The invention relates to a medical system comprising an instrument, a data processing and image generating apparatus and an image display and control unit. Of these, the position acquisition apparatus is embodied to acquire a position and orientation of the instrument in relation to a reference coordinate system. The data processing and image generating apparatus is embodied to generate an image of a body part from currently recorded or stored data representing a body part, which image reproduces a view of the body part together with a representation of the position, and preferably also the orientation, of the instrument in such a way that an observer can gather the position and orientation of the instrument in the body part from the image of the body part. Here, according to the invention, the image display and control unit is wirelessly connected to the data processing and image generating apparatus, and comprises a display and input unit with a closed surface. On the closed surface of the display and input unit, control elements and a respective view of the body part are displayed during operation of the image display and control unit, together with a representation of the position, and preferably also the orientation, of the instrument. The image display and control unit is embodied to accept user inputs via displayed control elements and to transmit control signals to the data processing and image generating apparatus as a function of the respectively accepted user inputs.

A system for visualizing an anatomical target includes an imaging device (105) configured to collect real-time images of an anatomical target. A three-dimensional model (136) is generated from pre- or intra-operative images and includes images of structures below a surface of the anatomical target not visible in the images from the scope. An image processing module (148) is configured to generate an overlay (107) registered to the real-time images and to indicate the structures below the surface and a depth of the structures below the surface. A display device (118) is configured to concurrently display the real-time images and the overlay.

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.

Techniques for grasp adjustment include a computer-assisted device comprising a repositionable structure configured to support an end effector and one or more processors. The one or more processors are configured to receive one or more images of the end effector; determine, based on the one or more images, at least one of a first length between a proximal end of jaws of the end effector and a proximal end of a grasping zone, a second length corresponding to a length of the grasping zone, a third length between a distal end of the grasping zone and the distal end of the at least one jaw; or an angle between the jaws of the end effector; and adjust a force or a torque magnitude limit used to limit actuation of the end effector based on at least one of the first length, the second length, the third length, or the angle.

A method for controlling a user interface of a modular energy system. The modular energy system comprises a header module and a display screen on which the user interface is displayed. The modular energy system can detect attachment of a first module thereto, control the user interface to display one or more first user interface elements corresponding to the first module, detect attachment of a second module to the modular energy system, control the user interface to resize the one or more first user interface elements to accommodate display of one or more second user interface elements corresponding to the second module, and control the user interface to display the one or more second user interface elements. The various UI elements can correspond to the particular module type that is being connected to the modular energy system.

A system is provided comprising a robotic instrument for use with a surgical tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the surgical tool. A plurality of actuators operatively interconnect the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion. An optional constraint assembly may operatively interconnect the tool support and the hand-held portion to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom. A visual indicator assists users in positioning hand-held portion of the instrument to maximize the useability of the system.

A medical system includes one or more processors. The processors are configured to perform operations including receiving image data associated with an anatomic feature from a first imaging device. The image data is associated with a first imaging device space. Probe data associated with the anatomic feature is obtained from a second imaging device. The probe data is associated with a second imaging device space. The probe data is registered to the image data to generate a first registration between the second imaging device space and the first imaging device space. Anatomic model associated with the anatomic feature is registered to the probe data to generate a second registration between a model space of the anatomic model and the second imaging device space. A third registration between the model space and the first imaging device space is generated based on the first registration and the second registration.

Systems, devices, and methods for providing an endoluminal transhepatic access to a patient pancreaticobiliary system in an endoscopic procedure are disclosed. An example of a transhepatic access procedure comprises navigating a steerable elongate instrument through a body cavity or channel and exiting to a access site of liver, puncturing the liver from the access site, extending the steerable elongate instrument through the liver and into the pancreaticobiliary system and performing an operation therein. Following the operation, the steerable elongate instrument can be retreated, and the access site of liver can be closed with a closure means. Apparatus and methods of training a machine-learning model and using said model to identify patient candidacy for retrograde access based on images of patient anatomy are also disclosed.

A histotripsy therapy system configured for the treatment of tissue is provided, which may include any number of features. Provided herein are systems and methods that provide efficacious non-invasive and minimally invasive therapeutic, diagnostic and research procedures. In particular, provided herein are optimized systems and methods that provide targeted, efficacious histotripsy in a variety of different regions and under a variety of different conditions without causing undesired tissue damage to intervening/non-target tissues or structures.

An arthroscope's insertion shaft has near its distal end a solid state camera. The shaft has an outer diameter of no more than 6 mm, and has rigidity and strength for insertion of the camera into joints for arthroscopic surgery. Light conductor(s) have a flattened region shaped to lie between an endoscope camera and an inner surface of an outer wall of an endoscope shaft. The flattened region is shaped to conduct illumination light though the space between the camera and inner surface of the other wall to a distal end of the endoscope shaft for illumination of a surgical cavity to be viewed by the camera. The flattened region is formed by heating a region of a plastic optical fiber, and squeezing the heated region in a polished mold.