is especially useful in medical applications where patients have accumulated thick viscous tongue secretions and biofilm due to dry mouth and oxygen therapy. The scraper has a tubular body with a distal end and a proximal end and a flow path suction channel transversing between the distal and proximal ends of the tubular body. The distal end having a scraper head portion with a scraping edge element and the head including a suction lumen accessing said flow path suction channel. The flow path suction channel removing accumulated tongue secretions and biofilm from the scraper head portion when suction is applied to the proximal end of the scraper.

Abstract: Surgical devices and methods for cutting a percutaneous implant are disclosed. A surgical device may include a proximal end having a handle, and a distal end having a first arm. a second arm, and a cutting element. The cutting element may be disposed partially or entirely between the first arm and the second arm. At least of portion of the first arm and/or the second arm may be distal to the cutting element to prevent or inhibit the cutting element from cutting tissue adjacent to the percutaneous implant during use of the surgical device to cut the percutaneous implant. A method may include inserting at least a portion of a surgical device into an opening in an ex vivo portion of a percutaneous implant and using the surgical device to create at least one continuous cut through the ex vivo portion and an in vivo portion of the percutaneous implant.

Abstract: Various embodiments of a self-contained endoscopic surgical instrument, kit, and system are described. In one example, the endoscopic surgical instrument includes a blade complex and a dilating head. The blade complex having a blade secured within a blade guard such that a cutting edge of the blade is exposed. The blade guard having a superior portion that covers a top edge of the blade and projects over the cutting edge of the blade. The dilating head including a main body having a blade seat and configured to house a camera and a light source. The blade seat is configured to receive and secure the removable blade complex. The device also includes a handle configured to house a controller, a video processor, a video transmitter, and a power source.

Abstract: An ultrasonic instrument includes a housing, an ultrasonic transducer support by the housing, and an integrated usage indicator. The housing is configured to removably connect to a shaft assembly. The ultrasonic transducer is configured to be acoustically connected to a waveguide and operated a predetermined number of use cycles. The integrated usage indicator is operatively connected to the housing and includes a used state indicator. The used state indicator is configured to indicate to a clinician in a used state when the ultrasonic transducer has been operated at least the predetermined number of use cycles for limiting usage of the ultrasonic transducer to the predetermined number of use cycles.

Abstract: Disclosed is a puncture needle with a surface structure capable of enhancing ultrasonic reflection. The puncture needle is a tubular structure with an inner channel, an ultrasonic reflection enhancement lattice is arranged on a peripheral surface of a needle body near a needle tip. The ultrasonic reflection enhancement lattice is formed by uniformly arranging multiple triangular pyramidal pits, front side surfaces of the triangular pyramidal pits form an ultrasonic reflection mirror, and a front included angle between the ultrasonic reflection mirror and the central axis of the puncture needle is from 30 degrees to 60 degrees. A tungsten-containing alloy layer is prepared on a surface of the needle body of the puncture needle. The ability of the puncture needle in ultrasonic positioning can be improved by the disclosed surface structure and the tungsten-containing coating.

Abstract: A disposable puncture device guide for use with an ultrasound probe is described. The puncture device guide includes a fixed portion configured to attach directly or indirectly to the probe body and a deflection portion connected to the fixed portion by at least one living hinge. The deflection portion comprises at least one groove configured support a puncture device therein. Outward pressure on the at least one groove causes the deflection portion to rotate outwardly relative to the fixed portion to support the puncture device throughout a range of angles.

Abstract: A needle aid device comprises an outer shell; an inner shell located in the outer shell and comprising an upper portion and a lower portion, a trigger shell passage penetrating through the upper portion and the lower portion being formed in the inner shell, and an inner diameter of the lower portion being greater than that of the upper portion; and a trigger module capable of moving in the trigger shell passage and used for clamping or releasing an emitter mechanism; wherein, in an initial state, the trigger module is locked on the upper portion; and when unlocked, the trigger module drives the emitter mechanism to move downward until the emitter mechanism is separated from the trigger module.

Abstract: A telescopic sheath includes an outer sleeve extending from a proximal end to a distal end, wherein the distal end is configured for being inserted into a body, an inner sleeve that telescopically extends proximally from the proximal end of the outer sleeve, a fluid seal, which is disposed between the inner sleeve and outer sleeve and is configured to prevent back bleeding through a space between the inner sleeve and outer sleeve, and a lock, configured to fix a position of the inner sleeve with respect to the outer sleeve. The sheath is configured to guide an intrabody catheter by virtue of the catheter passing from a proximal end of the inner sleeve to the distal end of the outer sleeve. Other examples are also described.

