The present disclosure generally relates to a biopsy needle configured to maximize tissue sampling yield and collect a cohesive unit of sampled tissue. The biopsy needle includes an elongate tubular body comprising a lumen extending therethrough from a proximal open end to a distal open end of the body. The distal end includes first and second tip portions extending therefrom and formed on opposing sides of the needle body. The first tip portion generally extends further from the distal end than the second tip portion, resembling a staggered configuration, resulting in an increased surface area of multiple cutting edges formed between the first and second tip portions on either side of the needle body. Additionally, each of the first and second tip portions defines a penetrating point configured to pierce the tissue to be sampled and further direct sampled tissue towards the lumen of the body to be excised by the cutting edges upon contact therewith.

A breast X-ray imaging apparatus comprising a detection mechanism and a needle holder. The detection mechanism may include a ray tube and a detector that is arranged opposite to the ray tube. An irradiated region may be arranged between the ray tube and the detector. The needle holder may be configured to move relative to the detection mechanism, and the needle holder may be arranged outside the irradiated region. A breast biopsy positioning device may be mounted on the breast X-ray imaging apparatus. The needle holder of the breast biopsy positioning device may be driven to move based on different workflows of the correction process and the verification process to move the needle tip of the puncture needle to a preset position, and a pair of stereo positioning images may be collected and identified. The accuracy correction and verification of the breast biopsy positioning device may be achieved by measuring the position of the needle tip and the preset position.

An interventional medical device includes an insertion tube extending between a proximal end and a distal end. The distal end configured to be inserted into internal tissues of a patient during a medical procedure. The insertion tube has an internal channel. The interventional medical device includes a tool received in the internal channel of the insertion tube. The tool has a tool body and a needle at an end of the tool body forms a tip of the tool. The tool body forms a tool channel. The interventional medical device includes a pressure sensor module received in the tool channel. The pressure sensor module includes a pressure sensor and a carrier holding the pressure sensor. The carrier is coupled to the tool body to position the pressure sensor in the tool channel proximate to the tip of the tool for measuring pressure of fluid of the internal tissues of the patient.

A method for treating tissue through a branched luminal network of a patient is provided. A pathway to a point of interest in branched luminal network of a patient is generated. An extended working channel is advanced transorally into the branched luminal network and along the pathway to the point of interest. The extended working channel may be positioned in a substantially fixed orientation at the point interest. A tool is advanced though the extended working channel to the point of interest. Tissue at the point of interest is treated.

In the biopsy system according to one embodiment, the needle tube of the treatment tool has the minor axis of the flattened portion and the bending plane of the bending portion parallel to each other. Accordingly, the needle tube is easily bent in the bending direction of the bending portion, and even in an endoscope that has few bendable directions and is bendable, for example, in only two directions (e.g., up and down), the bending operation of the bending portion is not easily hindered. As a result, even after the treatment tool for endoscopes is inserted into the endoscope, the bending portion can be easily bent with a predetermined bending amount, and a procedure can be easily performed.

Disclosed is a computer-implemented method for planning a trajectory (11) through an anatomical body part (1), the trajectory (11) being usable for a medical procedure and the method comprising executing, on at least one processor of at least one computer, steps of: • a) acquiring (S1), at a processor, patient image data describing a medical image of a patient anatomical body part being the anatomical body part (1) in a patient's body; • b) acquiring (S2), at a processor, atlas trajectory data describing a model anatomical body part being a model of the patient anatomical body part, and describing the position of at least one predetermined trajectory through the model anatomical body part; • c) acquiring (S3), at a processor, critical structure data describing the position of at least one critical structure (5) in the model anatomical body part or in the patient anatomical body part; • d) determining (S4), by a processor and based on the patient image data and the atlas trajectory data and the critical structure, mapping data describing a mapping of the model anatomical body part, of the position of the at least one predetermined trajectory and of the position of the at least one critical structure (5) onto the medical image of the patient anatomical body part; • e) determining (S5), by a processor and based on the mapping data and the atlas trajectory data and the patient image data, analysis region data describing an analysis region in the patient image data, the analysis region (16) having a position in the patient anatomical body part fulfilling a predetermined spatial condition relative to the position of the mapped predetermined trajectory (6); • f) determining (S6), by the processor and based on the patient image data and the atlas trajectory data and the analysis region data and the critical structure data, straight trajectory data describing a straight line trajectory (11) through the patient anatomical body part having a position fulfilling a predetermined spatial condition relative to the position of at least one critical structure (5) in the patient anatomical body part.

Exemplary embodiments of an apparatus can be provided for obtaining portions or samples of tissue from a target region of a biological tissue. One or more needles can be provided that have a small internal diameter, e.g., about 1 mm or less, and the needles can be configured to extract the tissue portions when the needles are inserted into and withdrawn from the tissue. Windows and/or markings can be provided on the wall of the needles to facilitate access to the sample. The needles can be provided in an enclosure, and an actuator can be provided to direct the needles into the tissue and/or withdraw them. A plurality of tissue portions having known relative locations in the target region can be obtained, and extraction of the tissue portions can be well-tolerated by the tissue as compared with conventional punch biopsies or the like.

Shaped liver biopsy sheaths and methods for transfemoral transcaval liver access are disclosed.

A medical robot system, including a robot coupled to an end effector element with the robot configured for controlled movement and positioning. The robot system includes a robot base having a display, a robot arm coupled to the robot base, wherein movement of the robot arm is electronically controlled by the robot base. The end-effector is coupled to the robot arm, containing one or more end-effector tracking markers. The system also includes a plurality of dynamic reference bases (DRB) attached to multiple patient fixture instruments, wherein the plurality of dynamic reference bases include one or more tracking markers indicating a position of the patient fixture instrument in a navigational space. The system also includes a first camera system and a second camera system, the first and second camera systems being able to detect a plurality of tracking markers.

Described is a swab comprising a rod having a longitudinal axis and a tip. The tip includes a proximal region at a distal end of the rod, a distal region opposite the proximal region, and a plurality of straight blades extending from the proximal region to the distal region, parallel to the longitudinal axis.