Tools for use with moving organs

Abstract

A sensor senses a phase of cyclic activity of a portion of a subject's body. A control unit, in a first cycle of the cyclic activity, moves a portion of a tool, in a given direction, in response to the sensor sensing that the cyclic activity is at a first given phase thereof. The control unit, following the given phase and prior to an occurrence of the given phase in a subsequent cycle, inhibits the tool's movement. The control unit in a second cycle, subsequent to the inhibiting, moves the tool in the given direction, in response to the sensor sensing that the second cycle is at the given phase, without moving the tool in an opposite direction, between (a) moving the tool in the given direction in the first cycle, and (b) moving the tool in the given direction in the second cycle. Other embodiments are also described.

Description

CROSS-REFERENCES TO RELATED APPLICATIONS[0001]The present patent application claims the benefit of U.S. Provisional Patent Application Nos. 60 / 906,091 filed on Mar. 8, 2007, 60 / 924,609 filed on May 22, 2007, 60 / 929,165 filed on Jun. 15, 2007, 60 / 935,914 filed on Sep. 6, 2007, and 60 / 996,746 filed on Dec. 4, 2007, all named “Apparatuses and methods for performing medical procedures on cyclically-moving body organs,” all of which applications are incorporated herein by reference.[0002]The present application is related to the following applications, which are incorporated herein by reference:[0003]a U.S. patent application, entitled “Imaging for use with moving organs,” to Tolkowsky et al., which is filed on even date with the current application.[0004]a U.S. patent application, entitled “Imaging and tools for use with moving organs,” to Iddan et al., which is filed on even date with the current application.[0005]a PCT Application, entitled “Imaging and tools for use with moving organ...

AI Technical Summary

Benefits of technology

[0106]Consequently, the tool is typically actuated only during one or more selected same phases in a motion cycle of the organ. In some embodiments, the synchronized actuation of medical tools controls the application of linear motion, angular motion, energy, substance delivery, or any combination thereof.

[0417]In an embodiment, the control unit is configured to generate the stabilized set of image frames by image tracking at least some of the plurality of image frames to reduce imaged motion of the portion of the subject's body associated with the cyclic activity.

Problems solved by technology

Such images typically shift constantly and are also prone to blurring.

Consequently, such images are typically difficult to observe, and are difficult to use in making clinical decisions over an extended period of time (such as the entire duration of the procedure).

A difficulty associated with such procedures is the targeted deployment and / or actuation of tools with respect to the moving body part.

Images