Abstract: In accordance with at least one aspect of this disclosure, an access port for performing an endoscopic surgical procedure in a surgical cavity of a patient includes a proximal housing portion. The proximal housing portion includes, a central lumen providing instrument access to the surgical cavity and an engagement housing operatively associated with a proximal end of the proximal housing portion and having a circumferential engagement area formed therein that is adapted and configured to releasably accept a grasping member of a surgical robot. An elongated tubular body portion extends from the proximal housing portion in communication with the central lumen.

Abstract: A rail and/or anchor system and method for transjugular intrahepatic portosystemic shunt procedures. The system includes a rail line that is anchorable to surrounding tissue and used as a rail to guide the displacement of at least one needle and an outer sheath. The rail line may include an inflatable balloon that is configured to selectively anchor the anchor line to surrounding tissue by the balloon being inflated and unanchor the anchor line to surrounding tissue by the balloon being deflated. The rail line is stiff. The rail line includes a lumen and is configured for executing wedge venography, and for measuring pressure at a tip of the rail line while a balloon of the balloon catheter is inflated. The anchor line may include one or more hooks for anchoring the anchor line to surrounding tissue. The one or more hooks may be selectively advanceable and retractable.

Abstract: An introducer sheath including a valve hub and an elongate shaft extending from the valve hub. The valve hub defines a main port and a side port. The main port includes a hub body, a compressible seal disposed within the hub body, a pusher at least partially positioned within the hub body and slidably movable relative thereto, and a lock nut surrounding the pusher. The lock nut is threadably engaged with the hub body such that rotation of the lock nut moves the pusher axially toward and/or away from the compressible seal.

Abstract: A method of reducing postpartum bleeding includes positioning a device comprising a vacuum clement within the uterus; scaling the uterus; activating vacuum in the uterus with the vacuum element of the device while the uterus is sealed; and collapsing the uterus with the vacuum to reduce postpartum bleeding.

Abstract: A system for oocytes retrieval is disclosed. The system comprises: at least one camera; a holder configured to hold the camera and an oocytes retrieval tube such that a transparent portion of the oocytes retrieval tube is within the field of view (FOV) of the at least one camera; and a controller configured to: control the at least one camera to capture images of the transparent portion. The transparent portion is transparent to visible light.

Abstract: A dead skin removal and callus removal device is disclosed that comprises a base component with an exterior shell molded with plastic or silicone. The interior of the device is comprised of a scrubbing tool that may be used in the shower or bathtub. Users can easily secure the dead skin removal device to the base of a shower or bathtub using the attached suction cups on the base of the device. The device can be constructed of an antimicrobial plastic or silicone that inhibits the growth of unwanted bacteria and other fungi that may cause additional health concerns. In addition, the base component comprises a small pull tab to conveniently remove the device from a secured position for ease of cleaning and reuse.

Abstract: Techniques for implantable orthopedic pain management devices are disclosed, including incising an opening in a synovial capsule substantially surrounding a joint, using a first tool to form an enlarged opening in the synovial capsule, determining whether to modify the joint, the joint being modified using a second tool if a bone structure coupled to one or more bones is found within the joint and the bone structure is configured to limit articulation of the one or more bones when an implantable device is inserted into the synovial capsule and the joint, and inserting the implantable device into the synovial capsule through the enlarged opening, the implantable device being inserted into the joint using a third tool.

Abstract: Methods and apparatus for coupling two or more bones together with a flexible connector.

Abstract: Various implants and surgical techniques for dynamic spinal tethering systems are discussed. In an example, a spinal tethering system can comprise a flexible elongate spinal tethering cord and a plurality of vertebral implants connecting the cord across at least four spinal levels. In this example, each vertebral implant of the plurality of vertebral implants can include a dynamic head coupling each vertebral implant to the cord. The dynamic head of each vertebral implant can be configured to share cord tension across multiple spinal levels by releasing a first tension generated at a first level between two vertebral implants of the plurality of vertebral implants to generate a second tension across two spinal levels between three vertebral implants of the plurality of vertebral implants, wherein the second tension is lower than the first tension.

