Abstract: An organ measuring tool assembly is provided that includes a grasping device and a measuring device including a plurality of measuring components for measuring the size of an internal body organ such as the bowel during an ostomy procedure. The plurality of measuring components have different and can be removably coupled to the grasping device. By measuring the bowel prior to performing an ostomy procedure, the appropriate size openings can be formed in the muscle layer of the abdominal wall, i.e., the rectus sheath, to minimize complications associated with ostomy.

Abstract: Described herein is a system and method for identifying elastic lamina during interventional procedures, such as atherectomy. Such identification can be used to avoid trauma to the external elastic lamina during the procedure.

Abstract: A surgical device is provided which is formed of a pair of engageable members each having first and second channels which define respective first and second tunnels through the removably engaged members. Apertures through a proximal endwall provide a path for a cabled imaging component through said first tunnel to provide images of tissue surrounding the device, and an opening in the endwall of the paired members provides access to the second tunnel for a surgical blade for cutting tissue positioned in a gap between the paired members.

Abstract: An endoscopic snare device (10, 100, 100?) includes a pair of bowed, resiliently deformable, snare wires (12, 14) with bow shaped memory, a mesh (20) attached to mid-portions (16, 18) and distal portions (22, 24) of the snare wires (12, 14) for a mesh length (A) that is less than the snare length (L), a bowed, resiliently deformable, support wire (116) extending in a plane out of the plane of the snare wires (12, 14), and a pair of bowed, resiliently deformable, incising wires (112, 114) side by side with the snare wires (12, 14). The support wire (116) is electrically insulated. A mouth cord or wire (46) extends from one snare wire (12), through the support wire (116), and to the other snare wire (14).

Abstract: This invention relates to device, systems, kits and methods that enable selective dissection of lung tissue to remove diseased tissue from healthy tissue without damaging blood vessels or airways. The invention and methods enable minimally invasive lung surgery procedures by providing a device and method to perform automated dissection that discriminates against traumatizing critical lung tissue.

Abstract: A tissue ablation system for treating fibrillation in a patient comprises a steerable interventional catheter having an energy source that emits a beam of energy to ablate tissue thereby creating a conduction block for aberrant electrical pathways. The system also includes a handle disposed near a proximal end of the interventional catheter and has an actuation mechanism for steering the interventional catheter. A console allows the system to be controlled and provides power to the system, and a display pod is electrically coupled with the console. The display pod has a display panel to display system information to a user and allows the user to control the system. A catheter pod is releasably coupled with the handle electrically and mechanically, and also electrically coupled with the display pod.

Abstract: A grasping treatment instrument includes a grasping piece, and a supporting member opening and closing relative to the grasping piece. A clamp member is provided between the supporting member and the grasping piece in open and close directions of the supporting member, and the clamp member includes an opposed surface opposed to the grasping piece, and a back surface facing to an opposite side of the opposed surface. The grasping treatment instrument includes a cover member made of a material having lower thermal conductivity than the clamp member, and the cover member covers the clamp member from the back surface side in a part on a distal side with respect to a position where the clamp member is pivotally supported.

Abstract: A tissue-removing catheter for removing tissue from a body lumen during a cutting operation includes an elongate catheter body configured for insertion into the body lumen and a tissue-removing element. A motor is operably connected to the tissue-removing element for rotating the tissue-removing element. A sensor is configured to detect a parameter of the catheter body during the cutting operation. A motor control circuit is in electrical communication with the sensor and the motor. During an operational control function, the motor control circuit is configured to receive a signal from the sensor based at least in part on the detected parameter, determine whether the received signal is indicative of inefficient movement of the tissue-removing element, and adjust a rotational speed of the tissue-removing element to increase efficiency of the tissue-removing element if the received signal is indicative of inefficient movement of the tissue-removing element.

Abstract: An apparatus for addressing tissue and bone in a nasal cavity includes a rotary or oscillatory cutting member disposed in the lumen of a shaft. The shaft may have a first window region oriented in first direction and a second window region oriented in a second direction. The cutting member may have a first cutting edge configured to be cyclically moved across at least a portion of the first window region and a second cutting edge configured to be cyclically moved across at least a portion of the second window region. A shield is selectively positionable to occlude the first and to occlude the second window region.

Abstract: A spinal needle that includes a needle body insertable through tissue to a desired depth within a patient's body, the spinal needle is capable of retaining bodily fluids, including cerebrospinal fluid, and provides a window capable of allowing a user to view the existence or non-existence of bodily fluid retained therein.

Abstract: An illuminated needle device for performing a heart valve repair includes an outer member and an inner member. The outer member includes a body that has a proximal end and a distal end. The body of the outer member defines a lumen therethrough and the distal end of the body includes a needle. The inner member is slidably disposed within the lumen of the outer member. The inner member includes a distal end that has a radiation emitting element. The illuminated needle device is characterized by the outer and inner members together forming a flexible, elongate shaft, and the inner member being configured to emit radiation from the radiation emitting element from a location proximate to the distal end of the outer member.

