Abstract: An anchoring system includes an anchor including an anchor body and a distal member located at a distal end of the anchor body, the distal member having a suture receiving aperture; and an implant delivery device, comprising: a cannulated outer shaft, the cannulated outer shaft configured to engage a proximal end of the anchor body for driving the anchor into a bore; and an inner shaft slidably received in the cannulated outer shaft, wherein a distal end of the inner shaft is extendable distally beyond a distal end section of the cannulated outer shaft such that, when the cannulated outer shaft is engaging the proximal end of the anchor body, the distal end of the inner shaft is extendable through the anchor body to a distance beyond the distal end of the anchor body to engage a suture located within the suture receiving aperture, wherein the anchoring system is configured such that the suture can be tensioned at a location within the bore distal from the anchor body before the anchor body is implanted within

Abstract: A suture anchor assembly, adapted to be attached to a bone, that includes an anchor, which has an undeployed state in which it is soft and flexible, and which can be deployed into a deployed state which is compacted and hard, relative to the undeployed state, and defining a hold region, where the anchor is optimally held as the anchor is deployed. Also, one or more deployment strands are engaged into the anchor and extend out of the anchor, and wherein, when the anchor is in the undeployed state, holding the anchor at the hold region and pulling on the deployment strands compacts the anchor into the deployed state. Accordingly, the anchor can be introduced into a hole in bone and held in place at the hold region, as it is transformed into the deployed state by pulling on the deployment strands, thereby anchoring the anchor in the hole.

Abstract: A suture bridge includes a first leg including a first patient contacting surface configured to contact a patient's skin, a second leg spaced from the first leg and including a second patient contacting surface configured to contact the patient's skin, a pair of supports, each of the pair of supports being connected to one of the first leg and the second leg, and a traversing member extending between the pair of supports, the traversing member being elevated from the patient's skin. The pair of supports have a first stiffness, and the first leg and the second leg have a second stiffness, the first stiffness being greater than the second stiffness.

Abstract: A suturing device includes an elongated body having an outer wall defining an interior space of the body, a shaft located in the interior space, and a needle mounted on a distal end of the shaft. The needle has a distal section transverse to a longitudinal axis of the shaft. The distal section of the needle terminates in a first jaw and a second jaw forming a forceps defining a piercing tip. The first jaw and second jaw have a grasping position wherein the first jaw and second jaw grasp a suturing material, and a release position wherein the first jaw and second jaw release the suturing material. After grasping the suturing material with the needle, the shaft rotates the needle to advance the needle and suturing material through tissue and mesh placed on the tissue. Spaced apart portions of the suturing material are then fused to create a suture.

Abstract: A closure device for closing an opening in tissue is provided. The closure device includes an elongate member through which needles may be deployed. The closure device also includes a foot portion having one or more feet slidably mounted relative thereto. The feet are movable between a deployed position and a delivery position. The feet include cuffs removably mounted therein, with sutures connected between the cuffs. When the feet are in the deployed position and the needles are advanced, the needles securely engage the cuffs and draw the cuffs and suture through the lumen wall so that the opening in the lumen wall can be closed with the sutures.

Abstract: A needle holder includes: a flexible sheath portion which is capable of being inserted into an instrument channel of a flexible endoscope; a first grasping member which is rotatably coupled with a distal end portion of the flexible sheath portion; and a second grasping member which is provided in the distal end portion of the flexible sheath portion. In a state where a curved needle is grasped by a first grasping surface of the first grasping member and a second grasping surface of the second grasping member, the second grasping surface inclines such that a grasped region of the curved needle that is grasped by the first grasping surface and the second grasping surface is positioned between a distal end of the second grasping member and a needle tip of the curved needle in a direction of a center axis of the second grasping member.

Abstract: A horizontal-transvertebral curvilinear nail-screw (HTCN) including a body portion having a first end and a second end, wherein the first end is opposed to the second end; and a head at the first end of the body portion, wherein the body portion has a predetermined curvilinear shape and includes a pointed tip at the second end of the body portion, and a method of surgically implanting universal horizontal-transvertebral curvilinear nail-screws (HTCN) into a plurality of adjacent vertebrae.

