A system for localizing a region of interest (ROI) within a patient's body is disclosed. An embodiment of the system may comprise a pad that can be placed in association with the patient's body; one or more markers which are placed within a patient's body in association with the ROI, each marker being associated with one or more antennas and a unique collective ID; a locator comprising one or more antennas for transmitting/receiving a microwave (MW) signal into/from the patient's body in order to identify the one or more markers and a processing unit that is configured to control the operation of the system and for determining the distance from the locator to each one of the one or more markers.

Surgical robot systems, anatomical structure tracker apparatuses, and US transducer apparatuses are disclosed. A surgical robot system includes a robot, a US transducer, and at least one processor. The robot includes a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector is configured to guide movement of a surgical instrument. The US transducer is coupled to the end-effector and operative to output US imaging data of anatomical structure proximately located to the end-effector. The least one processor is operative to obtain an image volume for the patient and to track pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data.

A bristle device for delivery into a body lumen comprises a longitudinally extending stem 1 and a plurality of bristles extending generally outwardly from the stem for anchoring the device in a body lumen. There may be at least two bristle segments and in some cases there are flexible sections between the segments. The flexible sections articulate to enable the device to pass through a catheter placed in a tortuous anatomy or to be deployed in a curved vessel, or across a bifurcation. In some cases at least some of the bristle segments are spaced-apart to accommodate bending of the bristles.

A surgical apparatus includes an instrument portal including a first proximal end, a first distal end, and a first elongated member, the first elongated member defining a first bore having a first dimension, wherein the first bore extends from the first distal end to the first proximal end, wherein the maximum clearance of the instrument portal is the first dimension and a drill guide reducer configured to be inserted into the instrument portal, the drill guide reducer including an elongated cylindrical member defining an enclosed body surrounding an opening, the enclosed body having an outside dimension that is smaller than the first dimension, such that the drill guide reducer is sized to fit within the instrument portal and defining an inner dimension configured to receive a drill guide, wherein the inner dimension of the drill guide reducer is smaller than the first dimension of the instrument portal.

In a multiple-lumen catheter having multiple guidewires for treatment of vascular blockages, the catheter comprising a proximal-end assembly, a distal-end portion and a multi-lumen medial portion therebetween, the improvement wherein: (1) the multiple guidewires are preloaded in the catheter, each guidewire in its own single-guidewire lumen extending from its own guidewire entry port in the proximal-end assembly to a lumen convergence portion; and (2) the distal-end portion includes: (a) the lumen convergence portion along which the multiple lumens merge into a single output lumen sized to match the largest-diameter lumen of the multiple lumens, (b) an intermediate distal-end section connected to the lumen convergence portion and surrounding the single output lumen continuing therethrough, and (c) a tapered tip surrounding the single output lumen continuing therethrough.

A device (10) for capturing a guide wire (50) comprises a snaring device (20, 30) and an auxiliary catheter (40). The auxiliary catheter (40) is configured to slidingly accommodate the guide wire to be caught so as to extend a distal end (47) thereof beyond the distal end of the guide wire in order to be caught by the snaring device (20, 30) while the guide wire (50) is in a retracted position in the auxiliary catheter (40). The auxiliary catheter preferably comprises a portion which is at least partially echo-transparent and/or radio-transparent and an end portion (44) which is radio-opaque and/or echo-opaque.

A system and method for navigating to a target using fluoroscopic-based three dimensional volumetric data generated from two dimensional fluoroscopic images, including a catheter guide assembly including a sensor, an electromagnetic field generator, a fluoroscopic imaging device to acquire a fluoroscopic video of a target area about a plurality of angles relative to the target area, and a computing device. The computing device is configured to receive previously acquired CT data, determine the location of the sensor based on the electromagnetic field generated by the electromagnetic field generator, generate a three dimensional rendering of the target area based on the acquired fluoroscopic video, receive a selection of the catheter guide assembly in the generated three dimensional rendering, and register the generated three dimensional rendering of the target area with the previously acquired CT data to correct the position of the catheter guide assembly.

In some embodiments, disclosed herein are systems and methods of treating a patient that can include the steps of accessing the sphenopalatine fossa, and cannulating the inferior orbital fissure from the sphenopalatine fossa to access the retro-orbital space. The sphenopalatine fossa can be accessed via various routes, including percutaneously. Accessing the sphenopalatine fossa can include the step of inserting a needle-catheter system into the sphenopalatine fossa. Integrated needle-catheter systems as described herein can also be configured to access the trigeminal ganglion, epidural space, intrathecal space, and other desired anatomical locations.

The present invention provides an oral image marker detection method for detecting a marker, which is the reference when an oral scan image and a CT image are matched, the method comprising the steps of: aligning oral scan images in the horizontal plane direction; estimating a marker candidate area from the aligned oral scan images and detecting an undivided marker from the marker candidate area; and dividing the undivided marker to estimate a marker in the undivided marker, and estimating the area from the upper surface of the undivided marker to a certain depth in the lower direction to be the marker.

A medical instrument includes a first device (108) including shape-sensed flexible instrument, a second device (102) disposed over the first device and a third device (109) disposed over the first device and a portion of the second device. The second and third devices include a geometric relationship such that a position of the second device and the third device is determined from shape sensing information of the first device and the geometric relationship.