A cannister system for containing a catheter, the cannister including a drive mechanism for driving the catheter from the cannister and into a luminal network of a patient, the cannister including an entrance point for insertion of a tool into the catheter.

Provided are robotic systems and methods for navigation of luminal network that detect physiological noise. In one aspect, the system includes a set of one or more processors configured to receive first and second image data from an image sensor located on an instrument, detect a set of one or more points of interest the first image data, and identify a set of first locations and a set of second location respectively corresponding to the set of points in the first and second image data. The set of processors are further configured to, based on the set of first locations and the set of second locations, detect a change of location of the instrument within a luminal network caused by movement of the luminal network relative to the instrument based on the set of first locations and the set of second locations.

Various embodiments disclosed relate to drug-coated balloon catheters for treating, preventing, or reducing the recurrence of a stricture and/or cancer, or for treating benign prostatic hyperplasia (BPH), in a non-vascular body lumen and methods of using the same. A drug-coated balloon catheter for delivering a therapeutic agent to a target site of a body lumen stricture includes an elongated balloon having a main diameter. The balloon catheter includes a coating layer overlying an exterior surface of the balloon. The coating layer includes one or more water-soluble additives and an initial drug load of a therapeutic agent. In some embodiments, the balloon catheter includes a length-control mechanism which stretches and elongates the balloon when it is in a deflated state, giving the balloon a smaller cross-sectional deflated profile for tracking through the body lumen and for removal after treatment.

A medical device system for the delivery of energy to a region of a patient's anatomy is provided. An introducer tube defines a lumen therein and bears a first electrode. A second electrode is movable within the lumen between a retracted position and an extended position. In the retracted position, the second electrode is substantially disposed within the lumen. In the extended position, the second electrode extends at least partially beyond the distal end of the introducer tube. In one form, the introducer tube is configured to substantially hold the second electrode within the lumen in a predetermined orientation in the extended position, and the introducer tube prevents the second electrode from substantially rotating within the lumen of the introducer tube during movement into the extended position. In one form, the introducer tube is more flexible in a first plane than in a second plane.

Certain aspects relate to systems and techniques for luminal network navigation. Some aspects relate to incorporating respiratory frequency and/or magnitude into a navigation system to implement patient safety measures. Some aspects relate to identifying, and compensating for, motion caused by patient respiration in order to provide a more accurate identification of the position of an instrument within a luminal network.

A method of registering a luminal network to a 3D model of the luminal network with real-time feedback is disclosed, including generating the 3D model of the luminal network based on images of the luminal network, generating an electromagnetic field about the luminal network, inserting a location sensor into the electromagnetic field, tracking the location of the sensor within the luminal network, comparing the tracked locations of the sensor with sensors located outside of the luminal network and the portions of the 3D model representative of open space, and presenting on a user interface an indication of which portions of the luminal network have been sufficiently traversed by the sensor to register that portion of the luminal network to the 3D model.

A method of continuously registering a model of anatomic passageways to a patient space includes: collecting a set of measured points along a flexible catheter as the catheter is inserted into the passageways, the measured points based on a shape of the catheter; assigning each measured point to a respective subset of a plurality of subsets based upon a depth of each measured point within the passageways; comparing the plurality of subsets to identify a first optimal subset; registering the model to the patient space based on a set of model points and the first optimal subset; collecting additional measured points; updating the plurality of subsets by assigning each additional measured point to a respective subset; comparing, after the updating, the plurality of subsets to identify a second optimal subset; and registering the model to the patient space based on the set of model points and the second optimal subset.

A medical system comprises a flexible device configured to be positioned at least partially within an anatomical passageway of a plurality of anatomical passageways within a patient anatomy. The medical system further comprises a memory device including computer executable instructions. The computer executable instructions are for performing operations comprising determining a deformation force exerted by 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: a shape of the flexible device; and the deformation force exerted by the section of the flexible device.

An endoscope (e.g., bronchoscope) includes an insertion cord detachable from a housing. A first working channel connector at the housing may form a first detachable connection with a second working channel connector at a detachable end of the insertion cord, a first electrical connector at the housing may form a second detachable connection with a second electrical connector at the detachable end, and a first mechanical working pulley connector at the housing may form a third detachable connection with a second working pulley connector. The first working channel connector, the first electrical connector, and the first mechanical pulley connector may be formed into a first half of an integrated connector. The second working channel connector, the second electrical connector, and the second mechanical pulley connector may be formed into a second half of the integrated connector to mate with the first half with one or more engagement action.

An endoscope navigation system is provided that updates an anatomy model based on a live camera signal. As the endoscope advances within the patient, a camera signal, and corresponding position signal, of the endoscope, is provided and used to update the anatomy model based on identified divergences between the camera signal at a particular position and anatomy model.