Sync-rx Ltd.

Envizion Medical Ltd.

Covidien LP

Yissum Research Development Company of the Hebrew University of Jerusalem Ltd.

Dermagenesis, LLC

Simbionix Ltd.

Vuze Medical Ltd.

Nutriseal Limited Partnership

Synx-rx, Ltd.

Ran Cohen

David Tolkowsky

Alexander Steinberg

Eldad Klaiman

Sagiv Philipp

Zohar Barzelay

Doron Besser

Amit Cohen

Guy Ben Ezra

Yoav Stein

Oren P Weingarten

Dorian Averbuch

Igor A Markov

Leo Joskowicz

Ivan Vorobeychyk

Sarit Semo

Nili Karmon

Gavriel Joseph Iddan

Shmuel Peleg

David Avnir

Anat Hofshi

Ran Bronstein

Edna Chosack

David Barkay

Tianning Xu

Richard Vogel

Tony Xu

Jacob Blank

Alexander Steinbert

3D image data of a skeletal portion is acquired. While a portion of a tool is disposed at a first location along an insertion path, first and second x-rays are acquired from first and second image views. A processor registers the x-rays with the 3D image data, identifies a location of a tool within the x-rays, and computes an anticipated forward path of the tool within the 3D image data from the x-rays. The tool is moved to a second location along the insertion path and an additional x-ray is acquired from a single image view. The processor facilitates identifying if the tool has deviated from the anticipated forward path by registering the additional x-ray to the 3D image data and identifying a location of the portion of the tool within the additional x-ray. Other embodiments are also described.

Apparatus and methods for use with image-guided skeletal procedures

Apparatus and methods are described for use with an imaging device () configured to acquire a set of angiographic images of a lumen. At least one processor () includes blood-velocity-determination functionality () that determines blood velocity within the lumen, via image processing. Current-flow-related-parameter-determination functionality () determines a value of a flow-related parameter at the location based upon the determined blood velocity. Flow-related-parameter-receiving functionality () receives an indication of a value of a second flow-related parameter of the subject, and index-determination functionality () determines a value of a luminal-flow-related index of the subject at the location, by determining a relationship between the value of the current flow-related parameter and the value of the second flow-related parameter. Other applications are also described.

Determining a characteristic of a lumen by measuring velocity of a contrast agent

Apparatus and methods are described including a processor () configured to receive first and second sets of extraluminal images of a lumen, the second set being acquired while an endoluminal device is being moved through the lumen. The processor designates at least one of the first set of images as a roadmap image, and designates, within the lumen in the roadmap image, a roadmap pathway (). A plurality of features () that are visible within at least some of the second set of extraluminal images are identified, and an arrangement of three or more of the features within the image are compared to a shape of at least a portion of the roadmap pathway. Based upon the comparing, the identified features are mapped to locations along the roadmap pathway within the roadmap image. Other applications are also described.

Apparatus and methods for mapping a sequence of images to a roadmap image

A system and a method for an insertion device positioning guidance system comprising: an electromagnetic field generator configured to generate an electromagnetic field covering a treatment area; a plate sensor configured to be positioned within the treatment area in a location defining an orientation of a subject; a reference sensor configured to be positioned, within the treatment area, on the subject's torso, the reference sensor is configured to define a reference coordinate system representing the position and orientation of the subject's torso relative to said field generator; a registration sensor configured to mark at least a first and a second anatomic locations relative to the reference coordinate system; and a processor configured to operate said field generator, read signals obtained from said the plate sensor, said reference sensor and said registration sensor, calculate a position and orientation thereof relative to said field generator, generate a 3D anatomic map representing the torso of the subject and the first and second anatomic locations, said processor is further configured to facilitate visualization on the 3D anatomic map of a position, orientation and/or path of a tip sensor, located in a distal tip section of the insertion device, with respect to the first and second anatomic locations, independent of the subject's movement and independent of deviations in the position and/or orientation of said field generator, thus determination of a successful medical procedure is facilitated.