Abstract: An adjustable articulating spinal rod system including a first elongated element secured to a first bone, a second elongated element secured to the spine, and an articulating joint connecting the first and second elongated elements. The articulating joint including a first movable joint, a second movable joint, and at least one locking mechanism. The first movable joint is coupled to the first elongated element and the second movable joint which is also coupled the second elongate element. The first and second movable joints are configured to allow polyaxial movement and rotation of the first elongated element with respect to the second elongated element. The at least one locking mechanism immobilizes the first and second movable joints in the locked position to secure the first elongate element in a position relative to the second elongate element and allow movement and rotation in an unlocked position.

Abstract: The invention discloses a spinal lamina protector. The spinal lamina protector comprises a first protection part and a second protection part. Specifically, the first protection part comprises a first engaging portion, a first holding portion and a supporting portion, and the supporting portion and the first holding portion form an engaging rail. The engaging rail makes a second engaging portion of the second protection part insert in, and a second holding portion of the second protection part holds the first engaging portion while the second engaging portion is in the engaging rail. Therefore, the abovementioned structure of the spinal lamina protector forms a stable and length-adjustable structure, even if a pressure is pressed on the spinal lamina protector.

Abstract: An intramedullary nail includes one or more nail openings extending therethrough. The intramedullary nail is implantable within a medullary canal of the bone. A bone plate is configured to engage an outer surface of the bone. The bone plate includes one or more plate openings extending therethrough. The plate openings are spaced about the bone plate such that the bone plate is positionable to axially align the plate openings with the nail openings when the intramedullary nail is implanted within the medullary canal of the bone. An aiming guide includes one or more targeting openings. The targeting openings are spaced about the aiming guide such that the aiming guide is positionable to axially align the targeting openings with the plate openings and the nail openings for extending one or more stabilizing fasteners therethrough when the intramedullary nail is implanted within the medullary canal of the bone.

Abstract: Provided is a push type anchor fixed to one side cortical bone that is capable of being insertedly fixed to one side cortical bone by means of pushing, while being configured to minimize damage on a patient's body. The push type anchor fixed to one side cortical bone may include an anchor sleeve having a header located on the lower end portion thereof in such a way as to be inserted into the cortical bone, enlarged by means of an external force, and then fixed to the cortical bone and an anchor pin inserted into the anchor sleeve in such a way as to generate the external force for enlarging the header if pushed.

Abstract: Compression/reduction drivers are provided for performing surgical methods. Exemplary surgical methods that may be performed using the compression/reduction drivers described herein include, but are not limited to, arthrodesis procedures (i.e., bone fusion procedures), fracture fixation procedures, etc. The compression/reduction drivers are configured to simultaneously and independently apply a force against a bone segment and drive a fixation device into the bone segment.

Abstract: A high voltage pulse generator with a discharge circuit is disclosed. The discharge circuit is configured to selectively discharge a pulse generator stage and may include one or more discharge switches and a discharge resistor. A method of operation of the pulse generator is also disclosed, including discharging the pulse generator via a discharge circuit.

Abstract: Pulsed field ablation systems are disclosed, some of which may include an output pulse generation circuit and a high voltage pulse generation circuit electrically connected to the output pulse generation circuit. The high voltage pulse generation circuit may be configured to deliver a high voltage pulse set to the output pulse generation circuit. The output pulse generation circuit may be configured to generate an output pulse set at least in response to the high voltage pulse set. The output pulse set may be deliverable to a set of selectable electrodes and may be configured to cause pulsed field ablation of tissue. Each pulse in the output pulse set may have a rise time that is shorter than a rise time of at least one high voltage pulse in the high voltage pulse set.

Abstract: Methods and devices for performing ablation using time multiplexed waveforms are disclosed. The increased efficacy of monophasic waveforms is combined with the reduced side effects of biphasic waveforms by distributing components of the waveform across over a broader time interval than that typically used in a conventional biphasic waveform. Charge balancing occurs upon completion of therapy delivery within a time period that avoids muscle stimulation, while allowing unbalanced waveforms to be delivered during stimulation.

Abstract: Systems and methods to confirm safe delivery of treatment energy to a patient by identifying a presence of a fault in an energy delivery pathway and identifying a location of the fault within the device. The system includes a processing unit configured to calculate blood impedances external to the device based on known impedance characteristics of the device, and then to calculate impedances within the device during energy delivery based on the calculated blood impedances. The processing unit prevents the delivery of energy in an energy delivery pathway that is determined to be compromised. The processing unit is also configured to compare times for two different frequencies to travel a predetermined distance, the difference in the times corresponding to a location of a fault within the energy delivery pathway.

