Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

A biopsy device includes a probe, a holster, and a probe lock. The probe includes a probe body and a needle extending distally from the probe body. The probe is releasably couplable to the holster. The probe lock includes a lock member configured to move laterally relative to a longitudinal axis defined by the needle to selectively lock the probe to the holster.

A biopsy device includes a cannula and a specimen collector. The cannula has a proximal end and a longitudinal axis. The specimen collector contains the proximal end of the cannula. The specimen collector has a removable sample receiving cartridge that is removable along the longitudinal axis of the cannula to expose the proximal end of the cannula.

A biopsy incision device (100) comprising a proximal side (101), to be arranged on a skin surface, and a distal side (102), said distal side (102) comprising a blade actuator (103) associated with at least one cutting blade (104), is provided. The blade actuator (103) and said at least one cutting blade (104) being suspended at a pivoting point (105) on said distal side (102), such that said blade actuator (103) and said at least one cutting blade (104) may pivot around a pivoting axis (A), such that said at least one cutting blade (104) may cut said skin surface.

This invention relates to electrosurgical systems for coagulation and ablation of tissue, including in relation to tissue biopsy.

According to an example aspect of the present invention, there is provided a biopsy needle device comprising a biopsy needle attachment mechanism arranged to mechanically couple a biopsy needle to the biopsy needle device, an actuator mechanism comprising a transducer configured to interconnect electrical signals at one port to mechanical motion at another port, the actuator mechanism configured to transmit flexural vibration to the biopsy needle when the biopsy needle is coupled to the biopsy needle device, a sensor device configured to measure a power of the flexural vibration transmitted to the biopsy needle via the transducer and a reflected power of flexural vibration received by the biopsy needle device from the biopsy needle, and circuitry configured to determine a difference between the power of the flexural vibration transmitted to the biopsy needle and the reflected power of flexural vibration received by the biopsy needle device from the biopsy needle.

A path preparation system for preparing a path for a device. The path preparation system includes an ultrasound transmitter and a tracking system. The tracking system is configured to determine a current position of the device on the path. The ultrasound transmitter is configured to focus an ultrasound wave onto a focus position that lies in front of the device in the direction of the path, in spatial relation to the current position of the device.

According to some embodiments of the invention, a surgical robot includes a robot arm having an end effector, the end effector comprising a needle assembly. The surgical robot further includes a robot control system operatively connected to the robot arm, and an end effector control system operatively connected to the end effector. The robot control system provides control signals for operation of the robot arm to move the end effector to selected positions relative to a subject. The end effector control system is configured to provide signals for operation of the end effector to at least one of inject material through the needle assembly to a selected location within the subject's body or extract material through the needle assembly from the selected location within the subject's body.

A medical instrument for enhancing diagnosis and treatment comprising a handle, an ablation probe extending from the handle, a catheter extending from the handle. The catheter defines a lumen and the ablation probe is located within the lumen of the catheter. A port in fluid communication with the lumen of the catheter is configured for connection to a vacuum or fluid source, and application of a vacuum or an injection of fluid creates a consistent zone of permittivity around the ablation probe.

Certain aspects relate to biopsy apparatuses, systems and techniques for biopsy using a biopsy pattern. Some aspects relate to moving a distal portion of a medical instrument to one or more sample locations of the biopsy pattern and guiding the instrument to obtain tissue samples from the sample locations within the biopsy pattern. Some aspects relate to obtaining the biopsy pattern and adjusting the sample locations within the biopsy pattern based on various factors such as anatomical features.