Abstract: A surgical loading unit for use with a handle assembly includes an elongate outer frame defining a longitudinal axis and having proximal and distal ends, an end effector mounted to the distal end of the outer frame, a drive at least partially disposed within the outer frame and operatively coupled to the end effector, and being adapted for longitudinal movement through a plurality of sequential firing strokes to operate the end effector and a rotatable counter mounted to the outer frame. The rotatable counter is adapted for rotational movement through an arc segment of rotation upon movement of the drive through each firing stroke, and has visual indicators for providing visual indicia corresponding to a number of firing strokes completed by the drive.

Abstract: There are shown and described embodiments of a closure device for closing holes in tissue, for example in the right atrial appendage. The closure device in particular embodiments includes first and second mesh closure members and a tether or stem connecting them. Embodiments of a delivery device for the closure device are also described.

Abstract: A surgical loading unit for use with a handle assembly includes an elongate outer frame, an end effector mounted to a distal end of the outer frame, a drive at least partially disposed within the outer frame and operatively coupled to the end effector, and being adapted for longitudinal movement through a plurality of sequential firing strokes to operate the end effector, and a rotatable counter mounted to the outer frame and adapted for rotational movement about the longitudinal axis. The rotatable counter has visual indicators for providing visual indicia corresponding to a number of firing strokes completed by the drive. A counter actuator is mounted to the drive and dimensioned to engage the rotatable counter to cause rotational movement of the rotatable counter through an arc segment of rotation during each firing stroke of the drive.

Abstract: Tissue-engineered electronic peripheral nerve interface (TEENI) devices, methods of using TEENI devices, and systems using TEENI devices are provided. In particular, TEENI devices include a support member having a length, at least one thread set comprising a plurality thread set arms having a plurality of electronic leads running through the thread set arms and being fully encapsulated within the support member, and a plurality of electrodes fixed to the plurality of thread set arms.

Abstract: Devices for the treatment of vascular aneurysms are described. The treatment is achieved through the delivery of an effective amount of elastin stabilization agent to an isolated volume at the aneurysm. The elastin stabilization agent maybe embedded in a delivery composition. The device optionally has an aspiration means to improve the effectiveness of the treatment.

Abstract: System and methods of delivering adhesive material are described for occluding target locations within a patient. The systems include a catheter configured to deliver adhesive to a target location and one or more of a light source to harden the adhesive, a retention structure to contain the adhesive prior to curing, a balloon to occupy a target location, and an open cell foam plug to occupy a target location.

Abstract: Apparatus for locating an attachment position for a reconstructed anterior cruciate ligament on an attachment surface of a bone comprises locating means 51, 61 arranged to locate at least one reference surface 4 of the bone and guide means 53, 54 arranged to define the attachment position in two dimensions on the attachment surface relative to the reference surface.

Abstract: An offset guide can include a body, an arcuate portion, a first fin, and a second fin. The body can have a first surface. The arcuate portion can extend from the body and have a second surface. The first surface and the second surface can define an opening. The first fin can extend from the first surface into the opening. The second fin can extend from the first surface into the opening. A portion of the first surface can be located between the first fin and the second fin and arranged at an angle relative to a longitudinal axis of the offset guide.

Abstract: Embodiments disclosed herein relate to an aspiration catheter comprising a catheter body that can have a first end and a second end and an aspiration lumen extending through the catheter body. The aspiration lumen can have an aspiration opening located in a distal portion of the aspiration catheter. The catheter can have an assistive jet element extending through a wall of the aspiration lumen. The assistive jet element can have an assistive jet channel. The assistive jet element can be adaptable to draw blood through the assistive jet element from a location outside of the catheter body adjacent to the assistive jet element and into the aspiration lumen when suction is applied to the aspiration lumen and can be configured to break apart a thrombus or obstruction in the aspiration lumen.

Abstract: A percutaneous thrombus extraction device for removing a thrombus from within a blood vessel includes a flexible outer sheath defining a first passage between a proximal end and a distal end. An inner sheath is movably positionable within the first passage. The inner sheath defines a second passage between a proximal end and a distal end. The inner sheath is moveable in a radial direction between a collapsed configuration and an expanded configuration along a length of the inner sheath defined between the proximal end and the distal end. A catheter is movably positionable within the second passage, and has an expandable body at a distal end portion of the catheter. The expandable body is movable between a collapsed configuration and an expanded configuration.

