The present invention relates to a method of producing an optically detectable and retro-reflective medical tracking marker, wherein electromagnetic energy is applied to at least one section of a retro-reflective surface of a marker structure in an amount that is sufficient to alter the material properties of the retro-reflective surface, such that the capability of reflecting electromagnetic radiation of the at least one section is reduced to a second capability of reflecting electromagnetic radiation. The present invention further relates to a corresponding retro-reflective medical tracking marker and a corresponding use thereof.

Provided herein are systems and methods for performing localization within a patient. A method of localization within a body comprises providing at least one processor coupled to at least one data storage device, establishing and calibrating a localization coordinate system within a body by executing a first localization mode by the at least one processor, recalibrating the localization coordinate system by executing a second localization mode by the at least one processor, and localizing a device within the localization coordinate system using the first localization mode and the second localization mode, by the at least one processor. The first localization mode can be an impedance-based localization mode and the second localization mode can be magnetic-based localization mode, or vice versa.

A robotic surgical tool includes a shaft extendable through a handle, an end effector arranged at a distal end of the shaft and including a first and second jaws providing first and second jaw extension, a plurality of drive members extending along the shaft and actuatable by the handle, and an articulable wrist interposing the end effector and the distal end. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, the first jaw extension being pinned to the first pulley and the second jaw extension being pinned to the second pulley, and a linkage mounted to the jaws. The plurality of drive members terminate at the first and second pulleys and are antagonistically operable to open and close the jaws and articulate the end effector in pitch and yaw.

A system for assessing at least one characteristic of a device within a recipient is provided. The system includes a device removably insertable into the recipient where the device includes at least one of a treatment element and implant, and at least one wireless tag positioned within at least one portion of the device. The system includes a tracking device that includes processing circuitry configured to: if the device is inserted into the recipient, interrogate the at least one wireless tag positioned within at least one portion of the device; determine at least one characteristic of at least one portion of the device in three dimensional space based at least in part on the interrogation of the at least one wireless tag; and cause the at least one characteristic of the at least one portion of the device relative to the recipient to be indicated.

Embodiments of the invention provide a system and method for resecting a tissue mass. The system for resecting a tissue mass includes a first sensor for measuring a signal corresponding to the position and orientation of the tissue mass. The first sensor is dimensioned to fit inside of or next to the tissue mass. The system also includes a second sensor attached to a surgical instrument configured to measure the position and orientation of the surgical instrument. A controller is in communication with the first sensor and the second sensor, and the controller executes a stored program to calculate a distance between the first sensor and the second sensor. Accordingly, visual, auditory, haptic or other feedback is provided to the clinician to guide the surgical instrument to the surgical margin.

A magnetic tracking device is configured to track an object in an environment by receiving a measurement of the non-magnetic signal and a corresponding measurement of the magnetic signal for a location of the magnetic tracking device in the environment. The magnetic tracking device estimates, based on the measurement of the non-magnetic signal, a non-magnetic pose of the magnetic tracking device in the environment for the location. The device estimates, based on the measurement of the magnetic signal, a magnetic pose of the magnetic tracking device in the environment for the location. The device determines a difference between the magnetic pose estimate and the non-magnetic pose estimate for the location. The device determines a magnetic distortion correction value for the location based on the difference. The magnetic tracking device generates a distortion correction model including the distortion value and outputs a representation of the distortion correction model.

There is described a system and a method for assisting a user manipulating an object during a surgery, the method comprising: tracking the object in a sterile field in which surgery is being performed at a location using a tracking device which generates tracking data; processing the tracking data using a processing device located outside the sterile field to generate position and orientation information related to the object; and sending the position and orientation information related to the object to a displaying device positioned in the sterile field adjacent to the location at which the surgery is being performed, for display to the user.

An endoscopy system including a flexible insertion tube, a motion sensing device and a processor is provided. The flexible insertion tube has a central axis. The motion sensing device includes a housing, a plurality of patterns and a plurality of sensors. The patterns are disposed at a surface of the flexible insertion tube according to an axial orientation distribution and an angle distribution based on the central axis. During the relative motion of the flexible insertion tube between the motion sensing device via a guiding hole, the sensors sense a motion state of the patterns so as to obtain a motion-state sensing result. The processor determines an insertion depth information and an insertion tube rotating angle information based on the motion-state sensing result, the axial orientation distribution and the angle distribution. A method of reconstructing a three-dimensional structure is also provided.

Markers and related systems and methods are provided for localizing lesions within a patient's body, e.g., within a breast. The marker includes one or more photosensitive diodes for transforming light pulses striking the marker into electrical energy, one or more antennas, and a switch coupled to the photodiodes and antennas such that the light pulses cause the switch to open and close and modulate radar signals reflected by the marker back to a source of the signals. The antenna(s) may include one or more wire elements extending from a housing, one or more antenna elements printed on a substrate, or one or more chip antennas. Optionally, the marker may include a processor coupled to the photodiodes for identifying signals in the light pulses or one or more coatings or filters to allow selective activation of the marker.

An implantable magnetic marker comprising at least one piece of a large Barkhausen jump material (LBJ) containing at least one loop. The coiled marker is deployed to mark a tissue site in the body for subsequent surgery, and a magnetic detection system with a handheld probe excites the marker above or below the switching field required for bistable switching of the marker causing a harmonic response to be generated in a bistable or sub-bistable mode that allows the marker to be detected and localised.