A surgical navigation system includes a robotic delivery device, a processor communicatively coupled to the robotic delivery device, and a memory communicatively coupled to the processor. The memory stores (i) a surgical guidance cue indicating a three-dimensional spatial property associated with a tumor within a local tissue, and (ii) machine-readable instructions. When executed by the processor, the machine-readable instructions control the robotic delivery device, according to the surgical guidance cue, to deliver a therapeutic agent into an interior of the local tissue.

Apparatus and methods are described for use with a region of interest (ROI) within breast tissue of a breast of a subject and one or more reference markers configured to be placed at respective reference points on skin of the breast. A processing unit determines a relationship between positions of the ROI within the breast tissue and the one or more reference markers on the skin of the breast, and, subsequently, determines a location of the ROI within the breast tissue by identifying the one or more reference markers to thereby localize the ROI within the breast tissue. The processing unit outputs augmented-reality data at a location corresponding to the ROI. Other applications are also described.

The invention relates to an accessory for implanting a medical device in a human or animal body, said medical device comprising an occlusion collar (1) adapted to surround and to seal an anatomical duct of said human or animal body, a fluid reservoir (2) and a tube (3) connecting the reservoir to the occlusion collar, said accessory comprising: a plug (100; 100) adapted to seal an end of the tube; and a collar (200) adapted to surround the tube, the plug (100) and the collar (200) having respective connection portions (103, 104; 203, 204) adapted to engage so as to fix the collar (200) and the plug (100) together so as to hermetically seal said end of the tube (3).

A patient-specific device for guiding resection of a tumor located in local tissue of a patient includes a locator form and a surgical guidance cue. The locator form has a locator-form surface matching a surface of the local tissue of the patient near the tumor's location when the local tissue is imaged in a preoperative position, such that the locator form, when fit to the surface of the local tissue, restores the local tissue to the preoperative position. The surgical guidance cue is integrally formed with the locator form and based on images including only preoperative images of the local tissue in the preoperative position, to indicate a spatial property of the tumor in the preoperative position.

Embodiments of the invention provide a system and method for resecting a tissue mass. The system for resecting a tissue mass includes a first sensor for measuring a signal corresponding to the position and orientation of the tissue mass. The first sensor is dimensioned to fit inside of or next to the tissue mass. The system also includes a second sensor attached to a surgical instrument configured to measure the position and orientation of the surgical instrument. A controller is in communication with the first sensor and the second sensor, and the controller executes a stored program to calculate a distance between the first sensor and the second sensor. Accordingly, visual, auditory, haptic or other feedback is provided to the clinician to guide the surgical instrument to the surgical margin.

Embodiments of the invention provide a system and method for resecting a tissue mass. The system for resecting a tissue mass includes a first sensor for measuring a signal corresponding to the position and orientation of the tissue mass. The first sensor is dimensioned to fit inside of or next to the tissue mass. The system also includes a second sensor attached to a surgical instrument configured to measure the position and orientation of the surgical instrument. A controller is in communication with the first sensor and the second sensor, and the controller executes a stored program to calculate a distance between the first sensor and the second sensor. Accordingly, visual, auditory, haptic or other feedback is provided to the clinician to guide the surgical instrument to the surgical margin.