# US 2026/0224296 A1 · Systems and methods for medical intervention

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- Number: US 2026/0224296 A1
- Document ID: US20260224296A1
- Status: Published application
- Kind: A1
- Application number: 19/420,682
- Filed: 2025-12-15
- Published: 2026-08-06
- Earliest claimed: 2024-12-13
- Assignees: Fall River Laboratories, Inc.
- Applicants: Fall River Laboratories, Inc.
- Inventors: Eric C. Browy; David C. Lundmark
- Web page: https://patentgrep.com/patent/US20260224296A1

## CPC

- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/30: Surgical robots
- A61B 34/73: {Manipulators for magnetic surgery}
- G16H 30/20: for handling medical images, e.g. DICOM, HL7 or PACS
- G16H 30/40: for processing medical images, e.g. editing
- G16H 40/63: for local operation
- G16H 40/67: for remote operation
- G16H 50/20: for computer-aided diagnosis, e.g. based on medical expert systems
- G16H 50/50: for simulation or modelling of medical disorders
- G16H 50/70: for mining of medical data, e.g. analysing previous cases of other patients
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings}
- A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/731: {Arrangement of the coils or magnets}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/378: {using ultrasound}
- A61B 2090/3958: {emitting a signal}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA

## Abstract

One embodiment is directed to an elongate instrument navigation system for conducting a medical procedure on a patient, comprising: an elongate instrument comprising an elongate body coupled to two or more discretely positioned magnetic steering nodes, the elongate instrument comprising an insertion length selected such that a distal portion may be inserted to reach a position of a targeted interventional structure within the body of the patient, and a cross-sectional size profile configured to be navigated through one or more tissue structures of the patient as the patient is positioned in an operating environment which may be characterized by a global coordinate system; a computing system operatively coupled to the elongate instrument and configured to present a control interface to an operator; and two or more magnetic field sources, each of which is controllably movably coupled relative to the patient by a robotic coupling assembly operatively coupled to the computing system; wherein in response to commands provided by the operator to the computing system, the computing system is configured to precisely navigate a portion of the elongate body of the elongate instrument relative to the one or more tissue structures of the patient by causing each of the two or more magnetic field sources to be positioned and oriented relative to the patient and relative to the two or more magnetic steering nodes of the elongate instrument using each of the robotic coupling assemblies.

## Claims

### Claim 1

An elongate instrument navigation system for conducting a medical procedure on a patient, comprising:
a. an elongate instrument comprising an elongate body coupled to two or more discretely positioned magnetic steering nodes, the elongate instrument comprising an insertion length selected such that a distal portion may be inserted to reach a position of a targeted interventional structure within the body of the patient, and a cross-sectional size profile configured to be navigated through one or more tissue structures of the patient as the patient is positioned in an operating environment which may be characterized by a global coordinate system;
b. a computing system operatively coupled to the elongate instrument and configured to present a control interface to an operator; and
c. two or more magnetic field sources, each of which is controllably movably coupled relative to the patient by a robotic coupling assembly operatively coupled to the computing system;
wherein in response to commands provided by the operator to the computing system, the computing system is configured to precisely navigate a portion of the elongate body of the elongate instrument relative to the one or more tissue structures of the patient by causing each of the two or more magnetic field sources to be positioned and oriented relative to the patient and relative to the two or more magnetic steering nodes of the elongate instrument using each of the robotic coupling assemblies.

### Claim 2 (depends on 1)

The system of claim 1, wherein the computing system is configured to control magnetic field emissions from the two or more magnetic field sources.

### Claim 3 (depends on 2)

The system of claim 2, wherein the computing system is configured to control magnetic field emissions from the two or more magnetic field sources independently.

### Claim 4 (depends on 1)

The system of claim 1, wherein at least one robotic coupling assembly comprises a robotic arm.

### Claim 5 (depends on 4)

The system of claim 4, wherein the robotic arm comprises one or more electromechanically controllable degrees of freedom.

### Claim 6 (depends on 1)

The system of claim 1, further comprising an electromechanical insertion/retraction interface configured to controllably cause the elongate body to controllably insert or retract relative to the patient.

### Claim 7 (depends on 6)

The system of claim 6, wherein the electromechanical insertion/retraction interface comprises one or more engagement wheels operably coupled between one or more drive motors and an outer aspect of the elongate body of the elongate instrument.

### Claim 8 (depends on 1)

The system of claim 1, further comprising an electromechanical roll interface configured to controllably cause the elongate body to controllably roll relative to the patient.

### Claim 9 (depends on 8)

The system of claim 8, wherein the electromechanical roll interface comprises one or more engagement wheels operably coupled between one or more drive motors and an outer aspect of the elongate body of the elongate instrument.

