An image guided catheter navigation system for navigating a region of a patient includes an imaging device, a tracking device, a controller, and a display. The imaging device generates images of the region of the patient. The tracking device tracks the location of the catheter in the region of the patient. The controller superimposes an icon representing the catheter onto the images generated from the imaging device based upon the location of the catheter. The display displays the image of the region with the catheter superimposed onto the image at the current location of the catheter.

Navigation system for cardiac therapies

The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Robotic catheter system and methods

A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Robotic catheter system

A locating system for determining the location and orientation of an invasive medical instrument, for example a catheter (10) or endoscope, relative to a reference frame, comprising: a plurality of field generators (18, 20, 22) which generate known, distinguishable fields, preferably continuous AC magnetic fields, in response to drive signals; a plurality of sensors (30, 32, 34) situated in the invasive medical instrument (10) proximate the distal end thereof which generate sensor signals in response to said fields; and a signal processor (26) which has an input for a plurality of signals corresponding to said drive signals and said sensor signals and which produces the three location coordinates and three orientation coordinates of a point on the invasive medical instrument.

Medical diagnosis, treatment and imaging systems

A method for carrying out a medical procedure using a 3-D tracking and imaging system (1600). A surgical instrument, such as a catheter, probe, sensor, pacemaker lead, needle, or the like is inserted into a living being, and the position of the surgical instrument is tracked as it moves through a medium in a bodily structure. The location of the surgical instrument relative to its immediate surroundings is displayed to improve a physician's ability to precisely position the surgical instrument. The medical procedures including targeted drug delivery, sewing sutures, removal of an obstruction from the circulatory system, a biopsy, amniocentesis, brain surgery, measurement of cervical dilation, evaluation of knee stability, assessment of myocardial contractibility, eye surgery, prostate surgery, trans-myocardial revascularization (TMR), robotic surgery, and evaluation of RF transmissions.

A method for carrying out a medical procedure using a three-dimensional tracking and imaging system

A magnetic position and orientation determining system uses magnetic fields, desirably comprising uniform fields from Helmholtz coils (34, 36, 38) positioned on opposite sides of a sensing volume and gradient fields generated by the same coils. By monitoring field components detected at the probes (50) during application of these fields, the position and orientation of the probe (50) in the field can be deduced. A representation (108) of the probe (50) can be superposed on a separately acquired image of the subject to show the position and orientation of the probe (50) with respect to the subject.

Magnetic determination of position and orientation

A system for determining the disposition of a probe within the body of a patient includes a probe (20) having probe field transducers (30) and a plurality of reference field transducers (100A)-(100C). The reference field transducers are independently moveable with respect to one another to desired, customized positions close to the body of the patient. Calibration transducers (316a)-(316c) determine the relative positions of the field transducers with respect to one another after they are located in their desired positions. Non-ionizing fields are transmitted and detected between the probe and the reference field transducers. From the detected fields, the relative disposition of the probe with respect to the reference field transducers is determined.

Independently positionable transducers for location system

A cardiac ablation device treats atrial fibrillation by directing and focusing ultrasonic waves into a ring-like ablation region (A). The device desirably is steerable and can be moved between a normal disposition, in which the ablation region lies parallel to the wall of the heart for ablating a loop-like lesion, and a canted disposition, in which the ring-like focal region is tilted relative to the wall of the heart, to ablate only a short, substantially linear lesion. The ablation device desirably includes a balloon reflector structure (18, 1310) and an ultrasonic emitter assembly (23, 1326), and can be steered and positioned without reference to engagement between the device and the pulmonary vein or ostium. A contrast medium (C) can be injected through the ablation device to facilitate imaging, so that the device can be positioned based on observation of the images.

Cardiac ablation devices

A cardiac ablation device, including a steerable catheter (10) and an expandable ablation element (18) incorporating one or more balloons (20, 22) at the distal end of the catheter, has a continuous passageway (28, 30) extending through it from the proximal end of the catheter to the distal side of the expandable ablation element. A probe (72) carrying electrodes is introduced through this passageway and deploys, under the influence of its own resilience, to a structure incorporating a loop (82) which is automatically aligned with the axis of the expandable ablation device, so that minimal manipulation is required to place the sensor probe.

Ablation devices with sensor structures

A cardiac ablation device, including a catheter and an expandable ablation element incorporating one or more balloons at the distal end of the catheter, has a continuous passageway extending through it from the proximal end of the catheter to the distal side of the expandable ablation element. A probe carrying electrodes is introduced through this passageway and deploys, under the influence of its own resilience, to a structure incorporating a loop which is automatically aligned with the axis of the expandable ablation device, so that minimal manipulation is required to place the probe. The probe may have an atraumatic tip with a ball formed at the leading edge. The atraumatic tip prevents any tissue damage such as perforation of heart wall.

Robert C. Pacheco

Papers

Magnetic determination of position and orientation

Independently positionable transducers for location system

Cardiac ablation devices

Ablation devices with sensor structures

Miniature circular mapping catheter