Abstract: Examples of catheter devices and needle devices and kits are disclosed. Also methods for accessing a hollow organ are disclosed. The catheter devices comprise a body extending longitudinally from a proximal end to a distal end, wherein the body comprises an elongated channel along the longitudinal length of the body extending from the proximal end to the distal end of the body, wherein the channel is configured to receive an elongated needle of a removable needle device, and the body comprises one or more cutting edges extending in a proximal direction from a distal end of the body. The body of the catheter device comprises one or more recesses adapted to mate with one or more catches of the needle device for coupling the needle device to the catheter device. Also methods of using the devices and kits are disclosed.

Abstract: A single body port or body flange access device and method for performing laparoscopic surgery are disclosed. The device comprises a plurality of crisscrossing conduits through which surgical instruments may be inserted. The instruments are manipulated so that triangulation is obtained using one patient body flange while standard surgical procedures are performed on the patient.

Abstract: Apparatus is provided including a surgical tool configured to be advanced distally within a body of a subject. The surgical tool is shaped to define a side-facing suction port at a distal portion of the surgical tool to facilitate drawing tissue through the suction port and into the surgical tool, and includes a slidable transparent shutter configured to be disposed over the suction port, and to be slidably removed from the suction port. A needle is configured to be slidably disposed within the surgical tool and configured to puncture the tissue while the tissue is in the surgical tool.

Abstract: An external bone fixator apparatus for use in orthopedic surgery and treatments is disclosed herein. The present application relates generally to orthopedics. More specifically, the present application relates to apparatus and methods for the repair of fractures or deformities in long bones. Devices of the disclosed system enable fixation of bone fractures during reduction and other orthopedic procedures. These fixation devices may include an adjustable fixation frame having external fixation elements adapted to position Kirschner wires (K-wires) engaging the bone segments of the fracture.

Abstract: A implantable bone distraction device for distracting osteotomically separated bone sections includes a first block, a second block, and an actuator including elements for adjusting the space between the two blocks, a vibration sensor arranged in an area located between the first block and the second block and oriented in order to measure a vibration response of a medium of the implantable bone distraction device. A medical monitoring device includes a receiver for receiving data from an implantable bone distraction device, corresponding to a mechanical vibration response of a medium; a calculator for computing from the received data a distraction indicator by: (i) determining a vibration pattern of the medium from the measured vibration response; (ii) analyzing the evolution of a value of the vibration pattern from the measured vibration response during a first period; and (iii) generating a distraction indicator when the value exceeds a predefined threshold.

Abstract: Methods and devices for treating spinal deformities are provided. In one exemplary embodiment, a low-profile spinal anchoring device is provided for receiving a spinal fixation element, such as a tether, therethrough. The device generally includes a staple body that is adapted to seat a spinal fixation element, a fastening element for fixing the staple body to bone, and a locking assembly for coupling a spinal fixation element to the staple body. In one embodiment, the locking assembly includes a washer that is adapted to couple to the staple body such that the spinal fixation is disposed therebetween, and a locking nut that is adapted to engage the staple body to mate the washer to the staple body.

Abstract: An implantable device may comprise a barrel, the barrel having an upper portion and a lower portion. The barrel may be configured to transition from a collapsed form having a first height to an expanded form having a second height and wherein the second height is greater than the first height. The implantable device may further include an actuator assembly disposed in the barrel, the actuator assembly comprising a front ramped actuator in engagement with the barrel, a rear ramped actuator in engagement with the barrel, and a central screw that extends from the rear ramped actuator through the front ramped actuator. The implantable device may further comprise a first plate and a second plate.

Abstract: The present invention discloses spinous process fixation devices, systems, and instruments. The spinous process fixation device includes a first member, a second member, a third member, and a fourth member. Each of the first and second members includes a body and an engagement member and the engagement member of the first member couples to the engagement portion of the second member. Each of the third and fourth members also includes a body and an engagement member and the engagement member of the third member couples to the engagement portion of the fourth member. A method of assembling the spinous process fixation device and methods of using the spinous process fixation devices are also disclosed. A reamer instrument is also disclosed.

Abstract: An intramedullary pin includes a main body having a proximal boundary and a distal boundary; a curved extension having a degree of curvature of at least 1°, the curved extension being in direct contact with the distal boundary; a distal cap having a cylindrical portion and a rounded portion, the cylindrical portion being in direct contact with the curved extension; a grip element having at least one contour, the grip element being in direct contact with the proximal boundary; and a proximal cap having a flat surface, the proximal cap being in direct contact with the grip element. Also disclosed is a clamp that includes a handle, two blades, a pivot, and a plurality of grasping elements including a notch, at least one protrusion, and a groove, where one or more grasping elements have a contour that is structurally complementary to the grip element in the intramedullary pin. A method of immobilizing a bone fracture using the intramedullary pin and/or clamp is also disclosed.

