Methods and devices using measurements of heart electrophysiological activity to guide structural heart disease interventions. In some embodiments, measurements of heart electrophysiological activity are mapped into locations of a heart model defined by one or more additional measurement modalities. In some embodiments, the additional measurement modalities comprise impedance measurements. Locations to map electrophysiological data to, in some embodiments, are determined by non-electrophysiological measurements simultaneous with the electrophysiological data measurement which locate a probe—for example, measurements made by the probe itself, and/or measurements which themselves indicate positioning of the probe.

A retractor apparatus for a surgical robotic system includes a frame defining a central open region, a connecting member that connects the frame to a robotic arm, a plurality of coupling mechanisms for attaching a set of retractor blades within the central open region of the frame such that blades define a working channel interior of the blades, and a plurality of actuators extending between the frame and each of the coupling mechanisms and configured to move the blades with respect to the frame to vary a dimension of the working channel. Further embodiments include a surgical robotic system that includes a robotic arm and a retractor apparatus attached to the robotic arm, and methods for performing a robot-assisted surgical procedure using a retractor apparatus attached to a robotic arm.

Disclosed are various examples and embodiments of systems, devices, components and methods configured to estimate the action potential wave propagation in a patient's heart, and subsequently to detect at least one location or type of at least one source of, or rotational phenomenon associated with, at least one cardiac rhythm disorder using intracardiac electrodes and a modified multi-frame Horn-Schunck algorithm to generate a map corresponding to a spatial map, the map being configured to reveal on a monitor or display to a user the at least one location of the at least one source of the at least one cardiac rhythm disorder.

Disclosed are various examples and embodiments of a Nitinol basket for an electrophysiological (EP) mapping catheter. In one embodiment, the Nitinol basket comprises a plurality of basket splines, each basket spline having a distalmost portion and a proximal end, where the distal tip is uninterruptedly contiguous and continuous with the distalmost portions of the basket splines and formed from the same piece, slab or ingot comprising Nitinol as the splines. In such an embodiment, the basket splines and distal tip are cut and formed from a same single length or piece of Nitinol tubing or a Nitinol hypotube. The respective distal portions of each of the Nitinol splines can be continuous and contiguous with, and connected to, the Nitinol distal tip, each spline being configured to extend outwardly away from an imaginary central axis of the Nitinol basket and its proximal end and distal portion to form a curved shape therebetween when the Nitinol basket is in an undeformed and deployed state. The splines can be configured to be spaced approximately equal distances apart from one another when the Nitinol basket is in an undeformed and deployed state, and the can be configured collectively to form a basket shape when the Nitinol basket is in an undeformed, expanded and deployed state.

In one embodiment, a medical system includes a catheter configured to be inserted into a chamber of a heart, and including electrodes configured to capture electrical activity of tissue of the chamber over time, a display, and processing circuitry configured to compute a propagation of a cardiac activation wave over an anatomical map of the chamber of the heart from a start time in a cardiac cycle to an end time in the cardiac cycle responsively to the captured electrical activity, and render to the display respective portions of the propagation of the cardiac activation wave over respective portions of the anatomical map as viewed from a virtual camera while manipulating the virtual camera to follow progression of the propagation of the cardiac activation wave over the anatomical map.

A catheter has single axis sensors mounted directly along a portion of the catheter whose position/location is of interest. The magnetic based, single axis sensors are on a linear or nonlinear single axis sensor (SAS) assembly. The catheter includes a catheter body and a distal 2D or 3D configuration provided by a support member on which at least one, if not at least three single axis sensors, are mounted serially along a length of the support member. The magnetic-based sensor assembly may include at least one coil member wrapped on the support member, wherein the coil member is connected via a joint region to a respective cable member adapted to transmit a signal providing location information from the coil member to a mapping and localization system. The joint region provides strain relief adaptations to the at least one coil member and the respective cable member from detaching.

Systems, methods, and devices having improved conformal properties for biomedical signal measurement are disclosed. A device can have a first polymer substrate coupled to a conductive layer forming a conductive trace electrically coupled to a conductive pad exposed via an opening. The device can have a second polymer substrate forming a first cavity between the first polymer substrate and the second polymer substrate. The device can have a first inlet portion that receives a fluid that expands the first cavity causing the device to conform to an anatomical structure. The structure can be an atrium, such as the left atrium, of the heart of a patient. The device can conform to the walls of the tissue structure, and the conductive pad exposed via the opening can detect a signal from the wall of the tissue structure. The signal can be provided to an external measurement device for processing.

Heart tissue electrical activity mapping used to guide the placement of devices to intervene in (treat) structural heart disease. In some embodiments, the intervention comprises placement of an implantable device, and/or positioning of a therapeutic device used to remove and/or remodel tissue. In some embodiments, electrical activity mapping is performed along with spatial mapping of a body cavity. In some embodiments, the intervention device position is compared to the measured positions of anatomical structures critical to heart electrical function to assess and/or prevent complications due to the device damaging heart electrical function.

A microcatheter with a guidewire therein can be steered to target tissue, then the target tissue can be punctured with the guidewire to create a transseptal puncture. The microcatheter can have a diameter substantially smaller than known sheaths which are typically used to guide a needle to a target puncture site in known transseptal puncture treatments. The guidewire can have an atraumatic, electrically conductive distal end that can be electrically energized to puncture the target tissue. Once the guide wire is across, ancillary devices such as a dilator and sheath can be delivered over the guide wire across the transseptal puncture. The microcatheter can include one or more location sensors. A navigation module can use the electrically conductive distal end as a reference electrode to the location sensor(s) of the microcatheter.

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.