A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.

Tools used within a surgical area may be equipped with sensors that allow them to be tracked within the magnetic field of an image guided surgery (IGS) system. These tools may include a probe which is instrumented with a position sensor allowing it to be used not only for registration of non-magnetic objects within the magnetic field, but also for providing additional inputs.

A medical apparatus includes a probe including a handle having a longitudinal axis, a distal tip disposed on the longitudinal axis, and a position sensor, which is disposed in the handle on the longitudinal axis at a predefined distance from the distal tip and is configured to output a signal indicative of a location of the probe. An alignment jig includes a connector configured to be fixed removably to the distal tip of the probe and three protrusions, which extend from the connector and are configured to contact a surface of a body of a patient at respective points, which are disposed in a plane perpendicular to the longitudinal axis when the connector is fixed to the distal tip of the probe.

A magnetic field sensor for a medical device, the magnetic sensor assembly comprising a substrate having a plurality of planar sections, wherein adjacent planar sections are joined by a transition section, and wherein the planar sections are arranged in a substantially C-shaped arrangement such that an inner surface of the magnetic field sensor is concave, and wherein the plurality of planar sections includes a first planar section oriented in a first plane and a second planar section oriented in a second plane orthogonal to the first plane. A first magneto-resistive (MR) sensor is mounted to the first planar section and defining a first axis of sensitivity, and a second MR sensor is mounted to the second planar section and defining a second axis of sensitivity that is orthogonal to the first axis of sensitivity.

The invention relates to a measurement device 1 comprising a rotatable magnetic object 4 which can oscillate with a resonant frequency if excited by an external magnetic torque. The measurement device 1 is adapted such that the resonant frequency depends on the temperature or on another physical or chemical quantity like pressure, in order to allow for a wireless temperature measurement or measurement of the other physical or chemical quantity via an external magnetic field providing the external magnetic torque. This measurement device can be relatively small, can be read-out over a relatively larger distance and allows for a very accurate measurement.

A medical procedure system, including a medical instrument to be inserted into a body part, and including position-tracking transducers to provide position signals, a distal end, and at least one radiopaque marker, a position tracking sub-system to compute a position including at least one location and orientation of the distal end in a position-tracking sub-system coordinate frame responsively to the position signals, a fluoroscope to capture fluoroscopic images of an interior of the body part and the radiopaque marker(s), and a registration sub-system to render, to a display, the captured fluoroscopic images including at least one marker-image of the radiopaque marker(s), and at least one graphical representation indicative of the computed position of the distal end, receive user-alignment input aligning the graphical representation(s) with the marker-image(s), and register the position-tracking sub-system coordinate frame with a coordinate frame of the fluoroscope responsively to the received user-alignment input.

A location pad includes multiple field-generators and a frame. The multiple field-generators are configured to generate respective magnetic fields in a region-of-interest of a patient organ, so as to measure a position of a medical instrument in the region-of-interest. The frame is transparent to an X-ray radiation, and is configured to fix the multiple field-generators at respective positions surrounding the region-of-interest.

A calibration method includes receiving magnetic field values, which are generated by a plurality of real magnetic transmitters and are measured at multiple positions on a grid in a region containing a magnetic field perturbing element. Approximate locations of the real magnetic transmitters are received. Using the approximate locations, a respective plurality of imaginary magnetic sources is characterized inside the field perturbing element. Using the measured magnetic field values, the approximate locations, and the characterized imaginary sources, there are iteratively calculated (i) actual locations of the real and imaginary magnetic sources in the region, and (ii) modeled magnetic field values that would result from the real and imaginary magnetic sources at the actual locations. Using the calculated locations, and the modeled magnetic field values at the multiple positions on the grid, a magnetic field calibration function is derived for the region.

A system for differentiating between magnetic field distortion and physical movement in a hybrid magnetic and impedance tracking system can comprise a first drive patch and a second drive patch configured to generate an electrical field within the body for locating an electrode on the medical device, a magnetic localization system configured to generate a magnetic field, a magnetic sensor configured to receive signals from the magnetic localization system, and an electronic control unit configured to receive location data from the impedance localization system and magnetic sensor location data from the magnetic localization system. The electronic control circuit can be configured to detect a location change of the magnetic sensor and use the drive patch location data and magnetic sensor location data to determine whether the detected location change of the magnetic sensor is caused by a magnetic field distortion or a physical movement of the magnetic sensor.

A tissue ablation system may be configured to receive location information indicating locations of at least part of a transducer-based device in a bodily cavity; cause delivery of first tissue-ablative energy during a duration of a first particular time period in accordance with a first energy waveform parameter set at least in response to a first state in which at least part of the location information indicates at least a first rate of movement of the part of the transducer-based device in the bodily cavity; and cause delivery of second tissue-ablative energy during a duration of a second particular time period in accordance with a second energy waveform parameter set at least in response to a second state in which the at least part of the location information indicates at least a second rate of movement of the part of the transducer-based device in the bodily cavity.