A surgical robotic system includes a robotic arm having an instrument drive unit. The surgical robotic system also includes a surgical instrument that is coupled to the instrument drive unit. The surgical instrument includes a hub assembly with a hub housing and a longitudinal shaft extending from the hub housing. The surgical instrument also includes an end effector that is coupled to a distal end portion of the longitudinal shaft. The end effector includes a container with a composition (e.g., contrast dye or drug). The end effector also includes a needle coupled to the container and a sheath disposed over the needle and longitudinally movable relative to the needle from an extended position in which the needle is enclosed within the sheath to a retracted position in which the needle extends out of the sheath.

The present invention relates to an apparatus for tracking a position of an interventional device respective an image plane of an ultrasound field. The position includes an out-of-plane distance (Dop). A geometry-providing unit (GPU) includes a plurality of transducer-to-distal-end lengths (Ltde.sub.1 . . . n), each length corresponding to a predetermined distance (Ltde) between a distal end of an interventional device and an ultrasound detector attached to the interventional device, for each of a plurality of interventional device types (T.sub.1 . . . n). An image fusion unit (IFU) receives data indicative of the type (T) of the interventional device being tracked; and based on the type (T): selects from the geometry-providing unit (GPU), a corresponding transducer-to-distal-end length (Ltde); and indicates in a reconstructed ultrasound image (RUI) both the out-of-plane distance (Dop) and the transducer-to-distal-end length (Ltde) for the interventional device within the ultrasound field.

A Veress needle is modified to receive a forward-looking miniature videoscope through the lumen of an insufflation tube of the Veress needle. The modified instrument enables direct viewing of progress of the instrument through tissue to the peritoneal cavity of a patient, for proper location of the needle and insufflation of the cavity via the needle. The videoscope has an elongated shaft of smaller diameter than the lumen of the insufflation tube for passage of insufflation gas with the scope in place. In another embodiment a needle is fitted with a miniature videoscope to provide the same function, with the needle's lumen serving as an insufflation tube.

This invention provides an ultrasonic guidance method of subacromial bursa, which images subacromial bursa easily under ultrasound through specific positioning with patient's another hand appropriately pushing the elbow joint and allow needle insertion through near-end needle insertion from long axis of supraspinatus tendon. Moreover, the bursal fluid can be positional drained by the specific positioning and ultrasonic detector is moved to a sagittal plane around a greater tubercle of humerus for drawing bursal fluid through near-end needle insertion. As a result, in the invention, it is to medially rotate greater tubercle of humerus as possible to prevent lower margin of scapular bone from blocking the imaging of subacromial bursa and to allow SASD bursal fluid pooling near greater tubercle of humerus.

An apparatus for vascular access is described herein. The apparatus can comprise a cart movable from a first location to a second location near a patient, a manipulating device configured to releasably couple a cartridge including a needle, a catheter, and a guidewire that are coaxially disposed with respect to each other, and a robotic arm having a first end mounted to the cart and a second end coupled to the manipulating device. The manipulation device can include a plurality of actuation mechanisms configured to selectively advance the needle, the catheter, and the guidewire when the manipulating device is coupled to the cartridge. The robotic arm can include a plurality of joints that are configured to rotate about a plurality of axes to position the cartridge relative to the arm of the patient such that the needle, the catheter, and the guidewire can be inserted into a target vessel of the patient.

System and methods for channeling a path into bone include a trocar having a proximal end, distal end and a central channel disposed along a central axis of the trocar. The trocar includes a distal opening at the distal end of the trocar. The system includes a curved cannula sized to be received in the central channel, the curved cannula comprising a curved distal end configured to be extended outward from the distal opening to generate a curved path extending away from the trocar. The curved cannula has a central passageway having a diameter configured to allow a treatment device to be delivered through the central passageway to a location beyond the curved path.

A needle assembly for pleural space insufflation is disclosed. The needle assembly has an outer shaft defining one or more pliable tissue receivers. The needle assembly also has a needle moveable within the outer shaft from a retracted position to an engaged position that does not extend past a distal end of the outer shaft. A method of pleural space insufflation is also disclosed. A parietal pleura is contacted with a distal end of an outer shaft that defines one or more pliable tissue receivers. The distal end of the outer shaft is pushed against the parietal pleura so that a portion of the parietal pleura enters the one or more pliable tissue receivers. A needle is advanced within the outer shaft so that the needle pierces the parietal pleura.

Devices, kits and methods for determining the site of intramuscular injection in adult and child patients are disclosed. The device includes a top element and two legs that are configured to be fastened in a first position and a second position. When placed in the first position and second position, the device forms a substantially triangular region having a center that corresponds to the site of injection.

In a method of forming an access route to the bile duct, a needle is introduced into a duodenum, and the introduced needle is pierced into an oral side projection of a duodenal papilla, which is located at an oral position than an opening of the duodenal papilla. The tip of the pierced needle is made to reach the inside of the bile duct to form a tunnel communicating the duodenum and the bile duct, and a treatment device is inserted into the formed tunnel.

A guidance device is disclosed. The device may comprise a tracking pad with a guiding opening and a plurality of sensors operable with at least one beacon on a needle to track the disposition of the needle at least when a distal end of the needle is inserted into the guiding opening. Related systems and methods are also disclosed.