Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A biopsy system includes a housing, a cannula, a hollow cutter, and a rotatable tissue sample holder. The cannula extends distally from the housing and is rotatable with respect to the housing. The cutter is movable with respect to the cannula for severing tissue received by the cannula. The tissue sample holder includes a plurality of separate tissue sample compartments, the tissue sample compartments being disposed about an axis of rotation of the tissue sample holder. The biopsy system transports severed tissue samples to the tissue sample holder.

Abstract: A biopsy system includes a housing, a cannula, a hollow cutter, and a rotatable tissue sample holder. The cannula extends distally from the housing and is rotatable with respect to the housing. The cutter is movable with respect to the cannula for severing tissue received by the cannula. The tissue sample holder includes a plurality of separate tissue sample compartments, the tissue sample compartments being disposed about an axis of rotation of the tissue sample holder. The biopsy system transports severed tissue samples to the tissue sample holder.

Abstract: A biopsy system includes a cannula, a cutter, and a tissue sample holder. The cannula includes a closed distal end and a lateral tissue receiving port. The cutter is coaxially disposed with the cannula for severing tissue received in the tissue receiving port. The tissue sample holder includes a plurality of discrete tissue sample compartments. The biopsy system transports individual tissue samples to the discrete tissue sample compartments of the tissue sample holder.

Abstract: A biopsy device includes a needle assembly, a hollow cutter, and a tissue sample housing. The needle assembly includes a needle extending distally from a portion of the biopsy device. The needle includes a tissue receiving opening. The hollow cutter is coaxially arranged with respect to the needle and severs tissue received in the tissue receiving opening of the needle. The tissue sample housing includes a vacuum port.

Abstract: A biopsy device may include a housing and a disposable biopsy assembly releasably received in the housing. The disposable biopsy assembly may include a cutter coaxially disposed with respect to a needle, and a plurality of gears may be engaged when the disposable biopsy sample is inserted in the housing. A tissue sample holder may be disposed within housing.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: Instruments for performing percutaneous biopsy procedures are disclosed, which have advantageous features for improving functionality and performance over prior art devices. These instruments comprise two types, single-use devices, and multiple-use devices having active tissue capture capability. Improved features include the ability to retrieve and evaluate multiple tissue samples during a single insertion procedure, without physical handling of the samples, as well as constructional features, such as a molded tissue cassette housing, variant vacuum port embodiments suited for different tissue environments, and a method for backflushing the instrument to remove biological debris, among others.

Abstract: A biopsy device may include a housing and a disposable biopsy assembly releasably received in the housing. The disposable biopsy assembly may include a cutter coaxially disposed with respect to a needle, and a plurality of gears may be engaged when the disposable biopsy sample is inserted in the housing. A tissue sample holder may be disposed within housing.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A biopsy device and related method are disclosed. The biopsy device disclosed includes a needle having a lateral opening for receiving tissue. The needle may be rotatable with respect to a portion of the biopsy device, such as a housing of the biopsy device, and the needle may be offset from a center of the housing. A hollow cutter is disclosed for cutting tissue received in the lateral opening of the needle.

Abstract: The present invention provides a surgical manipulator which is capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a haptic interface and an associated position sensing system. A controller is provided that can be used to adjust movement information from the haptic interface based on the relative orientations of the manipulator and the haptic interface.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and is capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and is capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is connected to the body at a third attachment point and is capable of moving the third attachment point with at least one degree of freedom.

Abstract: A surgical system for use in performing medical procedures on a body of a patient is provided. The system can include a manipulator having a tool mounting arrangement including a modulated mechanical energy transmitter capable of transferring power. The manipulator is capable of moving the tool mounting arrangement with at least one degree of freedom. The system also includes a tool support including a modulated mechanical energy receiver capable of receiving power. A sterile barrier is arranged between the robotic mechanism and the tool support to isolate the robotic mechanism from the sterile environment. The tool support is engageable with the tool mounting arrangement with the sterile barrier therebetween and with the sterile barrier extending between the modulated mechanical energy transmitter and receiver.

Abstract: A surgical system for use in performing medical procedures on a body of a patient is provided. The system includes a manipulator having a tool mounting arrangement including a power transmitter. The manipulator is capable of moving the tool mounting arrangement with at least one degree of freedom. The system has a tool support including a power receiver. A sterile barrier is arranged between the robotic mechanism and the tool support to isolate the robotic mechanism from the sterile environment. The tool support is engageable with the tool mounting arrangement with the sterile barrier therebetween. The power transmitter and power receiver can wirelessly transmit power across the sterile barrier between the manipulator and the tool support when the tool support is engaged with the tool mounting arrangement.

Abstract: Instruments for performing percutaneous biopsy procedures are disclosed, which have advantageous features for improving functionality and performance over prior art devices. These instruments comprise two types, single-use devices, and multiple-use devices having active tissue capture capability. Improved features include the ability to retrieve and evaluate multiple tissue samples during a single insertion procedure, without physical handling of the samples, as well as constructional features, such as a molded tissue cassette housing, variant vacuum port embodiments suited for different tissue environments, and a method for backflushing the instrument to remove biological debris, among others.

Abstract: A biopsy device and related method are disclosed. The biopsy device disclosed includes a needle having a lateral opening for receiving tissue. The needle may be rotatable with respect to a portion of the biopsy device, such as a housing of the biopsy device, and the needle may be offset from a center of the housing. A hollow cutter is disclosed for cutting tissue received in the lateral opening of the needle.

Abstract: The present invention provides a surgical manipulator which capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a relatively lightweight, compact design as a result of the use of high force to mass ratio actuators. The manipulator includes a mounting fixture which permits the manipulator to be fixed relative to a portion of a body of a patient.