Biosense Webster (israel) Ltd.

Acclarent, Inc.

Accalrent, Inc.

Biosense Webster, Inc.

Itamar Bustan

Noam Racheli

Jetmir Palushi

Yoav Pinsky

Akram Zoabi

Assaf Govari

Itzhak Fang

Henry F Salazar

Fatemeh Akbarian

Athanasios Papadakis

Jordan R Trott

Zvi Dekel

Moran Levi

Vadim Gliner

Dean M Ponzi

Eliyahu Ravuna

Tamir Avraham Yellin

Eden Kidishman

Ketan P Muni

Assaf Cohen

Ronen Krupnik

Fady Massarwi

Ido Ilan

David A Smith, Jr

Noam Seker Gafni

William J Kane

Oleg Dulger

Andrew Drake

Michael Timofeyev

Todd A Veloni

Helen Wolfson

Nawid Mehrzai

Noam Rachli

Jephrey S Rodriguez

Scott A Kirchner

Andres Claudio Altmann

Ehsan Shameli

Babak Ebrahimi

Matityahu Amit

Ika Dekel

Yoram Chmiel

Michal Alroy Levy

Moshe Israel Shilemay

Uriel Hod

David A Smith

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. The IGS system may be configured to detect various movement patterns of the tools, which may be mapped to and associated with corresponding actions or inputs to the IGS system. In one example, a registration probe may be moved along the x-axis and y-axis, with detected movements identified and received by the IGS system as movements of a mouse cursor on a display of the IGS system. In another example, the registration probe may be moved in a circular pattern, or quickly moved along any of the x-axis, y-axis, or z-axis, with each being configured to cause the IGS system to zoom a display, change a view, record video, or other actions.

Registration probe for image guided surgery system

A virtual camera may be positioned relative to a 3-D model of a patient anatomy in order to provide a virtual camera view of the surrounding anatomy and tracked surgical instruments being deployed to the anatomy. Visual context provided by the virtual camera may be limited in some cases, such as where a surgical instrument is being used within a very narrow anatomical passageway or cavity. To provide more placement flexibility, an IGS system providing a virtual camera receives inputs defining variable visual characteristics for different segments or regions of the 3-D model, which may include hiding certain segments or making certain segments semi-transparent. With such a system, the view of the 3-D model provided by the virtual camera view may be modified to remove or deemphasize less relevant segments, to display or emphasize more relevant segments (e.g., critical patient anatomy), or both.

User interface for image guided surgery system

A virtual endoscopic view shows a surgical area and surrounding anatomy and may also show a position of a surgical instrument in use during a surgical procedure, allowing a surgeon to virtually view the surgical area when direct viewing or actual endoscopic views are incomplete, obstructed, or otherwise unavailable or undesirable. In order to render the endoscopic view, an IGS navigation system may be configured with an observer point and an observer orientation within 3-D space based upon user inputs. A user interface for defining these points allows a user to view a virtual endoscopic preview in real-time while providing inputs, thus improving the likelihood that the resulting virtual endoscopic view is as desired by the user; and reducing time spent redefining and reconfiguring the virtual endoscopic view. The virtual endoscopic preview may provide combinations of static and dynamic images to illustrate the spatial relationship of the provided inputs.

Method for real time update of fly-through camera placement

A method, including receiving a computerized tomography (CT) image of voxels of a subject's head, and analyzing the image to identify respective locations of the subject's eyes in the image, so defining a first line segment joining the respective locations. The method includes identifying a voxel subset overlaying bony sections of the head, lying on a second line segment parallel to the first line segment and on a third line segment orthogonal to the first line segment. A magnetic tracking system configured to measure positions on the subject's head is activated, and a probe, operative in the system, is positioned in proximity to the bony sections to measure positions of a surface of the head overlaying the bony sections. A correspondence between the positions and the voxel subset is formed, and a registration between the CT image and the magnetic tracking system is generated in response to the correspondence.

ENT image registration

A catheter is disclosed comprising: a connector including a plurality of first contacts and one or more second contacts; a shaft including a plurality of electrodes, each electrode being coupled to a different one of the plurality of first contacts; a memory coupled to at least one of the second contacts, wherein the memory is configured to: store a pinout map identifying an order in which the plurality of electrodes is coupled to the plurality of first contacts; and provide the pinout map to an external device via one or more of the second contacts after the connector is coupled to the external device.

