A visualization system including multiple light sources, an image sensor configured to detect imaging data from the multiple light sources, and a control circuit is disclosed. At least one of the light sources is configured to emit a pattern of structured light. The control circuit is configured to receive the imaging data from the image sensor, generate a three-dimensional digital representation of the anatomical structure from the pattern of structured light detected by the imaging data, obtain metadata from the imaging data, overlay the metadata on the three-dimensional digital representation, receive updated imaging data from the image sensor, and generate an updated three-dimensional digital representation of the anatomical structure based on the updated imaging data. The visualization system can be communicatively coupled to a situational awareness module configured to determine a surgical scenario based on input signals from multiple surgical devices.

A fusogenic liposome comprising a detectable agent and optionally a cytotoxic drug in its internal aqueous compartment or bound to the liposome membrane is provided, wherein said fusogenic liposome comprises a lipid bilayer comprising a plurality of lipid molecules having 14 to 24 carbon atoms, and at least one of said lipid molecules further comprises a cationic group, a cationic natural or synthetic polymer, a cationic amino sugar, a cationic polyamino acid or an amphiphilic cancer-cell binding peptide; and at least one of said lipid molecules further comprises a stabilizing moiety selected from the group consisting of polyethylene glycol (PEG), polypropylene glycol, polyvinyl alcohol, polyvinylpyrrolidone (PVP), dextran, a polyamino acid, methyl-polyoxazoline, polyglycerol, poly(acryloyl morpholine), and polyacrylamide. Methods utilizing these liposomes in treatment of cancer are further provided.

A method comprises advancing a medical instrument and a catheter toward a target tissue within a patient anatomy. The instrument includes a distal sheath marker and is slidably received within the catheter. The distal sheath marker includes a channel and an identification feature. A portion of the instrument is slidably received within the channel. The method further comprises depositing the distal sheath marker at a location at or near the target. The distal sheath marker indicates a farthest advancement point of the instrument within the patient anatomy. The method further comprises: after depositing the distal sheath marker, withdrawing the instrument away from the target; determining an orientation of the distal sheath marker based on the identification feature; and, after withdrawing the instrument, using the location and orientation of the deposited distal sheath marker to determine a trajectory of a distal end of the instrument at or near the target.

The invention relates to a medical robot (10) comprising a motorized mobile base (13), spatial-location sensors (17) secured to the mobile base, and a control unit (16) that stores in memory an intervention plan comprising at least one action to be performed on the anatomy of interest of a patient (30). The control unit is configured to: —detect, from information coming from the spatial-location sensors (17), a position of the anatomy of interest of the patient with respect to the medical robot, —identify, from the position of the anatomy of interest of the patient and from the intervention plan, at least one favourable position of the mobile base of the medical robot for which position the medical robot is capable of performing the action or actions from the intervention plan, —move the mobile base of the medical robot into an optimal position selected from among the favourable position or positions identified.

A single marker for use in recording either of two different characters, an “R” or an “L,” on an x-ray image, corresponding to the “left” or “right” side exposure area of the anatomical part(s) of a patient. The marker consists of four embodiments, a base marker, a swivel marker, a hinge marker, or a slider marker, which selectively indicate either the “R” or “L” exposure area of the patient. In addition, the marker also glows in the dark to facilitate usage in poorly lit areas and includes a radiopaque frame within its base to help the x-ray technician confirm that the technician is not viewing image artifacts.

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.

Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

A system for visualizing a surgical site is provided. The system includes a robotic mechanism for performing a procedure on a patient, an imaging device coupled to the robotic mechanism, the imaging device configured to provide image data of a site of interest, and a computing device coupled to the imaging device. The computing device includes one or more processors and at least one memory device configured to store executable instructions. The executable instructions, when executed by the processor, are configured to receive the image data of the site of interest, track motion patterns of the site of interest in the received image data, filter the received image data to remove line-of-sight restrictions therein and alter pixels therein based on the tracked motion patterns, and generate an output frame from the filtered image data. The system also includes a presentation interface device coupled to the computing device and configured to present the output frame for visualization of the site of interest.

Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

A surgical visualization system that can include a structured light emitter, a spectral light emitter, an image sensor, and a control circuit is disclosed herein. The structured light emitter can emit a structured pattern of electromagnetic radiation onto an anatomical structure. The spectral light emitter can emit electromagnetic radiation including a plurality of wavelengths. At least one of the wavelengths can penetrate a portion of the anatomical structure and reflect off a subject tissue. The image sensor can detect the structured pattern of electromagnetic radiation reflected off the anatomical structure and the at least one wavelength reflected off the subject tissue. The control circuit can receive signals from the image sensor, construct a model of the anatomical structure, detect a location of the subject tissue, and determine a margin about the subject tissue, based on at least one signal received from the image sensor.