Abstract: Disclosed is a control method for a treatment device. The treatment device includes a treatment tip and a coolant delivery control mechanism, the treatment tip is provided with a needle and a treatment surface, the coolant delivery control mechanism is configured to deliver coolant to the treatment surface. The control method for the treatment tip includes: when the needle is in a working state, delivering, via the coolant delivery control mechanism, the coolant to the treatment surface in a first preset mode.

Abstract: The disclosed technology includes an electrical connector for a catheter device comprising a body extending along a longitudinal axis from a proximal portion to a distal portion, the proximal portion configured to be attached to a tubular shaft and the distal portion configured to be attached to an end effector. The electrical connector can comprise a plurality of proximal electrical pads disposed on the body at the proximal portion, the proximal electrical pads configured to be in electrical communication with a plurality of tubular shaft electrical pads. The electrical connector can comprise a plurality of distal electrical pads disposed on the body at the distal portion, the distal electrical pads configured to be in electrical communication with a plurality of end effector electrical pads. The electrical connector can comprise a plurality of electrical traces. Each electrical trace can connect a respective proximal electrical pad to a respective distal electrical pad.

Abstract: The disclosed technology includes a medical probe comprising a tubular shaft including a proximal end and a distal end and an expandable basket assembly coupled to the distal end of the tubular shaft. The basket assembly can comprise a first plurality of spines coupled to the distal end of the tubular shaft and a second plurality of spines, each spine of the second plurality of spines rotatably coupled to a respective spine of the first plurality of spines. The basket assembly can include a plurality of electrodes attached to at least the second plurality of spines and a push rod connected to a distal end of the second plurality of spines. The push rod can be configured to slide longitudinally between a proximal position and a distal position to transition the expandable basket assembly between an expanded configuration and a collapsed configuration.

Abstract: Embodiments of the present disclosure provide an ablation catheter, comprising: a catheter, a handle and a connector which are connected in sequence, wherein a plurality of electrodes are provided in sequence at a distal end of the catheter, each of the electrodes has a corresponding electrode lead, which passes through the catheter and the handle and is connected to the connector; the catheter comprises an insulated inner catheter, the electrodes are provided on the insulated inner catheter, an insulated outer catheter is provided between the plurality of electrodes, electrode leads of the plurality of electrodes are respectively provided between the insulated inner catheter and the insulated outer catheter.

Abstract: A device for dividing a fibrous structure may include a handle having a proximal end. a distal end. and an imaging core extending therebetween. the imaging core configured to image tissue including the fibrous structure: an expandable member positioned near the distal end of the handle, the expandable member being transitionable between an inflated state and a deflated state, and the expandable member includes a cutting element arranged on a surface of the expandable member for weakening or cutting the fibrous structure resulting in its division: and a probe cover coupled to the handle. the probe cover including a covering extending in a proximal direction for draping over the handle to create a sterile barrier between the handle and the expandable member.

Abstract: A distal-end assembly of a medical device, the distal-end assembly includes a flexible substrate and electrical conductors. The flexible substrate is configured to be coupled to a distal end of an insertion tube. The electrical conductors are disposed on the flexible substrate and are shaped to form: (i) one or more electrodes, configured to exchange electrical signals with a proximal end of the medical device, and (ii) one or more printed filters, which are disposed adjacently to at least one of the electrodes and are configured to filter signals in a predefined frequency range from the electrical signals exchanged between the at least one of the electrodes and the proximal end.

Abstract: A robotically controlled laser resection device is disclosed. The device is configured in a handheld form factor. The device includes a treatment laser configured to generate a treatment laser beam, a laser scanner configured to direct the treatment laser beam, a water nozzle configured to emit a laminar waterjet, and an aperture configured to emit the treatment laser beam within the laminar waterjet. The components may be contained in a housing with electromagnetic shielding. A tracking marker is attached to the housing to allow navigation of the device.

Abstract: Systems, devices and methods are provided that facilitate the formation of incisions in tissue while reducing, minimizing or avoiding the generation of scar tissue. Devices are provided that facilitate the generation of an incision during multiple passes of a laser beam, such as a picosecond infrared laser (PIRL) beam. Some implementations employ the use of guidelines or guide structures to facilitate alignment of a laser beam delivery tool during the formation of an incision, optionally based on feedback provided by one or more sensors. Optical waveguide structures are disclosed for the efficient and controlled generation of laser incisions. Devices and methods are disclosed for applying tension, via manual or autonomous means, during and/or after the formation of an incision. The tension may be applied, optionally based on feedback from one or more sensors, to avoid the deformation of tissue within the incision beyond the elastic deformation limit.