Random pinout catheter

Apparatus, including a probe having a distal end insertable into a nasal sinus of a human patient, and a location sensor positioned within the distal end. A sinuplasty balloon is positioned on the distal end at a selected opening of the nasal sinus. A processor receives first signals from the location sensor while the distal end is inserted into the nasal sinus and prior to positioning of the balloon at the selected opening, and generates a first map of the sinus. The processor inflates the balloon when it is at the selected opening, so as to enlarge the selected opening, and subsequently deflates the balloon. The processor then receives second signals from the location sensor and generates therefrom a second map of the sinus. The processor registers the first map with the second map and generates from the registered maps a numerical increase in size of the selected opening.

Mapping of nasal passages before and after a procedure

Apparatus, including a patient tracker, attached to a subject, having magnetic field sensors and optical landmarks with known spatial relationships to each other. A camera acquires a 3D optical image, in a first frame of reference (FOR), of the subject's face. A magnetic radiator assembly generates magnetic fields at the subject's head, thereby defining a second FOR. A processor: processes field sensor signals to acquire location coordinates of the sensors in the second FOR; segments a tomographic image of the subject, having a third FOR, to identify the subject's face in the third FOR; computes a first transformation between the third and first FORs to map the tomographic face image to the 3D optical image; maps the optical landmarks to the third FOR; maps the respective location coordinates of the sensors to the first FOR; and computes a second transformation between the second FOR and the third FOR.

Registration of frames of reference

Physicians performing invasive procedures utilize instruments inserted into a human body to perform the procedures. Such procedures typically involve actions to be performed on specific targeted anatomical structures. During the procedure, nearby anatomical structures unrelated to the procedure should generally be avoided. A system and techniques are provided herein for monitoring the position of such unrelated nearby anatomical structures relative to one or more surgical instruments. The system emits a warning to a human operator such as a surgeon if one of the instruments is too close to a monitored anatomical structure.

Monitoring distance to selected anatomical structures during a procedure

An apparatus, including a magnetic field generator, a first magnetic field sensor configured for attachment to a proximal end of a surgical tool configured for insertion into a body, and a calibration device that includes a second magnetic field sensor and a proximity sensor, wherein the field sensors generate respective location signals responsive to a magnetic field emanating from the generator and traversing the field sensors. The apparatus includes a control unit, which receives the signals from all the sensors, extracts respective location and orientation coordinates of the field sensors based on the signals, computes a conversion relation between the coordinates of the first sensor and a distal end of the tool that is brought into contact with the calibration device, and subsequently applies the conversion relation, together with the coordinates of the first sensor, in providing a visual indication of a location of the distal end inside the body.

Calibration of a rigid ENT tool

Physicians performing invasive procedures require accuracy and precision when working with surgical tools. Surgical procedures are increasingly becoming minimally invasive, with physicians operating using cameras to view the surgery site and directing their tools through oculars or video displays. Ideally, the physician should be able to perform the invasive procedure while simultaneously observing both the real-time image of the patient and additional data critical for his medical decisions about the manipulation of the surgical tool and the next surgical step. The augmented reality navigation system of the present disclosure provides tool location visibility for invasive procedures through the use of location sensors included on a camera and/or on the tools used during a procedure. A location tracking system determines and monitors the locations of the tools and camera based on the characteristics of signals detected by the sensors and displays informational overlays on images obtained with a camera.

Use of augmented reality to assist navigation during medical procedures

An apparatus includes a calibration fixture, a calibration position sensor, and interface circuitry. The calibration fixture is sized and shaped to fit over a distal-end of a medical probe, such that the distal-end makes physical contact with a wall of the calibration fixture. The calibration position sensor is fixed in the calibration fixture at a known position relative to the wall, and configured, in response to sensing a magnetic field, to produce position signals indicative of a given position of the calibration position sensor. The interface circuitry is electrically coupled to the calibration position sensor, and is configured to output the position signals.

Calibration jig for a catheter comprising a position sensor

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Zichron Yaacov, Israel

Itamar Bustan