A device sized and shaped for insertion into a body comprising: at least one mechanical limb comprising: a support segment; a first flexible section extending from the support segment and terminating in a coupling section; and a second flexible section extending from the coupling section and terminating in a tool or a connector for a tool; wherein a long axis of one or more of the flexible sections is bendable in a single bending plane; wherein a long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis; wherein a long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

The present disclosure presents a trajectory array guide system for defining a trajectory to a target location in the brain of a subject and for guiding an elongated tool along the trajectory. The trajectory array guide system can comprise: a base, an array guide, an imaging unit, and an elongated handle configured for connection with a stereotaxic navigation system. The present disclosure presents a method of using a trajectory array guide system for defining a trajectory to a target location in the brain of a subject and for guiding an elongated tool along the trajectory.

Methods of delivering a prosthetic aortic heart valve are disclosed. The disclosed methods include loading a prosthetic aortic valve in a collapsed configuration into a delivery sheath so that a selected point on the prosthetic valve is rotationally aligned relative to a long axis of the delivery sheath with a selected radiopaque marker on the delivery sheath, while under fluoroscopic imaging, rotating the delivery sheath about its long axis to align a selected radiopaque marker on the delivery sheath with the selected point on the native aortic valve in a fluoroscopic imaging plane, thereby establishing a desired orientation of the prosthetic aortic valve with respect to the native aortic valve in which the prosthetic valve commissures are rotationally aligned with commissures of the native aortic valve, further advancing the delivery sheath along its long axis until the prosthetic aortic valve is disposed inside the native aortic valve, and deploying the prosthetic aortic valve into an implanted state inside the native aortic valve with the prosthetic aortic valve aligned in the desired orientation with respect to the native aortic valve.

Systems are described for conducting minimally invasive medical interventions utilizing instruments and assemblies thereof to stabilize and/or fixate a dysfunctional sacroiliac (SI) joint. The systems include a drill guide having a bone dislodging member adapted to create a pilot SI joint opening in the dysfunctional SI joint through an incision comprising a length no greater than 3.0 cm; portions of the pilot SI joint opening being disposed in the sacrum and ilium bone structures. The drill guide includes a tri-mode fixation system adapted to position and stabilize the drill guide during creation of the pilot SI joint opening in the dysfunctional SI joint and delivery of the SI joint prosthesis therein. The systems also include a SI joint prosthesis configured to be inserted into the pilot SI joint opening of the dysfunctional SI joint, a prosthesis deployment assembly configured to engage the SI joint prosthesis and advance the SI joint prosthesis into the dysfunctional SI joint, and a bone harvesting assembly adapted to extract and collect dislodge bone material from the bone dislodging member after creation of the pilot SI joint opening.

Methods and systems for displaying an overlay superimposed with an intraoperative image of surgical field in a medical ophthalmic procedure, such that the overlay appears at a desired depth within the image are provided. Methods and system for displaying an overlay superimposed with a stereoscopic intraoperative image pair of a surgical field in a medical ophthalmic procedure are provided.

A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

Systems and methods for generating multiple registrations is provided. An image depicting a portion of a patient's anatomy and a tracking device affixed to an accurate robot may be received. A first registration of a patient coordinate space to a robotic coordinate space may be generated based on the image. A second registration of the patient coordinate space to a navigation coordinate space based at least in part on a position of second markers on the tracking device detected by a navigation system may be generated. The first registration and the second registration may be independent of each other.

A system and method is provided for planning a surgical procedure. The system includes a model of an anatomical region including simulated bone, a tracked tool, a tracking system, a display device, and a computer system configured to receive information from the tracking system, generate and display the model and the tracked tool, and store the tracking system information in a computer readable memory that is portable to a surgical navigation system. The method includes acquiring volumetric data of a patient anatomical region, extracting, providing and registering a three-dimensional model with the volumetric data, using a tracked tool to perform a simulated surgical procedure including removing and replacing a bone section on the model, viewing the model and the tracked tool on a display device, recording the procedure with a tracking system, storing the procedure in a computer readable memory, and porting the procedure into a surgical navigation system.

Devices and methods for performing a surgical step or surgical procedure with visual guidance using an optical head mounted display are disclosed.

The present invention relates to comprehensive systems, devices and methods for delivering energy to tissue for a wide variety of applications, including medical procedures (e.g., tissue ablation, resection, cautery, vascular thrombosis, treatment of cardiac arrhythmias and dysrhythmias, electrosurgery, tissue harvest, etc.). In certain embodiments, systems, devices, and methods are provided for delivering energy to difficult to access tissue regions (e.g. peripheral lung tissues), and/or reducing the amount of undesired heat given off during energy delivery.