A system comprising: two or more tracking sensors that are configured to provide pose information, wherein the two or more tracking sensors include: a first tracking sensor configured to provide a reference coordinate system; and a second tracking sensor that resides in the reference coordinate system relative to the first tracking sensor; one or more segments of optical fiber affixed to the second tracking sensor, wherein the one or more segments of optical fiber are tracked relative to the second tracking sensor; an interrogator that is configured to read measurements from the one or more segments of optical fiber; and a computing device configured to execute an algorithmic method on data from the one or more segments of optical fiber, wherein measurements taken from the one or more segments of optical fiber are placed in the context of pose information from the two or more tracking sensors.

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.

The present disclosure includes systems for surgical navigation, the system comprising a tracking array attachable to a medical instrument, an image capturing device, and a navigation system that communicates with the image capturing device and generates tracking information of the medical device.

A surgical instrument is disclosed having an elongated body portion having a proximal end and a distal end. The body portion is formed from a plastically deformable material such that the body portion can be bent between the proximal and distal ends from a first configuration to a second bent configuration and maintains the bent configuration. A flexible circuit having at least a pair of lead wires disposed around the body portion. The pair of lead wires are configured to conform to the bent configuration of the body portion such that they do not break during bending of the body portion. A tracking device adapted to cooperate with a navigation system to track the distal end of the instrument is coupled to the flexible circuit.

An implantable device includes a conduit, an adjustable membrane element coupled to the conduit near the front end of the conduit for controllable coaptation of a body lumen, such as coaptation of a urethra as treatment for urinary incontinence, and a helix coupled to the front end of the conduit. The helix functions as a fixation mechanism to anchor the implantable device to the tissue. The implantable device can be inserted into tissue using a sheath and can be rotated with the sheath by partially inflating the adjustable membrane element placed in a front end portion of the sheath, and the helix can be turned into the tissue by rotating the sheath.

A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

An apparatus includes a base portion configured to selectively couple with a robotic arm. A shaft extends distally form the base portion and terminates into a distal end. A sleeve is slidably coupled to the shaft. A colpotomy cup is fixedly secured to a portion of the sleeve. One or more sensors are configured to detect a force applied to the sleeve, the shaft, or both the sleeve and the shaft.

An apparatus includes a base portion configured to selectively couple with a robotic arm. A shaft extends distally form the base portion and terminating into a distal end. A sleeve is slidably coupled to the shaft. A colpotomy cup is fixedly secured to a portion of the sleeve. A plurality of sensors are configured to locate the position of the sleeve relative to one or more anatomical features of a patient. The sensors are further configured to locate the position of the sleeve relative to the shaft.

Provided in accordance with the present disclosure are systems for identifying a position of target tissue relative to surgical tools using a structured light detector. An exemplary system includes antennas configured to interact with a marker placed proximate target tissue inside a patient's body, a structured light pattern source, a structured light detector, a display device, and a computing device configured to receive data from the antennas indicating interacting with the marker, determine a distance between the antennas and the marker, cause the structured light pattern source to project and detect a pattern onto the antennas. The instructions may further cause the computing device to determine, a pose of the antennas, determine, based on the determined distance between the antennas and the marker, and the determined pose of the antennas, a position of the marker relative to the antennas, and display the position of the marker relative to the antennas.

A system and method for determining a location for a surgical jig in a surgical procedure includes providing a mixed reality headset, a 3D spatial mapping camera, an infrared or stereotactic camera, and a computer system configured to transfer data to and from the mixed reality headset and the 3D spatial mapping camera. The system and method also include attaching a jig to a bone, mapping the bone and jig using the 3D spatial mapping camera, and then identifying a location for the surgical procedure using the computer system. Then the system and method use the mixed reality headset to provide a visualization of the location for the surgical procedure.