Abstract: A method of performing a medical procedure on target tissue within the body includes immobilizing the target tissue with an immobilization device, positioning an insertion tool (e.g., a needle, a needle and marker wire, a needle gun, etc.) to be inserted into the target tissue on the immobilization device based on at least one reading of the target tissue, and inserting the insertion tool into the target tissue. An immobilization device for performing methods includes a frame assembly, a tissue immobilization assembly coupled to the frame assembly, the tissue immobilization assembly including a structure adapted to immobilize tissue, and a needle assembly releasably connectable to the frame assembly. The needle assembly includes a needle capable of being inserted into the immobilized tissue.

Abstract: A method of performing a medical procedure on target tissue within the body includes immobilizing the target tissue with an immobilization device, positioning an insertion tool (e.g., a needle, a needle and marker wire, a needle gun, etc.) to be inserted into the target tissue on the immobilization device based on at least one reading of the target tissue, and inserting the insertion tool into the target tissue. An immobilization device for performing methods includes a frame assembly, a tissue immobilization assembly coupled to the frame assembly, the tissue immobilization assembly including a structure adapted to immobilize tissue, and a needle assembly releasably connectable to the frame assembly. The needle assembly includes a needle capable of being inserted into the immobilized tissue.

Abstract: The present invention provides systems and methods for guiding a surgical instrument into a preselected spatial relationship with a lesion, in particular a lesion of the breast. In an exemplary embodiment, the system includes a data translation system that translates a set of data points representing the position of the lesion into a set of three dimensional coordinates, and also includes a tracking system that tracks the position of a surgical instrument in three dimensional space, and further includes a representation system that produces a representation of the position of the surgical instrument relative to the lesion. The systems of the present invention are correlated with methods for biopsying a lesion and for surgically removing a lesion.

Abstract: Methods and apparatus for a medical imaging system are disclosed. The imaging system is particulary suited for surgical procedures performed with respect to a lesion in a breast, although application of the invention is not so limited. An image of a portion of a patient's anatomy can be displayed on a computer. A surgical instrument and a lesion within the patient's anatomy can be displayed, showing the relative positions of each. A portion of the patient's anatomy can be monitored using markers or sensors that report position relative to an external reference point. Movement of a lesion within soft tissue can be calculated and displayed in response to changes in position or shape of the soft tissue. Accordingly, position of a lesion within a breast can be tracked in response to changes in the shape of the breast as the patient is moved or the breast is manipulated during the procedure.