Abstract: An apparatus and method of treatment of an animal using the apparatus are disclosed. The apparatus includes a scalpel, a laser included in the scalpel, and a visible light source included in the scalpel. The visible light source provides a visible targeting beam. The method of treatment includes activating a visible targeting beam in a laser scalpel. The visible targeting beam has an illumination intensity. The method further includes illuminating a tumor that includes cancerous cells and non-cancerous cells with the visible targeting beam, activating an invisible mid-infrared laser included in the scalpel to produce a laser spot at the tumor, and ablating the cancerous cells while leaving the non-cancerous cells substantially undamaged.

Abstract: Described herein are laser emitting medical devices and techniques implementable by laser emitting medical devices to determine a power of light emitted from a distal end of an optical fiber coupled to the medical device where the distal end of the optical fiber is disposed in a liquid environment. The devices and techniques provide to determine the power of the emitted light based on the duration or length of a bubble formed in the liquid environment by the emitted light.

Abstract: Systems and methods for determining a desired orientation of an instrument for positioning a medical device in a body. The apparatus including an electronic device configured to display an image of at least a portion of the body adjacent to where the medical device will be positioned, the electronic device including an orientation sensor and a processor configured to simulate a positioning of the medical device relative to the image to determine a desired insertion angle of the medical device relative to a plane of the body.

Abstract: Systems and methods for providing surgical planning are described in this application. In varying aspects, patient-specific instrument, guides or implants used in the surgical procedure may comprise multiple patient-specific surfaces for mating with the patient's anatomy. The methods preferably include precise manipulation of a patient's anatomy that includes orientation, depth, placement and other criteria for instruments, guides and implants used during a surgical procedure.

Abstract: Disclosed is a technique for generating an image including a representation of an anatomical element of a patient's body, the method being performed by a computing system and comprising: obtaining medical image data of at least one anatomical element of a patient's body; obtaining planning data indicative of at least three planned positions relative to the at least one anatomical element, wherein one or more of the planned positions are associated with at least one planned medical implant; and generating, based on the medical image data and the planning data, an image comprising a representation of the at least one anatomical element in a pose defined by the at least three planned positions. A system, a computer program and a carrier medium are also disclosed.

Abstract: Systems and methods for designing and implementing patient-specific surgical procedures and/or medical devices are disclosed. In some embodiments, a method includes receiving a patient data set of a patient. The patient data set is compared to a plurality of reference patient data sets, wherein each of the plurality of reference patient data sets is associated with a corresponding reference patient. A subset of the plurality of reference patient data sets is selected based, at least partly, on similarity to the patient data set and treatment outcome of the corresponding reference patient. Based on the selected subset, at least one surgical procedure or medical device design for treating the patient is generated.

Abstract: Systems and methods are configured to synchronize a medical device intervention wherein the anatomy moves or changes shape relative to the medical device. A medical device is positioned relative to anatomy. Data is then obtained regarding a position of the anatomy. The data is used to synchronize a position of the medical device relative to the anatomy such as to maintain a relative position between the medical device and the anatomy such as a specific portion of the anatomy.

Abstract: A surgical tool for an endoscopic procedure includes a proximal portion and a distal portion configured for at least partial insertion in a surgical cavity of the patient during the endoscopic procedure, at least a portion of the distal portion being made of a polymer and comprising at least one fiducial marker formed by laser marking of the polymer for detection by an endoscopic imaging system.

Abstract: A method for tracking a location of interest of anatomy of a patient in medical imaging includes, at a computing system, receiving a series of medical imaging video frames captured by a medical imager imaging the anatomy of the patient; analyzing at least one frame of the series of medical imaging video frames to determine a position of the location of interest relative to the medical imager; determining at least one estimate of relative motion between the medical imager and the anatomy of the patient; and tracking the position of the location of interest relative to the medical imager based on the position of the location of interest determined from the at least one frame and the at least one estimate of relative motion between the medical imager and the anatomy of the patient.

Abstract: A method includes receiving time-varying boundary condition values measured for a probe inside a cavity of an organ of a patient. A time-dependent shape of the probe is calculated by (a) representing sections of the probe as first springs, (b) representing external forces acting on the sections as second springs, and (c) solving a set of coupled equations of motion, for the first springs and the second springs, so as to meet the time-varying boundary condition values. The shape is presented to a user.