Abstract: A system for performing an endoscopic procedure is provided. The system includes an actuation assembly having a handle assembly and a shaft assembly. The system also includes an end effector configured for selective and operative connection to a distal end of the shaft assembly. The system further includes a holder for selectively engaging the end effector and facilitating attachment of the end effector to the shaft assembly.

Abstract: A tissue containment system includes a bag body, a member extending from the bag body and defining a channel, and a viewing window. The bag body at least partially defines an interior region configured to contain a loose tissue specimen and defines an opening sized to receive the loose tissue specimen. The bag body is configured such that a first portion of the bag body can be disposed in an abdominal cavity of a patient while a second portion of the bag body extends outside of the patient. The viewing window is at least partially transparent and provides a seal between the interior region of the bag body and an ambient environment. The channel of the member is configured to receive a tissue visualization device that can be used to view the interior region of the containment bag through the viewing window.

Abstract: A surgical probe has a housing (10) extending along a longitudinal extent from a proximal end to a distal end. A longitudinal cavity (14) is provided inside the housing and extends along a proximal-distal direction inside the housing, the cavity being open at a proximal front face and being closed at a distal front face. The housing includes an aperture (11) provided in a distal region of the housing and through which the longitudinal cavity is in communication with the exterior of the housing at a circumferential position of the housing, such that the longitudinal cavity (14) is open at a circumferential position through the aperture (11). A blade (31) has a cutting edge (311) and an actuation transmission mechanism (32) inside the housing and in the longitudinal cavity, and the blade (31) is disposed distal of the actuation transmission mechanism (32).

Abstract: A trocar system with a trocar which has a trocar mandrel, a trocar sleeve and a valve block, characterized by a tubular working sleeve having an axially continuous inner channel, in which the trocar can be inserted in such a way that the trocar sleeve is sealed with the outer perimeter thereof in the inner channel, so that the distal tip of the trocar mandrel projects distally out of the working sleeve and that the valve block is located proximally outside the inner channel, and having at least one working channel which is formed on the working sleeve and extends from a proximal inlet opening to a distal outlet opening.

Abstract: A method and system provide a surgical infusion device including a cannula and an optical fiber coupled with the cannula. The cannula has a channel therethrough and an outside diameter. The channel has an inside diameter that is smaller than the outside diameter. The optical fiber is coupled with the cannula. At least a portion of the optical fiber coupled with the cannula has a diameter of not more than one half the inside diameter.

Abstract: A valve component (1) of the invention comprises a main valve (2) which is located on a centre line and at least one auxiliary valve (3) which is located radially outwardly of the main valve (2). The main valve may be used for sealing engagement with a cannula. In some cases the cannula may be used for introduction of a number of robotically controlled surgical instruments generally, including a camera. The auxiliary valves (3) may be utilised to introduce another instrument through the valve component. The valve component is mounted in a manner which ensures that the valve component (1) is rotatable about a centre line through the axis of the valve component (1).

Abstract: An obturator includes an elongate shaft extending between a proximal end and a distal end, the elongate shaft having an opening at the proximal end and defining an elongate cavity which is sized and shaped to receive an optical instrument. The obturator is provided with an axially extending finger for radial movement inwardly to engage the outer surface of the optical instrument located within the elongate cavity. The finger may be a latch member with a latch element and able to be moved between a first position, in which the latch element is located relatively radially inward, and a second position in which the latch element is located relatively radially outward. With the obturator located within a cannula body, an instrument inserted into the obturator causes the latch element of the latch member to engage with the cannula to prevent relative axial movement therebetween.

Abstract: Provided is a fertility device configured to be placed into a subject's vagina after intercourse, the fertility device comprising: a vaginal portion, the vaginal portion comprising: a proximal end; a distal end opposite the proximal end along a longitudinal axis; and a middle portion between the proximal and the distal end; and a lead operatively coupled to the proximal end, wherein: when at least part of the middle portion is placed into a subject's vagina, the lead remains partially outside the vagina, and the vaginal portion impedes leakage of sperm.

Abstract: Systems and methods for a guide assembly for introducing a bone anchor to an operative target site. The guide includes an outer sleeve and an inner sleeve. The outer sleeve has a distal anchor engaging end, a proximal end, and a central passage extending from the distal end to the proximal end. The inner sleeve may be situated in the central passage of the outer sleeve. The inner sleeve is movable being between a first position and a second position. The first position permits insertion of the bone anchor in the central passage. The second position releasably fixes the bone anchor to the guide assembly.

