There is provided a computerized method of tracking a position of an intra-body catheter, comprising: physically tracking coordinates of the position of a distal portion of a physical catheter within the physical body portion of the patient according to physically applied plurality of electrical fields within the body portion and measurements of the plurality of electrical fields performed by a plurality of physical electrodes at a distal portion of the physical catheter; registering the physically tracked coordinates with simulated coordinates generated according to a simulation of a simulated catheter within a simulation of the body of the patient, to identify differences between physically tracked location coordinates and the simulation coordinates; correcting the physically tracked location coordinates according to the registered simulation coordinates; and providing the corrected physically tracked location coordinates for presentation.

A system, method, and apparatus for autonomous body interaction system is provided. A system and method for a robot interacting with a human or other soft or deformable body is provided for the purpose of active application of pressure to specific points or regions of the body. The system and method conducts at least one of: localizing the position of the body, detecting the configuration of the body, identifying the surface region(s) of the body, predicting the underlying anatomy of the body, assessing the state of the body, preparing a plan for manipulation of the body, and executing a predetermined and/or dynamically updated plan on the body.

In certain examples, aspects are directed to an ablation tool or other procedure-specific tool to treat or assess biological tissue (e.g., ablate cardiac tissue) having a first tissue side and a second, opposite tissue side at which a magnetic-draw element is to be located. In a specific example, a first magnetic element is associated with or coupled to a catheter tool having an expandable portion to transition from a first state towards a second state for providing an expanded girth, so that the expandable portion surrounds the first magnetic element and moves the procedure-specific tool, in part by the first magnetic element moving via magnetic attraction. While the first magnetic element and the magnetic-draw element align on either side of the biological tissue, the procedure-specific tool may be used for the procedure.

An apparatus and method to enable clinicians to verify needle or catheter location within an anatomic site by relying upon combined sensing of two signals, such as a pressure signal and a heart rate pulse signal, in which the detection of a correlation between both signals is identified to confirm location of the needle or catheter.

Systems and methods track objects within an operating room. A machine vision system includes a camera and a controller. A navigation system includes a camera unit including a sensor array. The sensor array includes a plurality of sensing elements. The controller system identifies a first subset of the plurality of sensing elements to be active based on the position of the object. The controller is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.

A system includes a medical probe and a position-tracking system. The medical probe includes a distal end, and one or more distal magnetic position sensors. The medical probe further includes a proximal-end assembly, and one or more proximal magnetic position sensors. The position-tracking system includes a memory, which is configured to hold values indicative of known relative positions between the distal magnetic position sensors and the proximal magnetic position sensors. The position-tracking system includes a processor, which is configured to receive one or more signals indicative of estimated positions of the proximal magnetic position sensors and of the distal magnetic position sensors, as measured by the position-tracking system, and to initiate a responsive action in response to detecting a discrepancy between the known relative positions and the estimated positions.

Devices, Systems, and Methods for controlled movement of the robot system. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The robot may include a plurality of omni-directional wheels affixed to the robot base allowing multiple-axis movement of the robot. The robot may further include sensors for detecting a desired movement of the robot base and a control system responsive to the plurality of sensors for controlling the multiple-axis movement of the robot by actuating two or more of the plurality of omni-directional wheels.

A trackable guidewire apparatus and method for use are described. Longitudinally spaced proximal and distal guidewire ends are separated by a guidewire body. A plurality of longitudinally spaced position sensors are configured to provide signals corresponding to a three-dimensional position of at least one position sensor in a coordinate system of an associated tracking system in response to an electromagnetic field/stimulus. At least one retention mechanism is provided for maintaining the medical device in a predetermined retention position longitudinally along the guidewire body. At least one stop structure is provided in a predetermined stop position longitudinally along the guidewire body.

The present disclosure relates to a surgical system for treating an anatomical structure according to a plurality of target planes and/or axes, comprising: a robotic device (1) comprising: an end effector (2) defining a current plane or axis, an actuation unit (11) coupled to the end effector (2), a tracking unit (3) configured to determine a pose of the current plane or axis, a control unit coupled to the tracking unit and configured to control the actuation unit (11) to align the current plane or axis of the end effector (2) with each one of the plurality of target planes and/or axes to treat the anatomical structure, the robotic device being operable in at least the following modes: a working mode wherein a treatment is being performed with the end effector constrained to one target plane or axis by the actuation unit, and a waiting mode wherein no treatment is being performed and the actuation unit is operable to move the end effector in alignment with another target plane or axis, wherein the control unit is further configured to: (a) determine that the robotic device (1) is in the waiting mode; (b) detect a triggering force applied to the end effector (2) and/or the actuation unit (11) in at least one first direction; (c) as a result of determination (a) and detection (b), trigger a position change of the end effector (2) by the actuation unit (11) to align the current plane or axis with a next target plane or axis.

The position and orientation of an ultrasound probe is tracked in three dimensions to provide highly-accurate three-dimensional bone surface images that can be used for anatomical assessment and/or procedure guidance. The position and orientation of a therapy applicator can be tracked in three dimensions to provide feedback to align the projected path of the therapy applicator with a desired path for the therapy applicator or to provide feedback to align the potential therapy field of a therapy applicator with a target anatomical site. The three-dimensional bone surface images can be fit to a three-dimensional model of the anatomical site to provide or display additional information to the user to improve the accuracy of the anatomical assessment and/or procedure guidance.