An interventional tool stepper (30) employing a frame (31), a carriage (33), an optional gear assembly (32), and an optional grid template(34). The frame (31) is structurally configured to be positioned relative to an anatomical region for holding an interventional tool (40) relative to the anatomical region. The carriage (33) is structurally configured to hold the interventional tool (40) relative to the anatomical region. The gear assembly (32) is structurally configured to translate and/or rotate the carriage (33) relative to the frame (31). The grid template (34) is structurally configured to guide one or more additional interventional tools (41) relative to the anatomical region. The frame (31), the carriage (33), the optional gear assembly (32) and the optional grid template (34) have an electromagnetic-compatible material composition for minimizing any distortion by the interventional tool stepper (30) of an electromagnetic field.

A device that uses an anatomic landmark or fiduciary point to establish a point of origin for device orientation in space is provided. The device controls the direction and depth of delivery of a needle, wire, trocar or cannula utilized for diagnostic or therapeutic intervention. The device guides the percutaneous delivery of a needle, wire, trocar or cannula to a target spatial location on or within tissue.

A puncture assistance system provides information on a collapse state of a blood vessel to be punctured, caused by pressing action of an ultrasonic probe, when ultrasonic images of the blood vessel are acquired. A puncture assistance system 10 includes: vascular diameter detecting means 18 for detecting a vascular diameter during acquisition of the ultrasonic images from an ultrasonic diagnostic device 11; puncture assistance information generating means 12 for generating puncture assistance information for determination of whether or not puncture is allowed to be performed based on a collapse state of a blood vessel B caused by pressing action of an ultrasonic probe 15 against skin S by comparing a current vascular diameter detected by the vascular diameter detecting means 18 with a standard vascular diameter stored in advance; and a monitor 19 that presents the puncture assistance information.

An endoscopic surgical device that can suitably puncture a body wall with an overtube that having two insertion passages is provided. In a case where a body wall is punctured with the overtube that has two insertion passages through which medical instruments are inserted and that has openings of the insertion passages in a distal end surface, distal end parts of two needle parts of an inner needle are disposed to protrude from the openings in a case where the inner needle is mounted. Accordingly, a distal end portion of the overtube has a tapered shape, cutting blade parts are disposed in the same straight line as seen from a distal end side, and an insertion load is reduced.

A hair follicle implant device includes a needle holding assembly configured to hold a plurality of needles and a needle guide slidably coupled thereto and configured to provide a skin stop surface while guiding the plurality needles. A plurality of pistons is configured to slide within a respective one of the plurality of needles. A piston base is slidably coupled to the needle holding assembly and is configured to hold the pistons to slide within the plurality of needles when actuated during implantation. A spring, carried between the needle holding assembly and the piston base, is configured to bias the piston base in a retracted position, wherein the spring is offset from a central axis of the piston base. The needle holder holds the plurality of needles in the staggered arrangement offset from the central axis of the piston base.

A body-insertion device for a body includes an adjustment unit for adjusting bevel orientation of a needle, and a moving unit for the needle. The moving unit supports a needle unit having the needle, the bevel orientation of which is adjusted by the adjustment unit; adjusts the needle unit to the orientation which is appropriate for body-insertion; and moves the needle unit for body-insertion.

A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.

A tilted needle biopsy assembly is provided for mounting on an x-ray system. Because the biopsy needle is angled relative to at least one of the detector and the x-ray source, x-ray imaging may be performed during the biopsy procedure without interference by the biopsy device. The angled biopsy needle additionally allows improved access to the axilla and chest wall of the patient. The stereotactic biopsy device of the present invention may be coupled to any x-ray system, whether upright or prone, including but not limited to mammography systems, tomosynthesis systems, and combination mammography/tomosynthesis systems. The system flexibly supports the use of any mode of image capture (i.e., scout, two dimensional mammogram, three-dimensional reconstructed volume) for either or both target visualization and target localization. With such an arrangement, a needle biopsy assembly having improved patient coverage is provided for use with a variety of different x-ray imaging platforms.

An insertion part of an endoscope and an insertion part of a treatment tool, which are inserted in an outer tube, can be synchronously moved in the axial direction, and, even when the insertion part of the treatment tool is slightly moved in the axial direction, an excellent endoscopic image without shake is obtained. When a treatment tool of an endoscopic surgery device moves by a displacement amount over an allowance amount, an endoscope moves in interlock with the movement of the treatment tool. Moreover, the treatment tool 50 moves in the axial direction with the allowance amount t with respect to the endoscope 10. Therefore, when the treatment tool is moved by a displacement amount of allowance amount or less, the endoscope does not move. By providing such allowance amount, slight movement of the treatment tool is not transmitted to the endoscope.

An introducer guide includes a guiding assembly to guide insertion an instrument, such as a biopsy needle, through a selected insertion point on a patient's body and along a selected insertion path. An imaging system, such as a CT scanner, is used to visualize portions of the guiding assembly in relation to the patient's tissues as the insertion path is adjusted. The guiding assembly includes a semicircular arch connected with a base plate by sliding hinges with a center of curvature of the arch centered on the insertion point. A guide body is slidably connected with the arch. Rotation of the arch about the hinges adjusts a first angle of the insertion path. Motion of the guide body along the arch adjusts a second angle of the insertion path. Linkages, such as linear actuation cables, rotary cables, or pneumatic or hydraulic actuators, connect the arch and guide body with remote operators. A practitioner aligns the guide assembly with the insertion point and fixes the base to the patient's skin. The practitioner uses the remote operators to adjust the orientation of the insertion path while visualizing the insertion path using the imaging system. The length of the cables is selected to allow the practitioner to adjust the guiding assembly at a safe distance from ionizing radiation emitted by the imaging system.