A Raman endoscope for use in obtaining in vivo Raman spectra in the peripheral airways of the lungs and a method of constructing the Raman endoscope are disclosed. The endoscope has a tubular sheath containing a fiber bundle. The sheath has an outer diameter of less than 1.35 mm. The sheath is made of fluorinated ethylene propylene. The sheath is flexible along its length from a first end to a point along the sheath so that it can navigate sharp turns within the peripheral airways. A layer of coating covers the sheath along a terminal length and a probe tip of the fiber bundle. The terminal length extends along a length of the sheath extending from a second end opposite to the first end to the point. Terminal length is rigid to facilitate advancement of the endoscope towards the lesion of interest. Terminal length is 5 mm or less.

A clamp for inter alia a bronchoscope, the clamp comprising a spine with frame which has a channel through which a tube of inter alia the bronchoscope is received. The frame includes clamping means to grip the tube within the frame to fix it in position. The clamping is releasable to allow further movement of the tube relative to the frame.

A specimen container holding apparatus is disclosed. The apparatus is configured to hold a container for receiving liquids from a bronchoscope. The apparatus includes a needle guide with a first and a second opening configured to receive a needle of the bronchoscope. The first and second opening may be disposed on a removable tip of the needle guide. The removable tip may be detachably connected to a removable tip connection point. The apparatus may further include a slide holder configured to hold a slide.

Disclosed embodiments include apparatuses, systems, and methods for positioning electrodes within a body. In an illustrative embodiment, a control handle is selectively engageable with primary and secondary actuators respectively coupled with primary and secondary electrodes. At a first position, the primary and secondary actuators are movably engaged to move in concert to a second position where distal ends of the electrodes extend into a target region. At the second position, the control handle is engaged with the secondary actuator and movable independently of the primary actuator in a first direction to a third position where the distal end of the secondary electrode extends beyond the distal end of the primary electrode. At the third position, the control handle is movably engaged with the primary actuator and movable independently of the secondary actuator in a second direction to a fourth position to partially retract the distal end of the primary electrode.

Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

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.

A medical device includes an endoscope head which is designed to be detachably connected to endoscope tubes. The endoscope head has a longitudinal channel for receiving an endoscope tube. The longitudinal channel has a variable opening width for receiving endoscope tubes with different diameters. The endoscope head includes a clamping device in order to hold an endoscope tube inserted into the longitudinal channel in a clamped manner

In general, devices, systems, and methods for multi-source imaging are provided.

A system for navigating to a catheter to a target is disclosed. The system includes a probe and a workstation. The probe is configured to be navigated through a patient's airways and includes a location sensor. The workstation is in operative communication with the probe. The workstation includes a memory and at least one processor. The memory stores a navigation plan and a program that, when executed by the processor, is configured to generate a 3D rendering of the patient's airways, generate a view using the 3D rendering, and display the view featuring at least a portion of the navigation plan. Generating the view includes executing a first transfer function for a first range from a distal tip of the location sensor and executing a second transfer function for a second range from the distal tip of the location sensor.

A system includes a manipulator and a processing unit. The processing unit is configured to receive, from a position sensor system, a collected set of spatial information for a distal portion of a medical instrument collected at locations within anatomic passageways as a rigid instrument body is moved in an insertion or retraction direction. The processing unit is further configured to receive, from a position measuring device, a set of position information related to a position of the rigid instrument body when the distal portion is at the locations. The processing unit is further configured to, based at least in part on the set of position information, determine a subset of the set of spatial information relative to the environment coordinate space and, based on the subset of spatial information, determine an initial transform for registering the set of spatial information with anatomical model information in a model coordinate space.