### Claim 10 (depends on 1)

The system of claim 1, further comprising one or more ultrasound transducers operatively coupled to the computing system and configured to capture images pertaining to the location of one or more of the magnetic steering nodes relative to the one or more tissue structures of the patient.

### Claim 11 (depends on 10)

The system of claim 10, wherein at least one of the one or more ultrasound transducers is coupled to at least one of the magnetic field sources.

### Claim 12 (depends on 1)

The system of claim 1, further comprising one or more image capture devices operatively coupled to the computing system and configured to provide image information pertinent to the position or orientation of at least one of the magnetic field sources.

### Claim 13 (depends on 1)

The system of claim 1, wherein the elongate instrument comprises one or more encoded portions configured such that they may be electronically observed by an operatively coupled encoder reader to determine a position or orientation of an encoded portion relative to the encoder reader.

### Claim 14 (depends on 13)

The system of claim 13, wherein at least one of the one or more encoded portions is positioned longitudinally relative to the elongate instrument.

### Claim 15 (depends on 13)

The system of claim 13, wherein at least one of the one or more encoded portions is positioned radially relative to the elongate instrument.

### Claim 16 (depends on 1)

The system of claim 1, wherein the computing system is operatively coupled to a fluoroscopy system configured to provide image information pertaining to the elongate instrument and adjacent tissue structures of the patient.

### Claim 17 (depends on 1)

The system of claim 1, wherein the computing system is operatively coupled to a radiography system configured to provide image information pertaining to the elongate instrument and adjacent tissue structures of the patient.

### Claim 18 (depends on 1)

The system of claim 1, further comprising one or more electromagnetic localization sensors coupled to one or more locations along the elongate instrument, the sensors operatively coupled with a localization transmitter operatively coupled to the computing system and configured to determine localization information pertaining to the one or more electromagnetic localization sensors relative to transmissions from the localization transmitter.

### Claim 19 (depends on 18)

The system of claim 18, wherein the one or more localization sensors comprises one or more receiving coils operatively coupled to the localization transmitter and computing system and configured for determining position and orientation of the one or more localization sensors in three dimensional space relative to the localization transmitter.

### Claim 20 (depends on 1)

The system of claim 1, comprising two magnetic steering nodes and two magnetic field sources.

### Claim 21 (depends on 20)

The system of claim 20, wherein each of the magnetic field sources is primarily directed to one of the two magnetic steering nodes.

### Claim 22 (depends on 21)

The system of claim 21, wherein the computing system is configured to control shape and position of the elongate instrument in view of both magnetic field sources, each of which may influence the position of each of the magnetic steering nodes due to overlap patterns of each of the magnetic field sources.

### Claim 23 (depends on 21)

The system of claim 21, wherein each of the two magnetic steering nodes is positioned discretely apart such that each of the magnetic field sources may be positioned and oriented by each of the robotic coupling assemblies to be only substantially influential upon one of the two magnetic steering nodes.

### Claim 24 (depends on 1)

The system of claim 1, wherein at least one of the two or more magnetic steering nodes comprises a ferromagnetic material.

### Claim 25 (depends on 24)

The system of claim 24, wherein the ferromagnetic material comprises iron, steel, and iron alloys.

### Claim 26 (depends on 1)

The system of claim 1, wherein at least one of the two or more magnetic steering nodes comprises a paramagnetic material.

### Claim 27 (depends on 26)

The system of claim 26, wherein the paramagnetic material comprises stainless steel, platinum, aluminum, magnesium, and lithium.

### Claim 28 (depends on 1)

The system of claim 1, wherein at least one of the two or more magnetic steering nodes comprises a ring geometry with an aperture defined therethrough.

### Claim 29 (depends on 28)

The system of claim 28, wherein at least one of the two or more magnetic steering nodes comprises a radially homogeneous construct.

### Claim 30 (depends on 28)

The system of claim 28, wherein at least one of the two or more magnetic steering nodes comprises a circumferentially homogeneous construct.

### Claim 31 (depends on 28)

The system of claim 28, wherein at least one of the two or more magnetic steering nodes comprises a radially non-homogeneous portion.

### Claim 32 (depends on 28)

The system of claim 28, wherein at least one of the two or more magnetic steering nodes comprises a circumferentially non-homogeneous portion.

### Claim 33 (depends on 1)

The system of claim 1, wherein at least one of the two or more magnetic field sources comprises a permanent magnet.

### Claim 34 (depends on 33)

The system of claim 33, wherein the permanent magnet comprises a material selected from the list consisting of: iron, iron alloy, steel, nickel, cobalt, neodymium, and samarium.

