An image guided catheter navigation system for navigating a region of a patient includes an imaging device, a tracking device, a controller, and a display. The imaging device generates images of the region of the patient. The tracking device tracks the location of the catheter in the region of the patient. The controller superimposes an icon representing the catheter onto the images generated from the imaging device based upon the location of the catheter. The display displays the image of the region with the catheter superimposed onto the image at the current location of the catheter.

Navigation system for cardiac therapies

A locating system for determining the location and orientation of an invasive medical instrument, for example a catheter (10) or endoscope, relative to a reference frame, comprising: a plurality of field generators (18, 20, 22) which generate known, distinguishable fields, preferably continuous AC magnetic fields, in response to drive signals; a plurality of sensors (30, 32, 34) situated in the invasive medical instrument (10) proximate the distal end thereof which generate sensor signals in response to said fields; and a signal processor (26) which has an input for a plurality of signals corresponding to said drive signals and said sensor signals and which produces the three location coordinates and three orientation coordinates of a point on the invasive medical instrument.

Medical diagnosis, treatment and imaging systems

Establishing alignment or a desired orientational relationship between a master (700) and a slave (10) of a telerobotic system (200). The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part (699) of a master control (700) and an end effector (58) of an associated slave (10) as viewed in an image displayed on a viewer (202) is provided. The method includes causing the end effector (58) to remain stationary, determining a current orientation of the end effector (58) relative to a viewing end of an image capturing device (304) operatively associated with the viewer (202) and determining a desired corresponding orientation of the hand-held part (699) of the master control (700) relative to the viewer (202), at which orientation the desired orientational relationship between the hand-held part (699) of the master control (700) and the end effector (58) would be established. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part (699).

Alignment of master and slave in a minimally invasive surgical apparatus

A method for carrying out a medical procedure using a 3-D tracking and imaging system (1600). A surgical instrument, such as a catheter, probe, sensor, pacemaker lead, needle, or the like is inserted into a living being, and the position of the surgical instrument is tracked as it moves through a medium in a bodily structure. The location of the surgical instrument relative to its immediate surroundings is displayed to improve a physician's ability to precisely position the surgical instrument. The medical procedures including targeted drug delivery, sewing sutures, removal of an obstruction from the circulatory system, a biopsy, amniocentesis, brain surgery, measurement of cervical dilation, evaluation of knee stability, assessment of myocardial contractibility, eye surgery, prostate surgery, trans-myocardial revascularization (TMR), robotic surgery, and evaluation of RF transmissions.

A method for carrying out a medical procedure using a three-dimensional tracking and imaging system

An input device for robotic surgery mechanically transmits a grip signal across a first joint coupling a handle to a linkage supporting the handle. The handle is removable and replaceable, allows unlimited rotation about the joint, and may optionally include a touch sensor to inhibit movement of a surgical end effector when the hand of the surgeon is not in contact with the handle.

Removable infinite roll master grip handle and touch sensor for robotic surgery

System for sensing at least two points on an object for determining the position and orientation of the object relative to another object. Two light emitters mounted in spaced relation to each other on an external portion of an invasive probe remaining outside an object into which an invasive tip is inserted are sequentially strobed to emit light. Three light sensors or detectors, the positions of which are known with respect to a predetermined coordinate system, detect the positions of the two light emitters positioned on the probe. A computer connected to the probe and to the light sensors receives data from the sensors and determines the position and orientation of the probe relative to the predetermined coordinate system. The computer then determines the position and orientation of the invasive portion of the probe inside the object by correlating the position of the invasive portion of the probe relative to the predetermined coordinate system with the position of a model of the object defined in relation to the predetermined coordinate system. A display device connected to the computer indicates the location of the invasive portion of the probe in the object by displaying a representation of the location of the invasive portion of the probe with respect to the model of the object.

Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body

Determination of the position and orientation of at least one object in space

Locating and displaying the relative positions of two objects in a three-dimensional space where one object is a three-dimensional object and the second object has at least three collinear points, at least two of which are sensible by a detector. The detector supplies signals providing azimuth and altitude information related to the two sensible points of the second object for locating the position of at least the third point of the second object relative to the first object which may be positioned inside or outside the boundaries of the first object. The first object may have fixed thereto at least three points sensible by the detector for establishing the position and attitude of the first object within the three-dimensional space.

System for locating relative positions of objects in three dimensional space

This system locates and displays the relative positions of one moveable object (12) with respect to a second moveable object (11) in a three-dimensional space. The locations of at least two points reference (14, 16) on the first object (12) and at least three reference points (73-75) on the second object (11) are measurable by position sensors (20, 22, 24) in a predetermined fixed coordinate system (80). From the locations of the reference points (14, 16, 73-75), a computer (36) determines the positions and orientations of the two objects (11, 12) in the fixed coordinate system (80). From the positions and orientations of the two objects (11, 12), the computer (36) further determines the relative position and orientation of the first object (12) with respect to a predetermined local coordinate system in a fixed relationship with the second object (11). The computer (36) causes the display of a graphical representation of the position and orientation of the first object (12) on a graphical model of previously taken image data of the second object (11).

System for locating relative positions of objects

Method for determining the position and orientation of two moveable objects in three-dimensional space

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