Marking device (100) for implantation into a tissue (260), having a support structure (102) which is formed by at least one elastic metal wire, is compressible and is self-expanding and which, in an expanded state, encompasses an interior space (104), characterized in that the marking device (100) is designed to transform itself on its own from a compressed state into an expanded state, even against a tissue pressure prevailing at a tissue site to be marked, and the marking device (100) in the expanded state has a hollow, approximately spherical shape.

Devices, Systems, and Methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and/or other objects to be tracked include active and/or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.

A living body compressing clip 100 includes a clip body 1 with metallic arm parts 5a and 5b configured to hold a living body tissue. The clip body 1 includes compressing pieces 10 that protrude from distal end parts of the arm parts 5a and 5b in a long-side direction of the arm parts 5a and 5b. The compressing pieces 10 are formed from a flexible resin and hold a fluorescent dye. According to the living body compressing clip 100, the compressing pieces 10 causes a vascular network to collapse while holding the living body tissue by the arm parts 5a and 5b. Therefore, when the arm parts 5a and 5b hold the mucosal tissue of the tubular organ and excitation light is applied thereto, the fluorescence emitted by the compressing pieces 10 can be satisfactorily confirmed from the serosal side.

Apparatus, consisting of a hinge (84) defining a hinge axis (88), and a pair of opposing jaws (80A,80B), including a movable jaw and a fixed jaw having a predetermined part radiopaque, so that the fixed jaw location is identifiable from a fluoroscopic image of the fixed jaw. The opposing jaws terminate at proximal and distal regions, and the proximal regions are connected to the hinge so that the movable jaw rotates about the hinge between a closed state and an open state. The jaws are curved in planes parallel to the hinge axis, and terminate in narrowed ends at the distal regions, so that in the closed state the jaws grip sections of vertebrae. The apparatus also has a support structure (60) that retains the hinge and the pair of opposing jaws, and a multiplicity of sharp teeth (98) disposed on respective inner surfaces of the opposing jaws.

According to one embodiment, an apparatus is disclosed. The apparatus includes an endoscopic clip placement tool and one or more marking clips attached to a specimen mass by the clip placement tool to mark a margin and orientation of the specimen mass. A specimen marking clip is also provided that is adapted to selectively attach to tissue inside of a patient and corresponding tissue that has been excised from the patient for analysis. Sutures may be associated with the clips to help ensure correct in vivo and ex vivo sample orientation. In vivo clips may remain in the patient's body if necessary.

The invention relates to a recalibration device (1) used during the acquisition of images of an anatomical area of a patient during robot-assisted surgery, including a body (3) made of radxoliacent material, which comprises fiducial markers (9) made of radiopaque material, said body (3) having a bearing surface (7) intended to be manually placed on a surface of said anatomical area of the patient. According to the invention, said fiducial markers (9) are arranged in a specific geometrical pattern enabling a certain detection of the positioning and orientation of the recalibration device (1) in a three-dimensional digital model built from the images derived from the acquisition of the anatomical area.

The disclosed devices and methods relate to fixing (i.e., positioning) a multiaxial reference sensor (e.g., inclinometer(s) and compass sensor) or a mechanical guide to the skeletal anatomy in a known orientation, and then utilizing this reference sensor or mechanical guide to position instrumentation and/or implants with a second multiaxial positioning sensor or via a guide rod that provides spatial positioning information relative to the reference sensor or skeletally fixed references.

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 relation-ship 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.

Devices and methods for temporarily affixing a surgical apparatus to a bony structure. The temporary mount includes a base member having a top face configured to be impacted by an insertion device and a plurality of elongated prongs extending downwardly from the base member and configured to engage a bony structure. The prongs are separated a distance from one another, and the prongs are configured to move inwardly toward one another when driven downward into the bony structure.

Methods and a kit for a navigated procedure, such as a navigated surgical procedure relate to an optical sensor system such as a sterile optical sensor system. The methods relate to using components of the optical sensor system and a processing unit, for example, performing a navigated procedure using an optical sensor as draped and using the processing unit coupled to the optical sensor. Performing the navigated procedure comprises receiving instructions for the navigated procedure from the processing unit, and using the optical sensor comprises interacting with a button on the optical sensor through the drape to provide input to the processing unit. A kit comprises optical sensor system components and instructions for performing a method.