A medical device navigation system includes a medical device assembly and a navigation device. The medical device assembly includes an adhesive patch configured to adhere to an outer surface of a patient and a tracking assembly coupled to the adhesive patch. The tracking assembly includes one or more reference markers. The navigation device is configured to receive image data representing one or more images from an imaging device. The one or more images indicate a relative position between the one or more reference markers and a treatment site in the patient. The navigation device is configured to determine, based on the image data, a percutaneous insertion path for an injection needle from an insertion point to the treatment site of the patient and output one or more parameters corresponding to the percutaneous insertion path.

A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.

A robotic system includes an instrument including an elongate shaft, a robotic manipulator configured to manipulate the elongate shaft of the instrument, and control circuitry communicatively coupled to the robotic manipulator and configured to determine a first estimated position of at least a portion of the elongate shaft of the instrument based at least in part on robotic command data, determine a second estimated position of the at least a portion of the elongate shaft of the instrument based at least in part on position sensor data, compare the first estimated position and the second estimated position, and generate a third estimated position based at least in part on the comparison of the first estimated position to the second estimated position.

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.

The method of locating at least one mobile perception device of a navigation platform, the mobile perception device intended to be worn or carried by a user in a surgical scene, the navigation platform including at least one perception sensor, comprises: —acquiring, by the at least one perception sensor, a plurality of successive images of the scene including the portion of the body of the patient intended to be subjected to the surgical operation; —processing the plurality of successive images to evaluate a relative position of the mobile perception device and the portion of the body intended to be subjected to the surgical operation, wherein the relative position of the mobile perception device and the portion of the body takes into account a movement of the mobile perception device.

Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

A surgical stapling system for stapling the tissue of a patient is disclosed. The stapling system comprises a housing, a shaft extending from the housing, and an end effector extending from the shaft. The end effector comprises a plurality of staples removably stored therein and, also, an anvil configured to deform the staples. The stapling system further comprises a firing mechanism configured to deploy the staples along a staple firing path longer than 60 mm, a camera configured to capture an image of the patient tissue, a display, and a controller configured to generate an image of the staple firing path, wherein the images are displayed on the display.

The invention relates to an interventional system comprising an introduction element (4) like a catheter for being introduced into an object (9), for instance, a person. A moving unit (2) like a robot moves the introduction element within the object, wherein a tracking image generating unit (3) generates tracking images of the introduction element within the object and wherein a controller (8) controls the tracking image generating unit depending on movement parameters of the moving unit, which are indicative of the movement, such that the tracking images show the introduction element. This control can be performed very accurately based on the known real physical movement of the introduction element such that it is not necessary to, for instance, irradiate a relatively large area of the object for ensuring that the introduction element is really captured by the tracking images, thereby allowing for a reduced radiation dose applied to the object.

An apparatus includes an occlusion device operable to fit securely in an anatomical passageway within a head of a human. The occlusion device is configured to move unitarily with the head when the occlusion device is installed in the anatomical passageway. The occlusion device is further configured to prevent passage of fluid through the anatomical passageway when the occlusion device is installed in the anatomical passageway. A position sensor is fixedly integrated into the occlusion device. The position sensor generates signals indicating a position of the occlusion device in three-dimensional space, thereby indicating the position of the head in three-dimensional space. A connector communicatively coupled to the position sensor is operable to receive and transmit the signals generated by the position sensor.

Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.