Abstract: Systems and methods to facilitate visual and tool access within a volume reached by an endoscopic tool inserted into brain tissue. Cameras are placed in various locations distal to and/or proximal to the volume, and in some cases are repositionable. Provision of different viewing angles helps to maintain close visual monitoring of surgical progress. Retractor and scaffolding are used, in some embodiments, to open and/or maintain opening of a working volume, particularly a working volume from which material is being removed, and which may be prone to partial collapse as surrounding tissue pushes inward into the evacuated area. Working channels are reconfigurable by use of inner and outer parts, and working channels may be shaped to allow simultaneous use by a plurality of tools and/or supports.

Abstract: Dual surgical manipulator systems adapted for operating in stringently confined intrabody spaces, and/or for reaching such spaces via stringently confined access routes. In some embodiments, each of a pair of surgical manipulator arms introduced together and initially in parallel to each other is configured to approach a shared action zone from two different sides relative to their direction of introduction. Optionally, the arms may bend once to reach the shared action zone. One may bend by less than 90°, one may bend by more than 90°. One or more imagers may be provided which are configured to view the arms from a location lateral to their direction of introduction. The manipulator arms may be of a nested tubular design, which may contribute to reducing their complexity, and to their suitability for miniaturization.

Abstract: Systems and methods to correct the working volume of a surgical tool operating under automatic control to ablate within a baseline working volume of tissue subject to shifting and/or shrinkage during ablation. Early ablation may be performed in regions of the target which remain safe with respect to a risk of tissue shifting. At least once after early ablation, the working volume is reset to account for volume shifts, and ablation restarted. In some embodiments, information guiding the working volume reset comprises 2-D imaging results. In some embodiments, early ablation generates fiducial marks used to reset the working volume. In some embodiments, an imager is rotationally coupled to the surgical tool.

Abstract: Systems comprising a needle assembly configured to be inserted and steered within the brain, body tissue, or cavity, for the purpose of performing a surgical procedure. The needle assembly comprises robotically controlled and motorized concentric cannulas. For bending, there may be provided, for example, a tensioning wire configured to bend an inner cannula, or a cannula with an adjustable natural curve. A flexible inner element passing through the bend of the inner cannula is made self-straightening to minimize susceptibility to displacement from its intended path as it is advanced through the tissue. The self-straightening inner element comprises, for example, at least one of a super-elastic tube, a shape-memory alloy tube, a slotted tube, a tightly coiled memory alloy spring, circular links held together by pulling cables preloaded by springs, and a notched inner cannula with a cable connected via a loaded spring to tension the inner cannula.