The invention relates to a trajectory guidance instrument that is securable to a surgical tool for use in conjunction with X-ray machines. More particularly, the device includes a radiolucent outrigger having radiodense indicia disposed on the outrigger so that the radiodense indicia is visible via an X-ray machine to provide an angular trajectory for the instrument. The outrigger is securable to various surgical tools for the purpose of providing real time trajectory guidance to surgeons during a procedure. In general, the precision trajectory guidance instrument comprises a substantially rigid outrigger device which it securable to a portion of the surgical tool for trajectory guidance. The trajectory guidance instrument may be attached with clips, fasteners, adhesives, hook and loop or the like.

Methods and system for characterizing ligament properties using elastography are disclosed. An ultrasound system capable of performing shear wave elasticity imaging and/or supersonic shear imaging may retrieve one or more images from a proposed surgical site. The one or more images may be provided to a surgical planning system that identifies one or more properties of ligaments proximate to the surgical site. Musculoskeletal simulations may be performed using the identified properties to preoperatively identify a surgical plan. Preoperative identification of a surgical plan may enable a surgeon to select from more fine-tuning options for a joint replacement than conventional systems.

Systems and methods for sonicating a body within an organ of a patient include supplying ultrasound energy to the body in order to produce a liquified material, which can then be aspirated from the body via a catheter. Image guidance is used during aspiration of the liquified material.

A method for visualizing and targeting anatomical structures inside a patient utilizing a handheld screen device may include grasping the handheld screen device and manipulating a position of the handheld screen device relative to the patient. The handheld screen device may include a camera and a display. The method may also include orienting the camera on the handheld screen device relative to an anatomical feature of the patient by manipulating the position of the handheld screen device relative to the patient, capturing first image data of light reflecting from a surface of the anatomical feature with the camera on the handheld screen device, and comparing the first image data with a pre-operative 3-D image of the patient to determine a location of an anatomical structure located inside the patient and positioned relative to the anatomical feature of the patient.

A method for visualizing and targeting anatomical structures inside a patient utilizing a handheld screen device may include grasping the handheld screen device and manipulating a position of the handheld screen device relative to the patient. The handheld screen device may include a camera and a display. The method may also include orienting the camera on the handheld screen device relative to an anatomical feature of the patient by manipulating the position of the handheld screen device relative to the patient, capturing first image data of light reflecting from a surface of the anatomical feature with the camera on the handheld screen device, and comparing the first image data with a pre-operative 3-D image of the patient to determine a location of an anatomical structure located inside the patient and positioned relative to the anatomical feature of the patient.

Systems, methods, and devices are disclosed for end effector identification in robotic surgical systems. A surgical robot can be coupled to an end effector. The system can identify the end effector using data received from the end effector. The system can adjust operation of the surgical system, including the robot arm, based on the data received from the end effector. Data received from or regarding the end effector can include detected characteristics, retrieved characteristics, or data stored on the end effector and communicated to the system. Both the identification and the operation adjustments can be performed automatically such that the system experiences little to no lag or downtime when coupling with different end effectors.

A computer assisted surgical system that includes an apparatus for imaging a region of interest of a portion of an anatomy of a subject; a memory containing executable instructions; and a processor programmed using the instructions to receive two or more two-dimensional images of the region of interest taken at different angles from the apparatus and process the two or more two-dimensional images to produce three dimensional information associated with the region of interest.

A computer assisted surgical system that includes an apparatus for imaging a region of interest of a portion of an anatomy of a subject; a memory containing executable instructions; and a processor programmed using the instructions to receive two or more two-dimensional images of the region of interest taken at different angles from the apparatus and process the two or more two-dimensional images to produce three dimensional information associated with the region of interest.

A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

A guide tube is used for guiding an instrument through a hole within tissue of a patient. The guide tube includes a cannula member defining a passage extending therethrough along an axis. The passage is operable to receive the instrument and guide the instrument through the hole within the tissue of the patient. The guide tube also includes an expansion member that is moveably coupled to the cannula member to selectively move radially between a retracted position and an expanded position relative to the axis of the cannula member. The expansion member is at least partially insertable into the hole when the expansion member is in the retracted position. The expansion member is operable to engage with a surface of the hole when the expansion member is in the expanded position.