A method for treatment of a tumor includes obtaining 3D imaging of the tumor; processing the 3D imaging of the tumor to obtain tumor morphology; determining a number of treatment sites, the locations of such sites, and the treatment dosage using a model of intratumoral treatment dynamics between vascular, intracellular, and extracellular space in order for the tumor to receive a therapeutic dosage at every location of the tumor; and treating the tumor at each of the determined treatment sites and with the determined treatment dosage. In some embodiments, the method further includes generating the model to include a plurality of interconnected volumes wherein each volume has one or more adjacent volumes with a shared boundary. One or more simulations of treatment over time may be conducted using the model, each simulation having a set of one or more initial parameters.

A method is provided for auto registration for a robotic endoscopic apparatus. The method comprises: (a) generate a first transformation between an orientation of the robotic endoscopic apparatus and an orientation of a location sensor based at least in part on a first set of sensor data collected using the location sensor; (b) generating a second transformation between a coordinate frame of the robotic endoscopic apparatus and a coordinate frame of a model representing an anatomical luminal network based at least in part on the first transformation and a second set of sensor data; and (c) updating, based at least in part on a third set of sensor data, the second transformation using an updating algorithm.

The use of stepped cannulas, wherein a step structure creates a backstop to reduce backflow along the cannula body, is known for convection enhanced delivery of agents to the brain and other structures within an animal. Described herein are novel and improved stepped cannula designs wherein the length of the cannula segment between the step and the dispensing outlet is variable and can be controllably adjusted inside the patient during delivery. This advantageously allows the operator to place the cannula step at the optimal position and deliver agents at one or more positions within the target structure.

The use of stepped cannulas, wherein a step structure creates a backstop to reduce backflow along the cannula body, is known for convection enhanced delivery of agents to the brain and other structures within an animal. Described herein are novel and improved stepped cannula designs wherein the length of the cannula segment between the step and the dispensing outlet is variable and can be controllably adjusted inside the patient during delivery. This advantageously allows the operator to place the cannula step at the optimal position and deliver agents at one or more positions within the target structure.

An imaging system is provided comprising an imaging probe and at least one delivery device. The imaging probe comprises an elongate shaft, a rotatable optical core and an optical assembly. The elongate shaft comprises a proximal end, a distal portion, and a lumen extending between the proximal end and the distal portion. The rotatable optical core is positioned within the lumen of the elongate shaft and comprises a proximal end and a distal end. The rotatable optical core is configured to optically and mechanically connect with an interface unit. The optical assembly is positioned in the elongate shaft distal portion and proximate the rotatable optical core distal end. The optical assembly is configured to direct light to tissue and collect reflected light from the tissue. The imaging probe is constructed and arranged to collect image data from a patient site. The at least one delivery device is constructed and arranged to slidingly engage the imaging probe. Methods of introducing the imaging probe and the at least one delivery catheter into a patient are also provided.

The present disclosure relates to a system and method for locating a target subject associated with an X-ray system. The X-ray system may include an X-ray source, a detection component, an arm, and a platform. The X-ray system may also include a first positioning component, a second positioning component, or a third positioning component. The first positioning component may be configured to determine a target point where a region of interest (ROI) of the target subject locates. The second positioning component may be configured to locate the target subject. The third positioning component may be configured to obtain location information of a target device associated with the target subject in real-time.

The present disclosure relates to a system and method for locating a target subject associated with an X-ray system. The X-ray system may include an X-ray source, a detection component, an arm, and a platform. The X-ray system may also include a first positioning component, a second positioning component, or a third positioning component. The first positioning component may be configured to determine a target point where a region of interest (ROI) of the target subject locates. The second positioning component may be configured to locate the target subject. The third positioning component may be configured to obtain location information of a target device associated with the target subject in real-time.

Methods and devices described herein facilitate ablation patterns on the heart within a pericardial sac and without opening or deflating the lungs.

A roll-detecting sensor assembly includes a coil extending along and disposed about an axis. The coil comprises one or more portions, with each portion defining a winding angle. At least one of the portions defines a winding angle that is substantially nonzero relative to a line perpendicular to the axis, whereby the projected area of the coil in an applied magnetic field changes as the coil rotates about the axis. As a result, the coil is configured to produce a signal responsive to the magnetic field indicative of the roll of the sensor about the axis. In an embodiment, at least one of the portions defines a winding angle that is at least 2 degrees. In an embodiment, at least one of the portions defines a winding angle that is about 45 degrees.

A roll-detecting sensor assembly includes a coil extending along and disposed about an axis. The coil comprises one or more portions, with each portion defining a winding angle. At least one of the portions defines a winding angle that is substantially nonzero relative to a line perpendicular to the axis, whereby the projected area of the coil in an applied magnetic field changes as the coil rotates about the axis. As a result, the coil is configured to produce a signal responsive to the magnetic field indicative of the roll of the sensor about the axis. In an embodiment, at least one of the portions defines a winding angle that is at least 2 degrees. In an embodiment, at least one of the portions defines a winding angle that is about 45 degrees.