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.

A biopsy marker may include three shaped portions arranged sequentially along an axis, each shaped portion having a first surface and a second surface parallel to the first surface. A first narrow portion connects a first of the three shaped portions to a second of the three shaped portions. A second narrow portion connects the second of the three shaped portions to a third of the three shaped portions. The first narrow portion is twisted about the axis such that the first surface of the first shaped portion is at a first angle to the first surface of the second shaped portion. The second narrow portion is twisted about the axis such that the first surface of the second shaped portion is at a second angle to the first surface of the third shaped portion.

A computer assisted system is disclosed that includes an optical tracking system and one or more computing devices. The optical tracking system includes an RGB sensor and is configured to capture color images of an environment in the visible light spectrum and tracking images of fiducials in the environment in a near-infrared spectrum. The computer assisted system is configured to generate a color image of the environment using the color images, identify fiducial locations using the tracking images, generate depth maps from the color images, reconstruct three-dimensional surfaces of structures based on the depth maps, and output a display comprising the reconstructed three-dimensional surface and one or more surgical objects that are associated with the tracked fiducials. The computer assisted system can further include a monitor or a head-mounted display (HMD) configured to present augmented reality (AR) images during a procedure.

A system and a method are disclosed that allow for generation of a model or reconstruction of a model of a subject based upon acquired image data. The image data can be acquired in a substantially mobile system that can be moved relative to a subject to allow for image acquisition from a plurality of orientations relative to the subject. The plurality of orientations can include a first and final orientation and a predetermined path along which an image data collector or detector can move to acquire an appropriate image data set to allow for the model of construction.

A magnetic marker for marking a site in tissue in the body. In one embodiment, the marker comprises a magnetic metallic glass. In another embodiment, the marker is in a non-spherical configuration having an anisotropy ratio less than 9. In yet another embodiment, the marker is in a non-spherical configuration having an anisotropy ratio less than 6. In yet another embodiment, the marker is in a non-spherical configuration having an anisotropy ratio less than 3.

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.

This invention provides methods for marking a target location for a medical procedure, comprising topically, intradermally, subcutaneously, or intramuscularly administering to a subject in need of the medical procedure an ink composition in an amount that is effective to mark with an impermanent tattoo the target location of the medical procedure. The invention also provides methods for marking a subject, comprising topically, intradermally, subcutaneously, or intramuscularly administering to the subject a solid ink composition in an amount that is effective to mark the subject with an impermanent tattoo, wherein the ink composition comprises an ink particle, and wherein the ink particle has a (i) diameter ranging from about 10 nm to about 100 m or (ii) volume ranging from about 0.0001 mm.sup.3 to about 20 mm.sup.3.

An ultrasound sensing system may include an organ conformable panel to be positioned on an exterior surface of an internal organ and a passive ultrasound detectable marker supported by the organ conformable panel. The organ conformable panel has a first acoustic impedance while the marker has a second acoustic impedance different than the first acoustic impedance.

The invention relates to a passive pressure sensor (501) for being introduced into the circulatory system of a human being and for being wirelessly read out by an outside reading system. The pressure sensor comprises a casing (502) with a diffusion blocking layer for maintaining a predetermined pressure within the casing and a magneto-mechanical oscillator with a magnetic object (508) providing a permanent magnetic moment. The magneto-mechanical oscillator transduces an external magnetic or electromagnetic excitation field into a mechanical oscillation of the magnetic object, wherein at least a part of the casing is flexible for allowing to transduce external pressure changes into changes of the mechanical oscillation of the magnetic object. The pressure sensor can be very small and nevertheless provide high quality pressure sensing.

Implantable fiducial marker devices with a predefined shape can deform when stress is applied in vivo, and recover their shape when stress is removed reduce patient discomfort and palpability. The devices can be used to mold irregular tumor resection cavities into a more ideal shape for radiation therapy allowing more accurate treatment. After treatment, the devices resorb eliminating unnecessary testing that occurs when clinicians are unaware of implanted fiducial marker devices. Tissue ingrowth into the devices can also result in improved cosmetic outcomes when the devices are implanted in the breast after a lumpectomy. The devices preferably comprise poly-4-hydroxybutyrate or poly(butylene succinate) or copolymers thereof.