An endoscopic vessel harvesting system for surgical removal of a blood vessel to be used for coronary bypass uses endoscopic instruments for isolating and severing the vessel. An endoscopic camera in the endoscopic instruments captures images from a distal tip of the instrument within a dissected tunnel around the vessel. An image processor assembles a three-dimensional model of the tunnel from a series of images captured by the endoscopic camera. An augmented-reality display coupled to the image processor renders (e.g., visibly displays to the user in their field of view) a consolidated map representing the three-dimensional model along with a marker in association with the map indicating a current location of the distal tip.

A tracking apparatus for tracking a bone of a patient limb is provided. The tracking apparatus includes a body configured to couple to the patient limb. The body includes first and second arms each including an exterior and opposing interior surface and opposing sides connecting the exterior and interior surfaces. The tracking apparatus also includes a wing portion extending from one of the sides of the first or second arm, the wing portion sharing the interior surface of the first or second arm. The tracking apparatus also includes one or more ultrasonic sensors coupled to the interior surface of the body and the interior surface of wing portion, the one or more ultrasonic sensor being configured to transmit ultrasonic waves to and receive ultrasonic waves from the bone. The tracking apparatus also includes one or more trackable elements coupled to the body and the wing portion.

Methods and devices for producing cavitation in tissue are provided. Methods and devices are also provided for surgical navigation, including defining a target treatment zone and navigating a focus of a therapy transducer to the target treatment zone. Embodiments are provided for co-registering a plurality of surgical imaging and navigation systems. Systems for performing Histotripsy therapy are also discussed.

Surgical robot systems, anatomical structure tracker apparatuses, and US transducer apparatuses are disclosed. A surgical robot system includes a robot, a US transducer, and at least one processor. The robot includes a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector is configured to guide movement of a surgical instrument. The US transducer is coupled to the end-effector and operative to output US imaging data of anatomical structure proximately located to the end-effector. The least one processor is operative to obtain an image volume for the patient and to track pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data.

Navigation assistance systems and methods for use with a surgical instrument to assist in navigation of a surgical instrument during an operation. The system may include sensors that may observe the patient to generate positioning data regarding the relative position of the surgical instrument and the patient. The system may retrieve imaging data regarding the patient and correlate the imaging data to the positioning data. In turn, the position of the surgical instrument relative to the imaging data may be provided and used to generate navigation date (e.g., position, orientation, trajectory, or the like) regarding the surgical instrument.

An ultrasound measuring device includes: a support bearing two ultrasound probes movable relative to each other by slide link, each of the two probes being movable relative to the support by ball-joint link, wherein the probes are capable of simultaneously acquiring two ultrasound images. The device includes a first set of measuring elements to measure a relative positioning of the probes, including one travel sensor and at least two orientation sensors. The device includes a second set of measuring elements to measure a positioning of the device relative to a reference plane, including at least one orientation sensor. The device localizes at least one point of interest on each of the two ultrasound images, and processes data coming from the first and second measuring elements, delivering a relative spatial position of the points of interest located in the images.

Systems and methods are provided for planning a procedure. A display device is configured to display a first virtual element. A controller device having a processor is configured to be in communication with the display device, and the controller device is further configured to direct the display device to display the first virtual element. A physical control element is in communication with the controller device, and is configured to correspond to the first virtual element such that an actual manipulation of the control element is displayed, via the processor of the controller device and on the display device, as a corresponding response of the first virtual element to the actual manipulation of the control element. Associated systems, methods, and computer program products are also provided.

A method comprises the steps of: imaging a patient anatomy; selecting an implant strategy for at least one bone fastener having a first member; registering the imaging of the patient anatomy with imaging of at least a portion of a robot; engaging the first member with tissue of the patient anatomy via robotic guidance according to the implant strategy; and subsequently, manipulating the patient anatomy. Systems, spinal constructs, implants and surgical instruments are disclosed.

An ultrasound imaging system includes a processor programmed to generate an anatomy image and a number of needle frames at different transmit beam angles. The system analyzes the data in the needle frames and selects segments therein that are identified as likely representing an interventional instrument. Data from one or more needle frames are blended with the data for the anatomy image of the tissue to create a composite image of the tissue and the interventional instrument.

A system for controlling ablation treatment and visualization is disclosed where the system comprises a tissue ablation instrument having one or more deployable stylets and a first electromagnetic sensor and an ultrasound imaging instrument which may be configured to generate an ultrasound imaging plane and further having a second electromagnetic sensor. An electromagnetic field generator may also be included which is configured for placement in proximity to a patient body and which is further configured to generate an output indicative of a position the first and second electromagnetic sensors relative to one another. Also included is a console in communication with the ablation instrument, ultrasound imaging instrument, and electromagnetic field generator, wherein the console is configured to generate a representative image of the tissue ablation instrument oriented relative to the ultrasound imaging plane and an ablation border or cage based upon a deployment position of the one or more stylets.