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.

Medical devices are disclosed having improved visualization of a portion of the medical device insertable into a patient's body while minimizing obstruction of fluid flow through a lumen of the device and while minimizing an increase in the outer diameter of the device attributable to the feature providing improved visualization. The device can include, for example, an imaging marker distal to lumen openings (exit ports), or, where the device comprises a tube, such as a metallic tube, an imaging marker embedded into a wall of the tube. Another embodiment includes attaching a marker to the surface on the inside of a lumen of a medical device without embedding the marker. Various alternative embodiments, methods and applications of using such devices are disclosed as well.

A system for determining the position and orientation of a medical device relative to an image space during image-guided medical procedures. The system comprises a flexible pad mounted on the subject such that a part covers the region of interest. The pad incorporates detectable registration members. Prior to the procedure, the device is coupled to the pad, which is then rigidized, so that there is no movement of the registration members relative to each other and relative to the device. The fixed relationship between the device and the registration members is determined from initial images, for example using detectable markers attached to the device, enabling the pose of the device relative to the image space of images of the region of interest to be determined later, even if the device is remote from the region of interest. This minimizes exposure of the subject and medical staff to radiation.

An instrument for navigating to a target area near a subchondral defect of a bone and associated methods are disclosed. The instrument can include a body portion having a patient specific surface defining a negative impression of a portion of a skin surface of a patient, and a targeting device coupled to the body portion, the targeting device including a rail and at least one device portal configured to guide a device into a subchondral region of the bone for treatment at the target area.

Removable marker implants having fiducial markers disposed on multiple elongate members extend and splay laterally outward when deployed thereby providing improved 3D localization and tracking of a portion of the patient's body for stereotactic radiosurgery. Such an approach is particularly useful for tracking of the uterus during radiosurgery treatment of uterine fibroids. Such implants can include an outer sheath that contains the multiple elongate members during delivery into the portion of the body. The elongate members can be slidably disposed within the shaft and advanced into an expanded deployed position by advancement of an applicator shaft or rod within the sheath. Marker implant can also be integrally formed implants with flexible arms having fiducial markers thereon that can be constrained in a sheath for delivery and resiliently splay laterally outward when released from the shaft. Methods of delivery and deployment are also provided.

A medical tracking system includes a percutaneous needle, a localization element and a navigation system is disclosed. The percutaneous needle has an elongate shaft extending between a proximal end portion, which is attached to a handle, and distal end portion that terminates at a distal tip. An inner surface of the elongate shaft defines a working channel that extends from a port at the proximal end portion to the distal tip. The localization element is incorporated into the elongate shaft distal from the handle and proximate the distal end portion. The navigation system is configured for tracking the localization element and to provide a real-time display of a position and orientation of the distal tip relative to an anatomy of a patient.

A probe (303; 403) for sensing a magnetic marker, comprising a first set of coils (313; 413), which comprises a first coil of a first coil type, e.g. a sense coil (305; 405), disposed between a first pair of coils of second coil type, e.g. drive coils (301a, 301b; 401a, 401b), that are connected in series, and a balancing element (317; 417) which is axially separated from the first set of coils (313; 413) along a length of the probe (303; 403). The balancing element (317; 417) is configured and arranged to generate a sense voltage that wholly offsets, partially offsets, or minimises, a sense voltage induced in the sense coil or coils (305; 405) of the first set of coils from the drive coils or coil (301a, 301b; 401a, 401b). Also disclosed is a detection system comprising a probe (303; 403), a magnetic field generator arranged to drive an alternating magnetic field through the drive coils (301a, 301b; 401a, 401b) of the first set of coils and the balancing element (317; 417), and at least one detector arranged to receive a signal indicative of a sense voltage.

A biopsy marker having a spring-loaded anchor. The biopsy marker includes an insertion orientation and an anchored orientation. The lateral span/cross-sectional area of the marker is configured to change when transitioning between the insertion orientation and the anchored orientation. In an embodiment, the spring-loaded anchor is configured to spring about a predefined rotational axis. An embodiment of the biopsy marker may be comprised of a single wire construction.

A method for performing a medical procedure may comprise advancing a first device through a first body lumen. A distal portion of the first device may include a magnet. The method may further comprise advancing a second device through a second body lumen. The second device may include a magnetic field sensor. The method may further comprise_receiving a signal from the magnetic field sensor. The signal may be indicative of a magnetic field measured by the magnetic field sensor. The method may further comprise, if the received signal matches a magnetic field of the magnet, identifying a position of the magnet.

Devices, systems, and methods are described including an invasive medical device with a magnetic region. The magnetic region can include a discontinuity in the magnetic region providing a diameter transition, a plurality of spaced magnetic regions can be provided or the magnetic regions can be encoded with data. Systems and methods are described that include ways to read the data.