Described herein is a catheter and method for catheter assembly. The flexible substrate includes a number of layers, where each layer has a number of printed wires. The printed substrate is environmentally protected. The printed substrate is rolled and inserted into the catheter. Connectors are attached to each end of the rolled substrate. The connectors are connected to sensors at a distal end of the catheter and with electrical cards or a cable connector at a proximate end of the catheter. At least one layer of the substrate is connected to a coil in a magnetic sensor. A layer in which the traces are shorted in the distal end is used to measure a magnetic interference. These measurements are used by a processor or hardware to cancel out the magnetic interference effect on the other layers. In an implementation, another printed substrate can be wrapped within the catheter shaft and used for non-magnetic type sensors.

Markers (e.g., treatment site markers, biopsy site markers) are composed of a non-metallic material having a composition and/or other features or characteristics such that the markers will generate twinkling artifacts when imaged with ultrasound. In this way, the composition of the markers enables their detection and localization using ultrasound. The markers are generally composed of non-metallic materials that enhance the twinkling artifact.

A transperineal biopsy guide including a guide member and a displacement member supported by the guide member. The guide member may be configured to operably couple with the transrectal probe and may include a distal end, a proximal end opposite the distal end, and a length extending along a longitudinal axis between the distal and proximal ends. The displacement member may be configured to support the access needle and displace the access needle along at least a portion of the length of the guide member between the distal and proximal ends. The access needle may extend into the subcutaneous tissue when the access needle is displaced to the distal end.

A forceps includes a handle, a shaft having a proximal end coupled to the handle, and an end effector assembly coupled to a distal end of the shaft. The forceps includes a first jaw member and a second jaw member for grasping tissue therebetween. One or both of the first and second jaw members may include one or more needles extending therefrom. The one or more needles are in fluid communication with a fluid conduit extending along one or both of the first and second jaw members. The fluid conduit couples to a source of contrast agent to enable selective delivery of the contrast agent through the one or more needles.

The present disclosure presents a trajectory array guide system for defining a trajectory to a target location in the brain of a subject and for guiding an elongated tool along the trajectory. The trajectory array guide system can comprise: a base, an array guide, an imaging unit, and an elongated handle configured for connection with a stereotaxic navigation system. The present disclosure presents a method of using a trajectory array guide system for defining a trajectory to a target location in the brain of a subject and for guiding an elongated tool along the trajectory.

The present invention provides a medical image guidance marker to be placed in a body, adapted to be applicable to at least all three types of imaging modalities, namely, MRI, ultrasound, and CT, and to minimize the occurrence of artifacts. The present invention provides a medical image guidance marker to be placed in a body. The medical image guidance marker is made of an alloy with a magnetic susceptibility in the range from −13 ppm to −5 ppm and has a shape of a coil. The coil is formed of a wire with a wire diameter of not less than 0.15 mm and not more than 0.45 mm and has a coil diameter of not less than 0.55 mm and not more than 1.20 mm, and the pitch of the coil is not less than 0.3 mm and not more than 1.5 mm and is not less than 1.8 times and not more than 4 times the wire diameter.

MRI-guided robotics offers possibility for physicians to perform interventions remotely on confined anatomy. While the pathological and physiological changes could be visualized by high-contrast volumetric MRI scan during the procedure, robots promise improved navigation with added dexterity and precision. In cardiac catheterization, however, maneuvering a long catheter (1-2 meters) to the desired location and performing the therapy are still challenging. To meet this challenge, this invention presents an MRI-conditional catheter robotic system that integrates intra-op MRI, MR-based tracking units and enhanced visual guidance with catheter manipulation. This system differs fundamentally from existing master/slave catheter manipulation systems, of which the robotic manipulation is still challenging due to the very limited image guidance. This system provides a means of integrating intra-operative MR imaging and tracking to improve the performance of tele-operated robotic catheterization.

A surgical robot system includes a surgical robot, a robot arm connected to such surgical robot, and an end-effector connected to the robot arm. A registration fixture is used in conjunction with various registration systems in the surgical robot system. Such registration systems likewise include a detachable base in the form of a detachable dynamic reference base, along with an associated mount, the dynamic reference base and mount having certain features which permit the dynamic reference base to be selectively attached, detached, and reattached at different phases of an operation, whether pre-operative or intra-operative, and such successive attachments are done without the dynamic reference base, and tracking markers associated therewith, losing registration. Related methods allow for the more efficient and effective performance of operations by virtue of the dynamic reference base maintaining its registration during attachments and reattachments.

A positioning wand for assisting in positioning at least one of a first magnetic implant and a second magnetic implant configured for forming an anastomosis between two adjacent walls of a digestive tract of a patient is provided. The positioning wand can include an elongated member sized and configured to be inserted into an abdominal cavity of the patient, and a distal tip provided at a distal end of the elongated member. The distal tip can include a guide magnet configured to magnetically couple with the at least one of the first and second magnetic implants through a wall of the digestive tract to position the at least one of the first and second magnetic implants to a desired site of the anastomosis. The distal tip can be configured to be moveable in response to a contact pressure upon contact with the wall of the digestive tract.

Disclosed herein is a magnetic signature imprinting system including an imprinting device and a medical device including ferrous elements. The imprinting device includes an active area having a magnet moving system, one or more sensors, and a console. The magnet moving system is configured to change the location or orientation of one or more magnets to generate one or more magnetic fields to imprint a magnetic signature. The one or more sensors are configured to detect one or more characteristics of the medical device and the console is in communication with the magnet moving system and the one or more sensors.