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 detecting metal clips inserted within a portion of a body of a patient are disclosed herein. In one embodiment, a clip detector assembly includes a detector having a ferrous member, a transmitting coil around the ferrous member and configured to induce a current in the metal clip, and a receiving coil around the ferrous member and configured to receive a magnetic field generated by the current induced in the metal clip. The assembly can further include a control circuit having a band-pass filter configured to pass electrical signals induced by the magnetic field from the receiving coil that are within at most 35 kHz of a resonance frequency of the metal clip. The assembly still further includes a user notification component configured to alert a user to a location of the metal clip.

Systems, methods and devices are described herein for performing a navigated surgical procedure involving a patient's anatomy in sterile and non-sterile surgical environments. A camera may be used to determine a registration of the camera coordinate-frame to the patient anatomy or optionally a tracker in relation to the patient anatomy. A drape may be applied to permit use in a sterile surgical environment. The camera may be moved from its original position to enable access to patient anatomy while maintaining a registration of the camera coordinate-frame with the patient anatomy. Alternatively, the camera may be used in a hand-held or head-mounted manner. A visualization of the patient anatomy may be displayed on a computing unit, with visualization reference planes defined by the pose of an instrument or the camera. The visualization may be presented on a display of a computing unit or as part of a head mounted augmented reality system.

A more accurate radiotherapy is implemented by using a vessel marker for radiotherapy having a deformation fixed shape for engaging with the inner wall of a vessel by deformation after being inserted into the vessel, and a position notification shape for notifying an outside of a radiation irradiation position. Also provided are a radiotherapy support method for supporting radiotherapy to be performed by using the vessel marker, a radiation irradiation control apparatus that irradiates, with radiation, a patient in which the vessel marker is indwelled, and a vessel marker indwelling support apparatus to be used when indwelling the vessel marker.

A system for providing a remote center of motion for robotic control includes a marker device (104) configured to include one or more shapes (105) to indicate position and orientation of the marker device in an image collected by an imaging system (110). The marker device is configured to receive or partially receive an instrument (102) therein, the instrument being robotically guided. A registration module (117) is configured to register a coordinate system of the image with that of the robotically guided instrument using the marker device to define a position in a robot coordinate system (132) where a virtual remote center of motion (140) exists. Control software (136) is configured to control a motion of the robotically guided instrument wherein the virtual remote center of motion constrains the motion of a robot (130).

Devices and methods are provide for facilitating registration and calibration of surface imaging systems. Tracking marker support structures are described that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely attached to a skeletal region of a patient. Methods are provided in which a tracking marker support structure is attached to a skeletal region in a pre-selected orientation, thereby establishing an intraoperative reference direction associated with the intraoperative position of the patient, which is employed for guiding the initial registration between intraoperatively acquired surface data and volumetric image data. In other example embodiments, the tracking marker support structure may be employed for assessing the validity of a calibration transformation between a tracking system and a surface imaging system. Example methods are also provided to detect whether or not a tracking marker support structure has moved from its initial position during a procedure.

A navigation system includes a first and second tracker supports independently affixed to a rigid object and separated by a distance. A first plurality of trackable elements are secured to the first tracker support and a second plurality of trackable elements are secured to the second tracker support. A localizer tracks the trackable elements and controller(s) define a tracking arrangement to be tracked based on a combination of the first and second plurality of trackable elements. A geometry of the tracking arrangement is registered relative to the rigid object and the controller(s) track the rigid object by detecting the registered geometry. The controller(s) identify a condition wherein at least one trackable element has been displaced relative to the registered geometry, and in response, generate an instruction to a manipulator controller to interrupt operation of a robotic manipulator.

A tracker system for use in image guided surgery is disclosed. The tracker system may couple to wet tissue and may include a navigation tracker and a base pad that couple to each other. The base pad may be fabricated from a plurality of nonwoven nanofibers. The base pad is configured to couple to body tissue of a patient via at least one of adsorption, hydration equilibrium, and macromolecular interpenetration.

In order to create a simple device for immobilizing the human body or parts of the body in a manner that is gentle on the patient, in particular for arranging medical targeting devices, markers or surgical instruments for image-guided, minimally invasive surgery, said device having at least one immobilization element (1) which can be positioned on the surface of the body, the immobilization element (1) is made of a bonded nonwoven fabric (2) which can be fastened by means of a micro hook-and-loop fastener (3).

A tissue marker assembly which can be useful with an implant delivery system for delivering a sheet-like implant is disclosed. The tissue marker assembly can include a delivery sleeve with a tissue marker slidably disposed within a lumen therethrough. A proximal handle can be coupled to the tissue marker and delivery sleeve, having a first part and a second part. The second part of the proximal handle can be releasably attached to the tissue marker proximal end so that the second part can be removed to allow the delivery sleeve to be removed proximally over the tissue marker after it is affixed to tissue. The distal portion of the marker can include a plurality of longitudinally extending arms when unconstrained project outward from the shaft to retain the marker's position in tissue.