An ingestible device comprising a capsule, a camera, an antenna, and a propulsion component id disclosed. The camera can capture images of various in vivo environments as the ingestible device traverses the gastrointestinal tract, and these images can be wirelessly transmitted to an electronic device located outside of the living body. The images may be transmitted to the electronic device for review by an operator responsible for controlling the ingestible device.

A core needle biopsy device includes a body, a needle assembly and a drive assembly. The needle assembly extends distally from the body and includes a hollow piercer and a hollow cutter. The piercer is disposed within the cutter. The cutter includes a distal tip and a swaged portion proximate the distal tip. The drive assembly is configured to selectively cock and fire the piercer and the cutter.

The present invention relates to a device for incising a breast specimen, comprising: a fixing unit of which a portion is inserted into an incision window and which fixes a breast specimen to correspond to the entire size of the breast specimen; an incising unit for incising the fixed breast specimen; and an incising control unit adjusting the position and the incising angle of the incising unit.

Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

A biopsy device includes a probe, a holster, and a probe lock. The probe includes a probe body and a needle extending distally from the probe body. The probe is releasably couplable to the holster. The probe lock includes a lock member configured to move laterally relative to a longitudinal axis defined by the needle to selectively lock the probe to the holster.

A biopsy device includes a cannula and a specimen collector. The cannula has a proximal end and a longitudinal axis. The specimen collector contains the proximal end of the cannula. The specimen collector has a removable sample receiving cartridge that is removable along the longitudinal axis of the cannula to expose the proximal end of the cannula.

A biopsy device includes a housing body, and a cannula assembly that has a first elongate cannula and a second elongate cannula coaxial with the first elongate cannula. The second elongate cannula has a lumen and a side wall having a vacuum side port in fluid communication with the lumen. A vacuum source is positioned in the housing body. The vacuum source has a chamber side wall having a chamber vacuum port. A seal is interposed in sealing engagement between the chamber vacuum port and the second elongate cannula. A trigger slide assembly is coupled to the housing body, and coupled to the cannula assembly, and is configured to move the second elongate cannula to align the vacuum side port of the second elongate cannula with the chamber vacuum port of the vacuum source to supply vacuum from the vacuum source to the lumen of the second elongate cannula.

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 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.

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.