Systems and methods for automatically navigating a catheter in a patient are provided. An image of a current view of a catheter in a patient is received. A set of actions of a robotic navigation system for navigating the catheter from the current view towards a target view is determined using a machine learning based network. The catheter is automatically navigated in the patient from the current view towards the target view using the robotic navigation system based on the set of actions.

Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

Systems and methods for driving a flexible medical instrument to a target in an anatomical space with robotic assistance are described herein. The flexible instrument may have a tracking sensor embedded therein. An associated robotic control system may be provided, which is configured to register the flexible instrument to an anatomical image using data from the tracking sensor and identify one or more movements suitable for navigating the instrument towards an identified target. In some embodiments, the robotic control system drives or assists in driving the flexible instrument to the target.

Various embodiments of the present disclosure encompass an endoluminal therapy system employing an endoluminal therapy device (21) and an endoluminal therapy monitoring controller (10). In support an endoluminal procedure, the endoluminal therapy device (21) is controlled to treat a site to be treated within a lumen. The controller (10) is operated to synchronize an activated dwell timing of the endoluminal therapy device (21) within the lumen to a tracked positioning of the endoluminal therapy device (21) contiguous with the site to be treated within the lumen. The controller (10) is further operated to monitor the site to be treated within the lumen induced by the endoluminal therapy device (21) during the synchronization by the controller (10) of the activated dwell timing of the endoluminal therapy device (21) within the lumen to the tracked positioning of the endoluminal therapy device (21) contiguous with the site to be treated within the lumen.

Systems and methods are disclosed involving an instrument, an instrument tracking device for tracking movement of the instrument, a first boundary tracking device for tracking movement of a first virtual boundary associated with an anatomy of a patient to be treated by the instrument, and a second boundary tracking device for tracking movement of a second virtual boundary associated with a periphery of an opening in the patient to be avoided by the instrument. One or more controllers receive information associated with the tracking devices including positions of the instrument relative to the first and second virtual boundaries, detect movement of the first and second virtual boundaries relative to one another, and generate a response upon detecting movement of the first and second virtual boundaries relative to one another.

Systems and methods for driving a flexible medical instrument to a target in an anatomical space with robotic assistance are described herein. The flexible instrument may have a tracking sensor embedded therein. An associated robotic control system may be provided, which is configured to register the flexible instrument to an anatomical image using data from the tracking sensor and identify one or more movements suitable for navigating the instrument towards an identified target. In some embodiments, the robotic control system drives or assists in driving the flexible instrument to the target.

Systems, devices, and methods for controlling cooperative surgical instruments with variable surgical site access trajectories are provided. Various aspects of the present disclosure provide for coordinated operation of surgical instruments accessing a common surgical site from different approach and/or separate body cavities to achieve a common surgical purpose. For example, various methods, devices, and systems disclosed herein can enable the coordinated treatment of tissue by disparate minimally invasive surgical systems that approach the tissue from varying anatomical spaces and must operate differently, but in concert with one another, to effect a desired surgical treatment.

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.

Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a target trajectory for percutaneous access of the target location. Further, the techniques can include causing display of an interface that includes an instrument-alignment element indicative of an alignment of the orientation of the medical instrument to the target trajectory.