A device for guiding a needle includes a tool holder intended to be fixed to the end of a medical assistance robotic arm, said tool-holder supporting a needle guide; the needle guide includes two jaws including a respective groove, said two grooves extending along parallel longitudinal axes, said jaws being supported by the tool-holder so as to allow mobility in rotation of the jaws relative to one another between a position termed the “guiding position” in which the grooves are adjacent and define a duct for guiding a needle and a position termed the “disengaged position” in which the grooves are moved away from one another and define a needle lateral disengagement zone.

A trajectory guiding apparatus and one or more methods associated therewith for facilitating precision-guided alignment and implantation of a DBS therapy device in a patient. Orthogonally disposed first and second arcuate racks are independently actuatable by respective pinion drives, wherein the first arcuate rack is coupled to a base support and the second arcuate rack is operative to support a slider assembly arranged to accommodate an instrumentation column (IC) containing the therapy device. The first pinion drive is actuatable to cause a first curvilinear motion of the second arcuate rack including the slider assembly, the first curvilinear motion defined along a first arcuate path on a first perpendicular plane. The second pinion drive is actuatable to cause a second curvilinear motion associated with the slider assembly including the IC, the second curvilinear motion defined along a second arcuate path congruent with the second arcuate rack's curvature and disposed on a second perpendicular plane orthogonal to the first perpendicular plane.

A surgical base assembly for an MRI-guided interventional system includes a base body, a plurality of thumbwheels held by the base body and coupled to a respective plurality of threaded members that extend therethrough whereby a user can rotate the thumbwheels to lift the base body to a desired stand-off location relative to patient. The base assembly can couple to a trajectory defining an intrabody trajectory axis and being configured to guide placement of an interventional device in vivo. The threaded members can have sharp tips configured to penetrate bone and/or tissue of the body.

A puncture device guide includes a guide platform configured to releasably attach to an ultrasound probe, a guide tower slidingly coupled to the guide platform, and a needle holder device for coupling to a puncture device. The guide tower projects upwardly from the guide platform and includes a vertical guidance slot and a plurality of attachment positions for engaging the needle holder device.

A method of marking a tumor includes positioning a surgical instrument adjacent breast tissue, generating an image of a tumor in the breast tissue on a display using an ultrasonic probe of the surgical instrument, aligning a needle of the surgical instrument with the tumor using the image of the tumor generated on the display, deploying the needle from the ultrasound probe into the breast tissue, and deploying an elongated tissue marker from the needle into the tumor, thereby fixing a distal portion of the tissue marker in the tumor.

Systems, apparatus, and methods are described for forming an incision in tissue for receiving a surgical instrument. A cutting device for forming the incision can be reversibly coupleable to an instrument, e.g., a dilator. The instrument may define a lumen configured to receive a wire that extends or is otherwise extendable through a puncture site. The cutting device can include a cutting element configured to be actuated to form the incision such that the incision extends form the puncture site and is sized to receive the instrument.

A robotic platform system having a lower stage with a motorized cartesian carriage, an upper stage, and a needle insertion module that connects both stages together.

A steerable surgical device includes tubular body members and at least one moveable joint, with a moveable tray member arranged to permit tissue extraction and a retractable tip member for removal of a sample while a remainder of the surgical device remains in the tissue. A method utilizes sensed SMA electrical properties and sensed compressive force to determine joint deflection that is used with a joint deflection model to map tip position in tissue. Another method for determining position of a tip of a steerable instrument within tissue utilizes transverse ultrasound probe images and image processing together with saved and predicted tip information. A method for sequentially removing a plurality of samples from tissue utilizes a steerable surgical device, without requiring complete removal of the device from the tissue

Circuits and computer program products onboard and/or adapted to communicate with an scanner that electronically recognize predefined physical characteristics of the at least one tool to automatically segment image data provided by the scanner whereby the at least one tool constitutes a point of interface with the system. The circuits and computer program products are configured to provide a User Interface that defines workflow progression for an image guided surgical procedure and allows a user to select steps in the workflow, and generate multi-dimensional visualizations using the predefined data of the at least one tool and data from images of the patient in substantially real time during the surgical procedure.

Tissue localization devices and methods of localizing tissue using tissue localization devices are disclosed. The tissue localization device can comprise a handle comprising a delivery control, a delivery needle extending out from the handle, and a localization element within the delivery needle. The localization element can be deployed out of the delivery needle or retracted back into the delivery needle when the delivery control is translated in a first direction or a second direction, respectively. The localization element can be coupled to a flexible tracking wire.