Abstract: A screw extension assembly for use in minimally invasive spinal surgery, the assembly has an inner slotted shaft and an outer shaft, a rod reducer and a removable nut. The combination when assembled is configured to move a spinal fixation rod into a slotted rod receiving spinal implant where it is seated and affixed thereto. The screw extension assembly further has a locking knob rotationally coupled to a proximal end of the outer shaft, wherein the inner shaft has one or more cam grooves and the locking knob has a pin extending into and guided by said cam groove causing the outer shaft to translate longitudinally upon rotation of the locking knob relative to the inner shaft toward an engaged position locking the deflectable legs in the coupled position to the slotted rod receiving implant.

Abstract: A spinal distraction system including a bearing connector fastened to a fixated rod and a sliding rod, wherein the sliding rod includes a spring and a stop ring is disclosed. A method of distracting vertebrae is also disclosed.

Abstract: A surgical instrument includes an actuator. A first member is connected with the actuator and is configured to engage a bone fastener that defines a first implant cavity and a second implant cavity. A second member is connected with the actuator and includes an implant engaging surface having a first portion movable along the first implant cavity and a second portion movable along the second implant cavity. Systems, spinal constructs, implants and methods are disclosed.

Abstract: A bone plate locking cannula and drill guide assembly having a locking cannula detachably mountable onto screw-receiving apertures of a bone plate and a drill guide received within the locking cannula such that pilot holes are drilled through the apertures into bone at the proper angle to receive bone screws. The screw receiving apertures have a proximal bore of greater diameter than a distal bore, and the proximal bore is provided with internal threading to mate with external threading located on the distal end of the locking cannula. The bone screws are inserted through the locking cannula after removal of the drill guide and fastened into the bone to secure the bone plate in position without having to remove the locking cannulas from the bone plate, the internal diameter of the locking cannula bore being greater than the maximum diameter of the screw heads. The locking cannula is detached from the bone plate after the bone plate has been secured in place on the bone.

Abstract: Methods and apparatus provide for an orthopedic device, including: a base element having a plurality of apertures extending therethrough for receiving a respective bone fixation element; a retaining mechanism operating to prevent withdrawal of the fixation element; and a blocker operating to overlie the bone fixation element within the one of the apertures such that the bone fixation element is prevented from withdrawing from one or more bones of the patient.

Abstract: The various embodiments of the present invention provide a system, including methods, apparatus and kits for connecting bones and/or bone portions using a multi-part bone connector with one or more rotating joints.

Abstract: A tethered system for cryogenic treatment is disclosed in which a hand piece having an elongate probe with a distal tip and a flexible length, at least one infusion lumen positioned through or along the elongate probe, and a liner may be tethered to a. base station having a reservoir of a cryoablative fluid via a connection having an elongate flexible body. The connection defines at least one fluid lumen for delivery of the cryoablative fluid from the reservoir and to the infusion lumen within the hand piece.

Abstract: An electrosurgical system includes an energy source adapted to supply energy to tissue. The energy source includes a microprocessor configured to execute a tissue treatment algorithm configured to control the supply of electrosurgical energy to tissue and process a configuration file including at least one parameter of the tissue treatment algorithm. The at least one parameter is adjustable to effect a tissue seal result. The microprocessor generates a target impedance trajectory based on at least one parameter of the tissue treatment algorithm and is further configured to drive tissue impedance along the target impedance trajectory by adjusting the supply of energy to tissue to substantially match tissue impedance to a corresponding target impedance value. The system also includes an electrosurgical instrument including at least one active electrode adapted to apply electrosurgical energy to tissue.

Abstract: A surgical device employs a longevity circuit for preventing operation after a specified time based on safe use expectations. The surgical device delivers a therapy signal via a handpiece having electrodes in proximity to the surgical site. The therapy signal is a high frequency electrical signal delivered from a generator coupled to the handpiece, and activated by a control signal. A therapy circuit established by coupling the handpiece and generator delivers the therapy signal, and is monitored for activation based on a time since a first activation, a number of activations, or an aggregate time of activated intervals. A usage limit defines the activation lifespan, and is employed for monitoring either the therapy circuit or the control circuit, to determine a usage history. Following expiration of a safe usage limit, a longevity circuit in the handpiece disables the handpiece for successive uses, and is independent of a connection to a particular generator.