### Claim 35 (depends on 33)

The system of claim 33, wherein the permanent magnet is selected to have a field shape geometry.

### Claim 36 (depends on 35)

The system of claim 35, wherein the field shape geometry is selected from the group consisting of: wide, narrow, and irregular.

### Claim 37 (depends on 35)

The system of claim 35, wherein the field shape geometry is configured to be discrete relative to an outer shape of the permanent magnet.

### Claim 38 (depends on 1)

The system of claim 1, wherein at least one of the two or more magnetic field sources comprises an electromagnet coil circuit.

### Claim 39 (depends on 38)

The system of claim 38, wherein the electromagnet coil circuit comprises copper or gold.

### Claim 40 (depends on 38)

The system of claim 38, wherein the electromagnet coil circuit comprises a substantially circular coil pattern.

### Claim 41 (depends on 1)

The system of claim 1, wherein at least one of the two or more magnetic steering nodes comprises a controllably adjustable amount of magnetism.

### Claim 42 (depends on 1)

The system of claim 1, wherein at least one of the two or more magnetic steering nodes may be controllably adjusted in longitudinal position relative to the elongate body of the elongate instrument.

### Claim 43 (depends on 1)

The system of claim 1, wherein the elongate instrument comprises an engagement portion selected from the group consisting of: a resonant member assembly; a radiation emission assembly; an open interior cannulation volume; a controlled vacuum lumen; a fluid perfusion lumen; a flow redirection portion; a controllably actuated scissor tool; a controllably actuated grasper tool; a capture/agitation mesh interface; a retractable loose capture forked structure; and a helical thrombectomy assembly.

### Claim 44 (depends on 1)

The system of claim 1, wherein the computing system comprises a neural network informed by preoperative information pertaining to the patient, operational selections made by the operator through the control interface preoperatively, and operational selections made by the operator intraoperatively through the control interface.

### Claim 45 (depends on 44)

The system of claim 44, wherein the preoperative information pertaining to the patient is selected from the group consisting of: two-dimensional image data pertaining to the tissue structures of the patient; three-dimensional image data pertaining to the tissue structures of the patient; information pertaining to prior interventions; locations and geometries of potential hazards within the patient anatomy.

### Claim 46 (depends on 44)

The system of claim 44, wherein the operational selections made by the operator through the control interface preoperatively comprise a provisional access pathway to a targeted tissue structure.

### Claim 47 (depends on 46)

The system of claim 46, wherein the provisional access pathway is generated at least in part using automated calculations from the computing system based at least in part upon the preoperative information pertaining to the patient and operational selections made by the operator through the control interface preoperatively.

### Claim 48 (depends on 44)

The system of claim 44, wherein the control interface to the operator may be operated at least in part via natural language commands from the operator interpreted by the computing system.

### Claim 49 (depends on 44)

The system of claim 44, wherein the neural network comprises a reinforcement learning model informed by one or more agents configured to provide operational instructions to operate the elongate instrument relative to the patient via control of the operatively coupled two or more magnetic steering nodes, two or more magnetic field sources, and associated robotic coupling assemblies in view of the preoperative information pertaining to the patient, operational selections made by the operator through the control interface preoperatively, and operational selections made by the operator intraoperatively through the control interface.

### Claim 50 (depends on 49)

The system of claim 49, wherein the neural network comprises a multi-agent model configured to parallel-process operation of the elongate instrument relative to the patient in view of a plurality of reward and priority configurations pertinent to a plurality of agents comprising the multi-agent model.

### Claim 51 (depends on 50)

The system of claim 50, wherein the neural network also is configured to be multi-modal in operation, in that it is configured to have a plurality of modes of operating the elongate instrument relative to the patient in a time domain.

### Claim 52 (depends on 51)

The system of claim 51, wherein the plurality of modes comprises an insertion navigation mode relative to tissue structures of the patient and a controlled mechanical stimulation mode relative to tissue structures of the patient.

### Claim 53 (depends on 52)

The system of claim 52, wherein the controlled mechanical stimulation mode is configured to provide controlled oscillatory motion of a portion of the elongate instrument relative to a targeted tissue structure.

### Claim 54 (depends on 53)

The system of claim 53, wherein the elongate instrument is deployed within the vasculature of the patient, and wherein controlled oscillatory motion of a portion of the elongate instrument relative to a targeted tissue structure comprises oscillatory motion selected to disrupt a thrombus or clot structure positioned within the vasculature for removal in a potential cardiovascular stroke paradigm.

### Claim at position 55

-108. (canceled)