A surgical method for operating a trocar defining an access port for a surgical instrument, using a holding arm and a number of drives. The method includes: inserting the trocar through an abdominal wall of the patient body; operating at least one drive to move the surgical instrument in the patient body; operating at least one drives to actuate an effector; and moving the holding arm to generate a pivoting movement of the trocar and surgical instrument about a pivot point defined by the abdominal wall of the patient body. The trocar is freely pivotable relative to the holding device, and the pivoting movement is caused by contact between the trocar and the abdominal wall of the patient body or an elastic membrane located on the abdominal wall of the patient body.

A biopsy and therapy device comprising: a needling unit for holding and inserting a biopsy needle; an imaging module comprising an ultrasound probe and an actuator for moving the probe in a reciprocal action; a first arcuate slide; a second arcuate slide in sliding engagement with the first arcuate slide and a linkage to which the first arcuate slide is mounted; said linkage arranged to move the first and second arcuate slides within a vertical plane; said needling unit mounted to said arcuate slide wherein the first and second arcuate slides are mounted perpendicular to each other so as to rotate the needling unit about respective first and second principal axes.

A needle guide comprising a base to which a pair of horizontal slide bars are secured, the horizontal slide bars including a channel opening running between the bars, a needle stabilizer with a central tube is slideably engaged with the pair of horizontal slide bars, wherein the needle stabilizer extends through the channel opening and has the ability to change positions along a length of the horizontal slide bar, an angular ruler is secured to the base and located proximal to the needle stabilizer to allow accurate adjustment of the angle of the externally adjustable needle guide and one or more virtual visualization bars to aid in visualization using radiography, ultrasound, or magnetic resonance (or any other medical imaging technology) to visualize the virtual visualization bars.

Systems, instruments, and methods for minimally invasive procedures including one or more of fractional resection, fractional lipectomy, fractional skin grafting, and/or fractional scar revision are described. Embodiments include instrumentation comprising a scalpet assembly coupled to a carrier, and the scalpet assembly includes a scalpet array. The scalpet array includes one or more scalpets configured for fractional resection, fractional lipectomy, fractional skin grafting, and/or fractional scar revision. The system includes a vacuum component coupled to the scalpet assembly and configured to evacuate tissue from the a site. The carrier is configured to control application of a rotational force and/or a vacuum force to the scalpet assembly.

Insertion devices, systems, and methods for inserting a needle into a target tissue in an individual in need thereof are disclosed herein. Also disclosed herein are needle cartridges comprising a needle, a plate, and a needle holder. Also disclosed herein are methods of introducing a catheter into a target tissue in an individual in need thereof.

Systems and methods for treating cellulite including an apparatus that applies or a method involving separating septa to eliminate or reduce the appearance of cellulite. In one approach, an interventional tool is placed between tissue layers to engage and treat septa connecting tissue layers between which fat deposits are contained.

Systems, instruments, and methods for minimally invasive procedures including one or more of fractional resection, fractional lipectomy, fractional skin grafting, fractional scar revision, and/or fractional tattoo removal are described. Embodiments include instrumentation comprising a scalpet assembly coupled to a carrier, and the scalpet assembly includes a scalpet array. The scalpet array includes one or more scalpets configured for fractional resection, fractional lipectomy, fractional skin grafting, fractional scar revision, and/or fractional tattoo removal. The system includes a vacuum component coupled to the scalpet assembly and configured to evacuate tissue from the a site. The carrier is configured to control application of a rotational force and/or a vacuum force to the scalpet assembly.

Systems and methods are provided for injecting one or more agents into tissue within a patient's body that includes a catheter. A needle guide extends from a distal end of the catheter and terminates at a distal tip, e.g., including a foot with an atraumatic contact surface, the needle guide having a cross-section smaller than the distal end and being biased to a curved shape. The needle guide includes a passage communicating from a lumen of the catheter to an outlet at the distal tip, and a needle device is disposed within the passage that may be deployed from the outlet to inject one or more agents into tissue. The catheter also includes an imaging assembly on the distal end configured to acquire images of tissue adjacent the needle guide distal tip.

A surgical device retracting mechanism includes a holder that holds a surgical device, a guide that guides the holder to linearly advance and retract, a locking member that locks the holder in a locking state in which the surgical device is inserted in a surgical site, and a retracting device that releases the locking state and retract the holder based on a detection signal.

A system and an apparatus for guiding an instrument may be provided, the apparatus comprising a main body; a holding member for holding an instrument, the holding member coupled to the main body; and one or more actuating members configured to effect movement of the holding member such that said movement of the holding member is capable of providing rotational movement of an instrument about a pivot point external the apparatus. The holding member may preferably be configured to co-operate with a compliance device, said compliance device capable of holding the instrument.