This invention relates to electrosurgical systems for coagulation and ablation of tissue, including in relation to tissue biopsy.

According to an example aspect of the present invention, there is provided a biopsy needle device comprising a biopsy needle attachment mechanism arranged to mechanically couple a biopsy needle to the biopsy needle device, an actuator mechanism comprising a transducer configured to interconnect electrical signals at one port to mechanical motion at another port, the actuator mechanism configured to transmit flexural vibration to the biopsy needle when the biopsy needle is coupled to the biopsy needle device, a sensor device configured to measure a power of the flexural vibration transmitted to the biopsy needle via the transducer and a reflected power of flexural vibration received by the biopsy needle device from the biopsy needle, and circuitry configured to determine a difference between the power of the flexural vibration transmitted to the biopsy needle and the reflected power of flexural vibration received by the biopsy needle device from the biopsy needle.

According to an example aspect of the present invention, there is provided a biopsy needle device comprising a biopsy needle attachment mechanism arranged to mechanically couple a biopsy needle to the biopsy needle device, an actuator mechanism comprising a transducer configured to interconnect electrical signals at one port to mechanical motion at another port, the actuator mechanism configured to transmit flexural vibration to the biopsy needle when the biopsy needle is coupled to the biopsy needle device, a sensor device configured to measure a power of the flexural vibration transmitted to the biopsy needle via the transducer and a reflected power of flexural vibration received by the biopsy needle device from the biopsy needle, and circuitry configured to determine a difference between the power of the flexural vibration transmitted to the biopsy needle and the reflected power of flexural vibration received by the biopsy needle device from the biopsy needle.

A path preparation system for preparing a path for a device. The path preparation system includes an ultrasound transmitter and a tracking system. The tracking system is configured to determine a current position of the device on the path. The ultrasound transmitter is configured to focus an ultrasound wave onto a focus position that lies in front of the device in the direction of the path, in spatial relation to the current position of the device.

A specimen marking clip is provided that is adapted to selectively attach to tissue inside of a patient and corresponding tissue that has been excised from the patient for analysis. Sutures may be associated with the clips to help ensure correct in vivo and ex vivo sample orientation. In vivo clips may remain in the patient's body if necessary.

According to some embodiments of the invention, a surgical robot includes a robot arm having an end effector, the end effector comprising a needle assembly. The surgical robot further includes a robot control system operatively connected to the robot arm, and an end effector control system operatively connected to the end effector. The robot control system provides control signals for operation of the robot arm to move the end effector to selected positions relative to a subject. The end effector control system is configured to provide signals for operation of the end effector to at least one of inject material through the needle assembly to a selected location within the subject's body or extract material through the needle assembly from the selected location within the subject's body.

A medical instrument for enhancing diagnosis and treatment comprising a handle, an ablation probe extending from the handle, a catheter extending from the handle. The catheter defines a lumen and the ablation probe is located within the lumen of the catheter. A port in fluid communication with the lumen of the catheter is configured for connection to a vacuum or fluid source, and application of a vacuum or an injection of fluid creates a consistent zone of permittivity around the ablation probe.

Certain aspects relate to biopsy apparatuses, systems and techniques for biopsy using a biopsy pattern. Some aspects relate to moving a distal portion of a medical instrument to one or more sample locations of the biopsy pattern and guiding the instrument to obtain tissue samples from the sample locations within the biopsy pattern. Some aspects relate to obtaining the biopsy pattern and adjusting the sample locations within the biopsy pattern based on various factors such as anatomical features.

A bone marrow access apparatus includes a bone penetrating member and a cap. The bone penetrating member includes a tubular insertion portion, and a head portion provided at a proximal end of the tubular insertion portion. A cross-sectional shape of the head portion is wider than a cross-sectional shape of the tubular insertion portion. A recess is provided in the head portion, and an internal channel is provided through the head portion and the tubular insertion portion. The cap accommodates the head portion of the bone penetrating member therein. The cap includes a lower wall which covers at least a part of a distal side of the head portion, and a projection which projects into the recess of the head portion.

A bone marrow harvesting device can include: a hub inserted into a bone marrow cavity; a catheter inserted into the hub and having a syringe detachably connected to one side thereof; and a holder connected to one end of the catheter such that the catheter is movable along the longitudinal direction. The bone marrow harvesting device, when harvesting bone marrow, can not only easily and stably move the position of a catheter inserted into a bone marrow cavity, but can also harvest the bone marrow in a state where the catheter is stably fixed after the position of the catheter is moved.