Insertion device positioning guidance system and method

There is provided herein a system and a method for an insertion device positioning guidance system comprising: an electromagnetic field generator configured to generate an electromagnetic field covering a treatment area; a plate sensor configured to be positioned within the treatment area in a location defining an orientation of a subject; a reference sensor configured to be positioned, within the treatment area, on the subject's torso, the reference sensor is configured to define a reference coordinate system representing the position and orientation of the subject's torso relative to said field generator; a registration sensor configured to mark at least a first and a second anatomic locations relative to the reference coordinate system; and a processor configured to operate said field generator, read signals obtained from said the plate sensor, said reference sensor and said registration sensor, calculate a position and orientation thereof relative to said field generator, generate a 3D anatomic map representing the torso of the subject and the first and second anatomic locations, said processor is further configured to facilitate visualization on the 3D anatomic map of a position, orientation and/or path of a tip sensor, located in a distal tip section of the insertion device, with respect to the first and second anatomic locations, independent of the subject's movement and independent of deviations in the position and/or orientation of said field generator, thus determination of a successful medical procedure is facilitated.

Apparatus and methods are described including, using a computer processor, automatically identifying whether a given pixel within an image corresponds to a portion of an object. A set of concentric circles that are disposed around the pixel are sampled, and a first function is applied to each of the circles such that the circles are defined by a first set of rotationally invariant descriptors. A second function is applied to the set of circles to generate a second set of descriptors, each of which represents a difference between respective pairs of the circles. A third function is applied such that the second set of descriptors becomes rotationally invariant. The processor identifies whether the given pixel corresponds to the portion of the object, based upon the first and second sets of rotationally invariant descriptors. Other applications are also described.

Object identification

A method for using an assembled three-dimensional image to construct a three-dimensional model for determining a path through a lumen network to a target. The three-dimensional model is automatically registered to an actual location of a probe by tracking and recording the positions of the probe and continually adjusting the registration between the model and a display of the probe position. The registration algorithm becomes dynamic (elastic) as the probe approaches smaller lumens in the periphery of the network where movement has a bigger impact on the registration between the model and the probe display.

Adaptive navigation technique for navigating a catheter through a body channel or cavity

There is provided herein a system and a method for guiding insertion of a gastroenteral tube including: an electromagnetic field generator configured to generate an electromagnetic field covering a treatment area; wherein said electromagnetic field generator is external to the patient; a registration sensor configured to mark anatomic locations on the patient's torso; a gastroenteral tube comprising a tip sensor configured to sense its position and/or orientation relative to the electromagnetic field generator; and a processing circuitry configured to: calculate an orientation of the subject relative to the field generator based on the anatomic locations marked by the registration sensor, load a predefined anatomic map representing a torso; aligning the map based on the anatomic locations marked by the registration sensor, and showing on the map a path of the gastroenteral tube insertion; wherein the path is generated according to changes in the strength of the electromagnetic field sensed by the tip sensor's during the insertion of the gastroenteral tube, independent of the subject's movement and independent of deviations in the position and/or orientation of said field generator.

Apparatus and methods are described for use with a tool that is inserted into a portion of a body of a subject that undergoes cyclic motion. The apparatus and methods include using an imaging device, acquiring a plurality of images of the tool inside the portion of the body, at respective phases of the cyclic motion. Using at least one computer processor, an extent of movement of the tool with respect to the portion of the body that is due to the cyclic motion of the portion of the body is determined. In response thereto, an output is generated that is indicative of the determined extent of the movement of the tool with respect to the portion of the body. Other applications are also described.

Identification and presentation of device-to-vessel relative motion

Apparatus and methods are described for imaging a tool inside a portion of a subject's body that undergoes motion. A plurality of image frames are acquired of the portion of the subject's body. The image frames are image tracked by (a) automatically identifying at least a feature of the tool in at least a portion of the image frames, and (b) aligning the tool in image frames of the portion of the image frames, based on the automatic identifying. The image-tracked image frames of the portion of the subject's body are displayed as an image stream. Other embodiments are also described.

Automatic stabilization of a frames of image stream of a moving organ having intracardiac or intravascular tool in the organ that is displayed in movie format

Apparatus and methods are described for use with a plurality of angiographic image frames of a moving lumen of a subject, including aligning the image frames with each other. Using the aligned image frames, a time it takes a contrast agent to travel a known distance through the lumen is determined. At least partially in response thereto, a characteristic of the lumen is determined, and, in response to the determined characteristic, an output is generated on a display. Other applications are also described.

Apparatus and methods are described for use with an imaging device () configured to acquire a set of angiographic images of a lumen. At least one processor () determines blood velocity within the lumen, via image processing. The processor determines a value of a flow-related parameter at the location based upon the determined blood velocity. The processor additionally receives an indication of a value of a second flow-related parameter of the subject, and determines a value of a luminal-flow-related index of the subject at the location, by determining a relationship between the value of the current flow-related parameter and the value of the second flow-related parameter. Other applications are also described.

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Petah Tikva, Israel

Ran Cohen