Abstract: A method of treating tissue includes extending a distal tip of an electrode of a surgical instrument from a body of the surgical instrument to expose the distal tip by sliding the electrode along a longitudinal axis defined by the body, delivering energy from the distal tip to tissue, and applying suction adjacent the distal end of the body with a suction pipe of the surgical instrument. The distal tip of the electrode may include a collapsible portion. Extending the distal tip of the electrode may include moving the collapsible portion to extend beyond an outer radial dimension of a nose of the surgical instrument.

Abstract: The instrument comprises a jaw arrangement with two jaws that have, on their side facing the counter-electrode arrangement, rounded or flat electrode surfaces. The counter-electrode arrangement comprises at least one counter-electrode surface that may be rounded or flat. One of the electrode surfaces has a band edge preferably bordered by an insulator on one side, said band edge being adjacent to the adjacent electrode surface of the jaw arrangement. The counter-electrode surface has a band edge adjacent to the insulator facing the band edge of the one electrode surface. The band edges of the electrode surfaces acting as the coagulation surfaces are close enough such that they form cutting edges that develop a cutting effect with low voltages that are otherwise suitable only for coagulation. Accordingly, it is possible to provide fusion instruments that are extremely delicate, display lower thermal inertia and an excellent fusion and cutting effect.

Abstract: A surgical instrument includes a housing that supports an elongated shaft. A selectively movable drive rod extends through the elongated shaft and carries a cam pin in a longitudinal direction. An end effector for surgically treating tissue is supported by the elongated shaft and includes upper and lower jaw members pivotally coupled to one another about a pivot axis. The upper jaw member includes a first pair of laterally spaced flanges, and the lower jaw member includes a second pair of laterally spaced flanges defining a camming slot for engaging the cam pin. The flanges are arranged in an offset configuration where one flange of the upper jaw member is positioned on a laterally exterior side of a corresponding flange of the lower jaw member, and the other flange of the upper jaw member is positioned on a laterally interior side of the other flange of the lower jaw member.

Abstract: Embodiments of the present invention facilitate real-time ablation lesion characteristic analysis. In an embodiment, an electrophysiology system comprises a catheter, a signal generator and a mapping processor. The catheter includes a flexible catheter body having a distal portion and a plurality of electrodes disposed on the distal portion. The signal generator is configured to generate an electrical signal by driving one or more currents between a first set of the plurality of electrodes, wherein a second set of the plurality of electrodes is configured to obtain an impedance measurement based on the electrical signal. Furthermore, the mapping processor configured to: receive the impedance measurement from the second set of electrodes; determine at least one impedance metric; and determine, based on the at least one impedance metric, a likelihood of an occurrence of a steam pop.

Abstract: An electromagnetic surgical ablation probe having a tunable helical antenna element includes a coaxial feedline having an inner conductor coaxially disposed within a dielectric, and an outer conductor coaxially disposed around the dielectric. The inner conductor and dielectric extend distally beyond a distal end of the outer conductor. A helical antenna element is operably coupled to a distal end of the inner conductor. During use, the antenna may be tuned by changing at least one dimension of the helical antenna element. Embodiments are presented wherein a dimension of the helical antenna element is changed by state change of a shape memory alloy, by a change in temperature, by activation of a piston by fluidic pressure, by linear motion of a conical tip, and by a manual screw-type adjustment.

Abstract: A breast X-ray imaging apparatus according to an embodiment includes processing circuitry. The processing circuitry collects three-dimensional image data of a breast of a subject. The processing circuitry detects a lesion from the three-dimensional image data. The processing circuitry derives a puncture path for inserting a puncture needle into the breast, by analyzing linearity in three-dimensional distribution of the lesion and based on an analysis result of the linearity.

