A marking body, a method for producing a marking body and a method for using a marking body are disclosed. In an embodiment a marking body includes a self-expanding structure of a shape-memory metal, wherein the shape-memory metal forms a tubular structure that has at least two elongated openings along its length that extend no further than from a head section to a foot section of the tubular structure, wherein the tubular structure comprises at least one stripe of the shape-memory metal located between two adjacent elongated openings, and wherein the tubular structure is configured to be compressed when in an application condition and configured to be stretched when in a non-application condition.

A surgery assistive system includes an instrument having a tool and a manipulator connected to the tool, a spatial sensor system for detecting spatial information of the tool, and a computer system for manipulating a kinematic state of the manipulator. A method for obtaining surface information by the surgery assistive system includes the steps of: defining a target region and a plurality of reference points on a virtual anatomical model of a subject; prompting a user to generate sampling information by using the instrument to sample a plurality of sampling points on the subject corresponding to the reference points; and designating the sampling information as surface information of the sampling points. Each piece of the sampling information includes a coordinate of one of the sampling points, an angle of a contact of the tool at the sampling point, and parameters associated with the contact.

A system for registering a group of images of an anatomical region of a patient in a coordinate system of a medical system is disclosed. The system includes an object disposed in a known position in the coordinate system. In one embodiment, the object has a first state in which the object is visible in at least one image and a second state in which the object is invisible in at least another image. In another embodiment, the object is substantially invisible to the eye in each image, but detectable by image processing. The system includes an electronic control unit configured to process the images to identify an image location of the object, create a transformation model responsive to the image location and the known position of the object in the coordinate system, and register the group of images in the coordinate system using the model.

Systems and methods are disclosed for locating the parathyroid. In one aspect, temporal variation among a plurality of images is evaluated and at least one image is enhanced according to the temporal variation. The image may be enhanced to one or both of reduce conspicuity of the thyroid gland and enhance conspicuity of the parathyroid gland. Some of the plurality of images may be adjusted in order to align representations of a target portions. Adjustments may be based locations of one or more organs or one or more artificial markers affixed to a living body in the plurality of images. A local positioning system (LPS), GPS, or other locating system may be used to position a living body, align the plurality of images, or to guide the positioning of objects relative to the living body. An elastomeric gel marker for imaging applications is also disclosed.

Deformation of mobile soft tissue is detected and represented in a three-dimensional medical image based on radiographically-detectable markers that are implanted in the tissue. Locations of the markers are co-registered with locations within the tissue. Sensed changes in relative locations of the markers are used to calculate relative changes in locations within the tissue due to deformation. The changes are used to calculate coordinated multi-voxel manipulations, such that a real-time volumetric medical imaging dataset is developed. By co-registering the operating room coordinate system and the volumetric medical imaging coordinate system, depth-3-dimensional augmented reality viewing of this real-time volumetric medical imaging dataset can be achieved, thereby improving the surgeon's understanding of underlying surgical anatomy and ultimately improving surgical outcomes.

A registration device for patient registration comprises at least one reference marker adapted to be sensed by an imaging system and/or at least one position element adapted to be localized by a position sensing system, and fixation element for positioning the registration device in a patient's body cavity at a location comprising soft tissue. The registration device is adapted to be introduced into and positioned in the patient's body cavity, particularly in the viscerocranium such as the nasal cavity, the nasopharynx, the ear canal(s) and/or the neurocranium such as a cerebral ventricle.

The inventions provided herein relate to tissue markers and uses thereof, e.g., to mark a target tissue site (e.g., a biopsy site in a breast tissue) or to produce a cell scaffold. The tissue markers described herein are designed to be resistant to fast migration (e.g., immediate migration after implantation through a needle track) and slow migration (e.g., over an extended period of time) upon implantation at a target tissue site (e.g., a biopsy site in a breast tissue), without using an adhesive. Additionally or alternatively, the tissue markers described herein can be readily detectable by at least one imaging modality, e.g., but not limited to magnetic resonance imaging, X-ray imaging, ultrasound imaging, or a combination thereof.

Composite markers employ a gel carrier to carry at least one radiopaque element (e.g., wire or band or clip) and one or more other contrast materials, each detectable by a detection modality different than one another. Methods for forming these composite markers and methods of marking a target site in a mammalian subject employing these composite markers are also discussed herein.

Disclosed biopsy markers are adapted to serve as localization markers during a surgical procedure. Adaptation includes incorporation of materials detectable under ultrasound during surgery, as well as features for co-registration with image guidance or other real-time imaging technologies during surgery. Such biopsy markers, when used as localization markers, improve patient comfort and reduce challenges in surgical coordination and surgery time. Additional disclosed biopsy markers are adapted to serve as monitoring and/or detection apparatuses, Localization of an implanted marker may be done with ultrasound technology. Ultrasound image data is analyzed to identify the implanted marker. A distance to the marker or a lesion may be determined and displayed. The determined distance may be a distance between the ultrasound probe and the marker or lesion, a distance between the marker or lesion and an incision instrument, and/or a distance between the ultrasound probe and the incision instrument.

Surgical systems for use in surgical procedures utilizing robotic devices. The surgical system having one or more components for housing a sensor or one or more tools for anchor or sensor delivery. The surgical system may include a surgical sensor anchor and/or a surgical sensor anchor delivery tool. A method of performing a robotically assisted surgical procedure, comprising using a surgical sensor anchor during a surgical procedure which utilizes a robot to track movement of at least one portion of a body structure undergoing a surgical procedure or to track movement of a body structure near a surgical site.