The disclosed technology includes a medical probe including a tubular shaft having a proximal end and a distal end. The tubular shaft can extend along a longitudinal axis. The medical probe can include an expandable basket assembly proximate the distal end of the tubular shaft. The expandable basket assembly can include a single spine comprising a resilient material extending generally linearly along the longitudinal axis in a collapsed form and forming a spiral member defining a generally spherical outer periphery in an expanded form. One or more electrodes can be coupled to the single spine. Each electrode can include a lumen offset with respect to a centroid of the electrode so that the single spine extends through the lumen of each of the one or more electrodes.

In some embodiments, there are provided systems, devices, components, and corresponding methods configured to permit navigation and/or positioning of an intra-cardiac electrophysiological (EP) mapping basket or other EP mapping structure of an EP mapping catheter inside or near an atrium or other heart chamber of a patient's heart using biosignals or intra-cardiac signals. In one embodiment, QRS complexes are extracted or isolated from intra-cardiac signals sensed by electrodes mounted on the EP mapping basket. Using the QRS complexes and a statistical shape or other model of the EP mapping basket or other type of EP mapping structure, one or more computing devices then determine the locations of the electrodes inside or near the patient's atrium that are associated with each isolated or extracted QRS complex, and thereby permit accurate navigation within the heart and/or processing of data acquired using the EP mapping basket or other EP mapping structure. The one or more computing devices can also be used to determine changes in the three-dimensional locations and orientations of the basket and the electrodes thereof as the EP mapping basket is moved around, in, or near the patient's atrium, heart chamber, or other portion of the patient's heart, and to display to a user multiple positions of the basket inside or near the patient's heart.

A robotic cutting guide system for computer-assisted surgery is provided. The robotic cutting guide includes a robotic guide assembly having a cutting guide, a three-dimensional position tracking system for tracking a position of a first bone of a joint, a second bone of the joint, and the robotic guide assembly, and a controller operatively in communication with the robotic guide assembly and the three-dimensional position tracking system. The controller is configured to position the cutting guide adjacent one of the first and second bones of the joint, and then reposition the cutting guide adjacent the other one of the first and second bones of the joint, based on the tracked position of the first and second bones of the joint and the robotic guide assembly.

A method comprises the steps of: fixing a distal end of a first member of a surgical instrument with tissue, the surgical instrument including a second member having a longitudinal passageway configured for disposal of the first member and being connected with a navigation component such that the distal end is disposable with the passageway at a selected distance from the navigation component, the navigation component being positioned relative to a sensor to communicate a signal representative of an orientation of the first member; removing the second member from the first member; and connecting a third member with the first member along the orientation such that a distal end of the third member is fixed with the tissue. Systems, spinal implants, constructs and instruments are disclosed.

Systems and methods are described to determine joint center of rotation during a procedure. Joint center measurements may be useful to determine other clinically relevant measurements and/or to assist with replacement surgery.

Systems, instruments, and methods for surgical navigation with verification feedback are provided. The systems, instruments, and methods may be used to verify a trajectory of a surgical tool during a procedure. The systems, instruments, and methods may receive one or more captured images of an anatomical portion of a patient; execute a surgical plan to insert the surgical tool into the anatomical portion; receive sensor data collected from one or more sensors being inserted into the anatomical portion; determine whether the sensor data corresponds to the surgical plan; and send, in response to determining that the sensor data does not correspond to the surgical plan, an alert indicating that the surgical tool is not being inserted according to the surgical plan. The one or more sensors may be attached to the surgical tool.

A method and system of correcting alignment of catheter relative to a target including receiving signals from an inertial measurement unit located at a distal end of a catheter, determining movement of the distal end of the catheter caused by physiological forces, receiving images depicting the distal end of the catheter and the target, identifying the distal end of the catheter and the target in the images, determining an orientation of the distal end of the catheter relative to the target and articulating the distal tip of the catheter in response to the detected movement to achieve and maintain an orientation towards the target such that a tool extended from an opening at the distal end of the catheter would intersect the target.

Systems that may be used for performing a robotic revision knee arthroplasty are disclosed. Such systems can optionally include a processor that can: intraoperatively receive a plurality of position data obtained by a robotic surgical device after a primary implant has been removed from a bone, the plurality of position data correspond to a plurality of landmarks of the bone of a patient, the plurality of landmarks include a position of an intramedullary canal of the bone; select from a database having a plurality of mean models of a corresponding bone a mean model that comprises a best match based upon the plurality of landmarks of the bone; generate an updated model by altering the mean model to fit an anatomy of the bone of the patient based upon the plurality of landmarks; and output to a user interface the updated model for use during the robotic revision knee arthroplasty.

A surgical tool, consisting of a handle and a flexible insertion tube, having a proximal end coupled to the handle and a distal end configured to be inserted into an orifice of a living subject. The tool has an inner tube, which is bendable without breaking over a range of angles in response to a bending force, and which retains the bent shape after the bending force has been removed. The inner tube is located within the insertion tube. A flexible tubing defines a lumen and is contained within the inner tube. A tool working tip is configured to contact tissue in the subject and to mate with a distal termination of the inner tube. A rigid outer tube grips outer surfaces of the working tip and of the inner tube so as to maintain an opening of the working tip in communication with the flexible tubing lumen.

An insertion support system includes a state acquisition apparatus configured to acquire first information. The first information includes at least one of: a plurality of pieces of position information related to a plurality of positions of an insertion section to be inserted into an insertion target body; and a plurality of pieces of direction vector information in a longitudinal axis direction of the insertion section. The insertion support system also includes a support information calculator configured to calculate second information related to a rotation quantity of the insertion section based on the first information, and an output section configured to output the second information.