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 catheter for debulking of an undesired deposit from an inner surface of at least one of a blood vessel wall and a stent located in a blood vessel, the catheter having a tip section comprising: circumferentially-directed laser optics; and a circular-action cutter, wherein said circumferentially-directed laser optics is configured to transmit laser radiation for modifying an area of the undesired deposit thereby preparing said area for penetration of said cutter, wherein said cutter is configured to cut through said modified area and thereby debulk at least a part of the undesired deposit. In addition, a catheter for pacemaker and ICD (Implantable Cardioverter Defibrillator) lead extraction is disclosed.

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.

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.

An intervertebral disc surgical system has at least one optical cannula configured with a working channel and an optical channel, wherein the working channel and the optical channel are positioned parallel to one another. The working channel is configured to receive the elongated tubular member of an electrosurgical instrument and the optical channel is configured to receive an optical scope. The optical cannula has an optical cannula operative end for entering an operative field of a patient.

Computer-implemented digital image analysis methods, apparatuses, and systems for robotic installation of surgical implants are disclosed. A disclosed apparatus plans a route within an anatomy of a patient from an incision site to a surgical implant site for robotic installation of a surgical implant. The apparatus uses digital imaging data to identify less-invasive installation paths and determine the dimensions of the surgical implant components being used. The apparatus segments the surgical implant into surgical implant subcomponents and modifies the surgical implant subcomponents, such that they can be inserted using the identified less-invasive installation paths.

Various methods and systems are provided for medical imaging. In one embodiment, a method for an interventional imaging procedure comprises identifying a medical device during insertion of the medical device within a subject based on live images of the insertion, extrapolating a trajectory of the medical device during the insertion in real-time based on the live images of the insertion, and displaying the extrapolated trajectory of the medical device on the live images.

Methods, apparatuses, and systems for robotic insertion of a screw, a rod, or another component of a surgical implant into a patient are disclosed. Clinical data from previous surgical procedures or information received from a supervising surgeon can be leveraged to minimize the risk of harm to the patient and improve outcomes. The methods disclosed thus provide more precise placement of implanted surgical components and implants.

The cannula (1) comprises a tube (2) with a front end (4) at which there is provided at least one suction opening (10), and with a back end (3) intended to be connected to a source of vacuum; in the tube (2) there being defined at least one longitudinal flow conduit (8, 9) for the aspirated material; and an imaging apparatus (11, 12) capable of supplying first signals or data allowing the generation of a visual representation of the environment in close proximity to the front end of the tube (2) of the cannula (1) down to a first depth or distance, and second signals or data allowing the generation of a visual representation of the environment around the front end of the tube (2) of the cannula (1) down to a second depth or distance, greater than the said first depth or distance.

The concentration of substance in blood is measured non-invasively, with high accuracy and with simple configuration. Laser light 100 generated by a light source 10 is locally irradiated on the body epithelium F of a subject, and the resulting diffused reflected light 200 is detected by a light detector 40. The laser light 100 has a wavelength of 9.26 μm. The laser light 100 is generated by converting and amplifying pulsed excitation light 101 from an excitation light source 11 to a long wavelength. A plate-shaped window 300 that is transparent to mid-infrared light is brought in close contact with the body epithelium F. The glucose concentration in interstitial fluid can be calculated using normalized light intensity calculated from a signal ratio of signals from a monitoring light detector 16 and light detector 40.