Devices, systems, and methods for providing a surveillance marker configured to detecting movement of a dynamic reference base attached to a patient a robot-assisted surgical procedure are provided. The surveillance marker and the dynamic reference base are connected to a bony structure independent of each other.

A method of marking a tumor includes positioning a surgical instrument adjacent breast tissue, generating an image of a tumor in the breast tissue on a display using an ultrasonic probe of the surgical instrument, aligning a needle of the surgical instrument with the tumor using the image of the tumor generated on the display, deploying the needle from the ultrasound probe into the breast tissue, and deploying an elongated tissue marker from the needle into the tumor, thereby fixing a distal portion of the tissue marker in the tumor.

Provided herein are methods of documenting breast tissue in an area of interest in a subject in need thereof using automated breast ultrasound. The methods comprise using surface markers that can clearly identify the area of interest in a resulting 3-D image without introducing artifacts that obscure the tissue intended for examination.

A medical device position guidance system is provided. The system includes at least one reference transmitter and a receiver system configured to receive signals from the at least one reference transmitter. The reference transmitter is configured to maintain a static position on a subject. The system further includes a processor configured to (i) receive signals relating to the location and orientation of each sensor of the receiver system relative to the at least one reference transmitter; and (ii) using the received signals, create an anatomical coordinate system. The system may further include an inserted transmitter configured to be attached to a medical device. The inserted transmitter is adapted to establish the location and orientation of the medical device within the anatomical coordinate system. A method for medical device position guidance is also provided.

A medical marking device, consisting of a radiotransparent plate having a first plurality of radiopaque elements embedded therein in a first predefined pattern and a second plurality of optical reflectors positioned on a surface in proximity to the plate in a second predefined pattern. The device also includes a sigmoid mounting arm having a first end connected to the radiotransparent plate and a second end containing one or more fastening receptacles.

A locator system deployable at a target site in a first anatomical structure and identifiable from within a second anatomical structure. The locator system includes a signal generator and a tissue-engagement member. The tissue-engagement member engages tissue at the target site so that a delivery system may deliver the locator system and be withdrawn without disturbing the position of the locator system with the tissue-engagement member engaging tissue at the target site. The signal generator may be powered by a wireless energy source, such as a battery, or radio waves. The locator system may be deployed at a target site within a patient's intestines, and identified from within the patient's stomach to create an anastomosis between the stomach and the target site.

In some embodiments, a bone implant for percutaneous use is provided. The bone implant comprises a head, a body adjacent to the head and a tip opposite the head. At least the head, body or tip is configured to contact bone. An expandable member contacts at least one of the head, tip or body and is movable from an unexpanded configuration to an expanded configuration when deployed at a bone implant site. In some embodiments, a system for percutaneous bone harvesting is provided.

Aspects of the present disclosure relate to systems, devices and methods for performing a surgical step or surgical procedure with visual guidance using an optical head mounted display. Aspects of the present disclosure relate to systems, devices and methods for displaying, placing, fitting, sizing, selecting, aligning, moving a virtual implant on a physical anatomic structure of a patient and, optionally, modifying or changing the displaying, placing, fitting, sizing, selecting, aligning, moving, for example based on kinematic information.

Tissue localization devices and methods of localizing tissue using tissue localization devices are disclosed. The tissue localization device can comprise a handle comprising a delivery control, a delivery needle extending out from the handle, and a localization element within the delivery needle. The localization element can be deployed out of the delivery needle or retracted back into the delivery needle when the delivery control is translated in a first direction or a second direction, respectively. The localization element can be coupled to a flexible tracking wire.

Systems and methods for attaching a reference marker to a patient in a computer-assisted image-guided surgery system. An apparatus for attaching a reference marker to a patient includes an elongated member extending between a first end and a second end, a sharp tip located proximate to the first end of the elongated member that is configured to break through a cortical surface of a bone of the patient to enable the elongated member to be advanced into the bone, an anchoring device that is extendable from the elongated member in order to anchor the apparatus within the bone and inhibit relative movement of the apparatus and the bone, and a reference marker device comprising at least one optical marker configured to enable the apparatus to be tracked using a motion tracking system.