Alignment instruments may include joint-line referencing systems having an alignment arm having a body with first and second portions defining first and second sides. The first portion has at least one first pin tube through-hole extending from the first to the second side. The second portion has a first opening on the first side. A pin tube guide member is receivable in the first through-hole. The pin tube guide member has a passageway therethrough. An angelwing alignment member includes a portion receivable in the first opening of the alignment arm. An alignment foot is secured to the second portion, and the alignment foot has a handle and a shim. The shim is positionable in a joint between a first bone and a second bone, the alignment arm is alignable relative to a first bone, and the pin tube guide is operable for securing a pin into the first bone.

Disclosed are embodiments of methods of and systems for detecting and biopsying lesions with a cone beam computed tomography (CBCT) system. The system comprises, in some embodiments, a CBCT device configured to output a cone beam CT image of at least a portion of a patient's breast and a multi-axis transport module, having at least three degrees of freedom and configured to position a biopsy needle within a 3D frame of reference based on inputs received from the cone beam CT device. The transport module can be configured to place the biopsy needle adjacent to, or within, a target of interest within the breast. Also disclosed are embodiments of methods of and systems for testing CBCT systems with phantoms.

The objective of the present invention is for an object discharged from a discharge port to be less liable to form a jet flow, and less liable to cause injury to the central nervous system. A passage 11 for a cell is formed inside a needle body 10 of a puncture needle 1. A discharge port 15 for a cell is formed in a side surface 13b of a front end part 13 of the needle body 10. Furthermore, the needle body is a single tube provided with a passage for an object. Further, a discharge path 14 for a cell, oriented upward from the passage 11 toward the discharge port 15, is formed in the front end part 13. The discharge path 14 comprises a frustoconical part 14a and a columnar part 14b. As a result, the discharge path 14 is formed in such a manner that the surface area of a cross section orthogonal to the upward/downward direction increases smoothly towards the discharge port 15 in at least one part of the discharge path 14, and, in each position in the upward/downward direction, is equal to or greater than the surface area of a cross section in a position closer to the passage 11.

The objective of the present invention is for an object discharged from a discharge port to be less liable to form a jet flow, and less liable to cause injury to the central nervous system. A passage 11 for a cell is formed inside a needle body 10 of a puncture needle 1. A discharge port 15 for a cell is formed in a side surface 13b of a front end part 13 of the needle body 10. Furthermore, the needle body is a single tube provided with a passage for an object. Further, a discharge path 14 for a cell, oriented upward from the passage 11 toward the discharge port 15, is formed in the front end part 13. The discharge path 14 comprises a frustoconical part 14a and a columnar part 14b. As a result, the discharge path 14 is formed in such a manner that the surface area of a cross section orthogonal to the upward/downward direction increases smoothly towards the discharge port 15 in at least one part of the discharge path 14, and, in each position in the upward/downward direction, is equal to or greater than the surface area of a cross section in a position closer to the passage 11.

A stereotactic surgery robot according to the present disclosure may include: a rotating unit that is configured to have a surgical instrument that is able to be attached thereto, and is configured to rotate the surgical instrument on at least one of two rotational axes according to an entry posture of the surgical instrument; a moving unit that is configured to move the rotating unit in the direction of at least one of three linear axes according to the position of a surgical target; and a surgical portion support unit that is configured to be connected to the moving unit, and is configured to be detachable with respect to an operating table, wherein the moving unit may move the rotating unit such that an intersection point of the two rotational axes matches the surgical target.

A stereotactic surgery robot according to the present disclosure may include: a rotating unit that is configured to have a surgical instrument that is able to be attached thereto, and is configured to rotate the surgical instrument on at least one of two rotational axes according to an entry posture of the surgical instrument; a moving unit that is configured to move the rotating unit in the direction of at least one of three linear axes according to the position of a surgical target; and a surgical portion support unit that is configured to be connected to the moving unit, and is configured to be detachable with respect to an operating table, wherein the moving unit may move the rotating unit such that an intersection point of the two rotational axes matches the surgical target.

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.

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.

An immobilization apparatus having at least one or more straps that engage a surface; wherein at least one of the straps comprises a force gauge to determine the amount of force applied to a patient immobilized with said straps; wherein the position of the patient is replicable for treatment of radiation and other head or neck treatments.

Dynamic reference arrays use markers and trackers to register a patient's anatomy to computer system. Wherein the dynamic reference array may be screwed into a patient's spinous process, clamped on to a spinous process, or attached to the spinous process using posts. In embodiments, a dynamic reference array may comprise a single structure comprising and attachment member and a scaffold. In alternate embodiments, the dynamic reference array may comprise distinct structures that allow the dynamic reference array to swivel and collapse in order to facilitate registration, while not interfering with a surgical procedure.