Abstract: A surgical system having an arm or elongate portion, the arm or elongate portion being bendable, articulated, reconfigurable and/or flexible such that the arm or elongate portion is steerable by bending, articulating, reconfiguring and/or flexing of the arm. The arm or elongate portion includes or is configured to receive at least one tool or load. The system includes one or more first and/or second location or position tracking systems that are configured to determine and/or track a location and/or position of one or more parts or a whole of the arm or elongate portion and/or the tool or load. The at least one first location or position tracking system is a non-optical or non-radiation based location or positioning tracking system. The second location or position tracking system is an optical or radiation based positioning system.

Abstract: A catheter tracking system can be used to track motion and/or position of a catheter during delivery into a patient. A catheter tracking system can include an encoder and a guide roller to guide delivery of a catheter. The encoder can be configured to track motion or position the guide roller. The encoder may be a rotary optical encoder or a magnetic position sensor. A processing unit can also be used to determine motion or position of the catheter. The catheter tracking device may also include a wireless transmitter for communicating the catheter motion or position to an external device.

Abstract: The present invention provides a surgical navigation system including a positioning device, a processing device and a display device. The positioning device includes an auxiliary positioning assembly capable of wearing or fixing around a patient's affected part and an optics positioning assembly. The optics positioning assembly can sense the position of the auxiliary positioning assembly to form a positioning information. The processing device can receive the positioning information and integrate the positioning information with a medical image to form a navigation information, so that the navigation information is displayed on the display device through a stereoscopic image or a sectional image. Therefore, the doctor can accurately perform the relevant surgical operations on the patient's affected part through the displayed information.

Abstract: There is provided a surgical instrument for navigated surgeries and systems and methods using such a surgical instrument. The surgical tool comprises a tip; a tool interface, separate from the tip; and an optically trackable target. The tip is configured to probe positions in a space and identify the positions using optical information from the optically trackable target. The tool interface is configured to mate with a surgical tool such that the optical trackable target then provides optical information with which to determine positional information for the surgical tool in the space. In one example, the system provides navigational information during surgery using the surgical instrument, namely, a single integrated tracker instrument with two or more mechanical interfaces for coupling the tracker instrument with anatomical features and/or surgical tools.

Abstract: Devices and methods for temporarily affixing a surgical apparatus to a bony structure. The temporary mount includes a base member having a top face configured to be impacted by an insertion device and a plurality of elongated prongs extending downwardly from the base member and configured to engage a bony structure. The prongs are separated a distance from one another, and the prongs are configured to move inwardly toward one another when driven downward into the bony structure.

Abstract: Systems, methods and apparatus are disclosed for improving medical procedures and medical procedure management, and, more particularly, for tracking medical instruments throughout a procedure and assisting medical personnel throughout the procedure or at least at the conclusion of the procedure. In one form, an apparatus for tracking medical instruments throughout a procedure is disclosed having a single camera for tracking movement and/or detecting position of a plurality of medical instruments during a medical procedure as at least one of the plurality of medical instruments is moved between multiple zones at least including a first prep zone and a second procedure zone. The apparatus having a controller connected to and collecting images from the camera, and a display in electrical communication with the controller and/or the camera for displaying medical instrument data pertaining to the movement and/or position of the plurality of medical instruments.

Abstract: Medical software tools platform utilizes a surgical display to provide access to specific medical software tools, such as medically-oriented applications or tools, that can assist those in the operating room, such as a surgeon or surgical team, with a surgery. In particular, an optical sensor located within an endoscopic camera may register subtle differences in color characteristics reflected from a tissue surface and in turn transmit the information to a medical image processing system. Moreover, the new tools are intended to help surgeons better determine the boundaries between healthy and diseased regions during surgical procedures. Various tools are intended to be used in procedures where indocyanine green (ICG) fluorescent dye is used. Intraoperative fluorescence imaging is commonly used during minimally invasive procedures to enable surgeons to visualize tissue perfusion and anatomical structures. The term perfusion refers to the passage of blood and tissue fluid through the capillary bed.

Abstract: According to an aspect of the present disclosure, a surgical instrument is provided and includes a housing; an elongate shaft extending from the housing; and a tool assembly supported by a distal portion of the elongate shaft, the tool assembly including first and second jaw member. The at least one of the first and second jaw members is moveable relative to the other jaw member between a neutral configuration in which the first and second jaw members are spaced apart relative to one another; and a clamping configuration in which the first and second jaw members are approximated relative to one another with tissue grasped therebetween, the first jaw member defining a cavity.

Abstract: A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.