A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.

A transperineal biopsy guide including a guide member and a displacement member supported by the guide member. The guide member may be configured to operably couple with the transrectal probe and may include a distal end, a proximal end opposite the distal end, and a length extending along a longitudinal axis between the distal and proximal ends. The displacement member may be configured to support the access needle and displace the access needle along at least a portion of the length of the guide member between the distal and proximal ends. The access needle may extend into the subcutaneous tissue when the access needle is displaced to the distal end.

A system for sampling a sample material includes a probe which can have an outer probe housing with an open end. A liquid supply conduit within the housing has an outlet positioned to deliver liquid to the open end of the housing. The liquid supply conduit can be connectable to a liquid supply for delivering liquid at a first volumetric flow rate to the open end of the housing. A liquid exhaust conduit within the housing is provided for removing liquid from the open end of the housing. A liquid exhaust system can be provided for removing liquid from the liquid exhaust conduit at a second volumetric flow rate. A droplet dispenser can dispense drops of a sample or a sample-containing solvent into the open end of the housing. A sensor and a processor can be provided to monitor and maintain a liquid dome present at the open end.

A system for sampling a sample material includes a probe which can have an outer probe housing with an open end. A liquid supply conduit within the housing has an outlet positioned to deliver liquid to the open end of the housing. The liquid supply conduit can be connectable to a liquid supply for delivering liquid at a first volumetric flow rate to the open end of the housing. A liquid exhaust conduit within the housing is provided for removing liquid from the open end of the housing. A liquid exhaust system can be provided for removing liquid from the liquid exhaust conduit at a second volumetric flow rate. A droplet dispenser can dispense drops of a sample or a sample-containing solvent into the open end of the housing. A sensor and a processor can be provided to monitor and maintain a liquid dome present at the open end.

The present disclosure relates generally to positioning elongate members at a target site within a body lumen, such as for acquiring a biopsy from a peripheral airway. Some embodiments are particularly directed to an elongate member with an embedded transducer positioned at a predefined rotational angle with respect to a projected position of an instrument extended out of a distal opening of a first lumen in the elongate member. In many such embodiments, a rotational transducer may be positioned within a second lumen in the elongate member to generate a radial image including indicia of the embedded transducer. Accordingly, an operator may determine a projected position of the instrument prior to extending the instrument out of the lumen. In several embodiments, the embedded transducer may include a forward imaging transducer, such as a fiber optic.

A bone marrow aspiration device and associated method includes an introducer needle and an aspiration needle. The introducer needle includes an introducer cannula and a removable introducer stylet that includes a sharp tip to penetrate bone. The aspiration needle includes an optionally flexible aspiration cannula and a blunt stylet. The aspiration needle is receivable in the introducer cannula when the introducer stylet is removed from the introducer needle. The aspiration cannula forms a channel for aspirating bone marrow when the stylet is removed. The aspiration device also includes a locking mechanism to lock the aspiration cannula to the introducer cannula when the aspiration cannula is received in the introducer cannula, whereby the aspiration cannula can be advanced distally relative to the introducer cannula in a controlled manner, and whereby pulling the aspiration cannula proximally causes the introducer cannula to move proximally with the aspiration cannula.

A biological tissue analyzing device configured to analyze a biological tissue using hyperspectral data in which spectral information is associated with each of pixels forming a two-dimensional image and comprising the following (i) and (ii), as well as comprising (iii) and/or (iv): (i) a hyperspectral data acquisition unit configured to acquire the hyperspectral data; (ii) an analysis target region extraction unit configured to extract pixels corresponding to an analysis target region from a two-dimensional image of the biological tissue; (iii) an altered state classification unit configured to roughly classify an altered state of the biological tissue with unsupervised learning; and (iv) an altered state identification unit configured to identify the altered state of the biological tissue with supervised learning.

Self-righting articles, such as self-righting capsules for administration to a subject, are generally provided. In some embodiments, the self-righting article may be configured such that the article may orient itself relative to a surface (e.g., a surface of a tissue of a subject). The self-righting articles described herein may comprise one or more tissue engaging surfaces configured to engage (e.g., interface with, inject into, anchor) with a surface (e.g., a surface of a tissue of a subject). In some embodiments, the self-righting article may have a particular shape and/or distribution of density (or mass) which, for example, enables the self-righting behavior of the article. In some embodiments, the self-righting article may comprise a tissue interfacing component and/or a pharmaceutical agent (e.g., for delivery of the active pharmaceutical agent to a location internal of the subject). In some cases, upon contact of the tissue with the tissue engaging surface of the article, the self-righting article may be configured to release one or more tissue interfacing components. In some cases, the tissue interfacing component is associated with a self-actuating component. For example, the self-righting article may comprise a self-actuating component configured, upon exposure to a fluid, to release the tissue interfacing component from the self-righting article. In some cases, the tissue interfacing component may comprise and/or be associated with the pharmaceutical agent (e.g., for delivery to a location internal to a subject).

Self-righting articles, such as self-righting capsules for administration to a subject, are generally provided. In some embodiments, the self-righting article may be configured such that the article may orient itself relative to a surface (e.g., a surface of a tissue of a subject). The self-righting articles described herein may comprise one or more tissue engaging surfaces configured to engage (e.g., interface with, inject into, anchor) with a surface (e.g., a surface of a tissue of a subject). In some embodiments, the self-righting article may have a particular shape and/or distribution of density (or mass) which, for example, enables the self-righting behavior of the article. In some embodiments, the self-righting article may comprise a tissue interfacing component and/or a pharmaceutical agent (e.g., for delivery of the active pharmaceutical agent to a location internal of the subject). In some cases, upon contact of the tissue with the tissue engaging surface of the article, the self-righting article may be configured to release one or more tissue interfacing components. In some cases, the tissue interfacing component is associated with a self-actuating component. For example, the self-righting article may comprise a self-actuating component configured, upon exposure to a fluid, to release the tissue interfacing component from the self-righting article. In some cases, the tissue interfacing component may comprise and/or be associated with the pharmaceutical agent (e.g., for delivery to a location internal to a subject).

A bone biopsy system includes a stylet, a trephine needle, a drive connector and a push rod. The trephine needle includes a lumen and a cutting edge. The stylet is received in the lumen to set the trephine needle in position for procuring a bone core sample. The stylet is then removed and the trephine needle is driven into the bone to collect a bone core sample in the lumen.