Abstract: An apparatus can include a fibula plate having a shape such that, when placed on a fibula, includes a distal portion facing in a lateral direction and an upper portion wrapped around to a posted or aspect of the fibula, the fibula plate having screw holes positioned in the upper portion to direct screws anteromedially rather than directly medial.

Abstract: A bone plate has first and second sides, each with the same structure. The plate includes nodes separated by deformable bridges. Each node defines a screw hole, and wings extending laterally therefrom. The wings taper in thickness between the first and second sides. Screw holes are threaded into the nodes. The plate can be shaped to the bone by deformation at the bridges or removal of portions of the plate at bridges.

Abstract: A method of changing a bone angle includes creating an osteotomy between a first portion and a second portion of a tibia of a patient; creating a cavity in the tibia by removing bone material along an axis extending in a substantially longitudinal direction from a first point at the tibial plateau to a second point; placing a non-invasively adjustable implant into the cavity, the non-invasively adjustable implant comprising an adjustable actuator having an outer housing and an inner shaft, telescopically disposed in the outer housing, and a driving element configured to be remotely operable to telescopically displace the inner shaft in relation to the outer housing; coupling one of the outer housing or the inner shaft to the first portion of the tibia; coupling the other of the outer housing or the inner shaft to the second portion of the tibia; and remotely operating the driving element to telescopically displace the inner shaft in relation to the outer housing, thus changing an angle between the first porti

Abstract: Implants for the fusion or fixation of two bone segments are described. For example, the implants can be used for the fusion or fixation of the sacroiliac joint. The implants can have a matrix structure, have a rectilinear cross-sectional area, and have a curvature.

Abstract: A device for treating a bone includes a first clamp member sized and shaped to be mounted over a bone laterally across a fixation plate positioned along a length of the bone. In addition, the device includes a second clamp member coupleable to the first clamp member so that, when the first and second clamp members are coupled together in an operative position, the first and second clamp members extend about at least a portion of a periphery of the bone. The second clamp member includes a spring feature biased toward an initial configuration and deflectable toward a second configuration away from the bone.

Abstract: A system including anchors, anchor components, and anchor assemblies and subassemblies that are adapted for attachment to a bony structure of a clinical subject. For example, two or more such anchors in the form of screws may be affixed to bones, for example, vertebral structures such as the pedicle, and each anchor is connected to a stabilizer such as a surgical rod that is inserted between the anchors. The anchors and assemblies are novel in many respects owing to their modular nature and height adjustability, which in contrast to conventional systems, allows the anchors to be provided to a surgeon in modular, sub assembled and fully assembled form to enable a broad array of choices in devising the optimal plane for surgical bone fixation.

Abstract: An insertion tool for deploying a flip anchor cable, including: a mechanism having a safety button and a slider, wherein the mechanism is configured to apply a clamping force on a portion of the flip anchor cable when the mechanism is in a first position; an inner tube having a proximal end connected to the mechanism configured to house a second portion of the flip anchor cable; a handle including a safety button opening and a slider opening, wherein the handle is configured to enclose a portion of the mechanism; and an outer tube having a proximal end connected to the handle configured to receive the inner tube; wherein the mechanism is configured to decrease the clamping force on the flip anchor cable when the mechanism is in a second position and to deploy a flip anchor of the flip anchor cable in the second position.

Abstract: A control device for use with a treatment tool that includes a heating element to apply heat to a treatment target. The control device comprises a processor configured to set a target temperature for the heating element and to control the heating element so that temperature of the heating element follows the target temperature. The processor is configured to switch the control of the heating element from a first phase to a second phase. A first followability of the temperature of the heating element in the first phase is higher than a second followability of the temperature in the second phase. The processor is configured to terminate the controlling of following the temperature of the heating element to the target temperature when a parameter is beyond a predetermined range wherein the parameter being defined as a fluctuation between the temperature of the heating element and the target temperature.

Abstract: A pre-surgical planning apparatus adapted to estimate ablation information of a target object ablated by a magnetic heat treatment device is provided. The magnetic heat treatment device includes a needle and a coil. The pre-surgical planning apparatus includes a storage device, a processing device, and an input device. The storage device stores an estimation model. The input device provides a plurality of parameters including a needle angle parameter, a needle characteristic parameter, and a then gal conductivity of the target object. The processing device inputs the parameters to the estimation model, such that the processing device executes the estimation model to estimate the ablation information of the target object ablated by the magnetic heat treatment device with a preset power and a preset length of time. The ablation information includes temperature curve information and temperature distribution information. Besides, a pre-surgical planning method is also provided.

Abstract: A device for controlling the energy supply to a medical instrument contains the medical instrument and an energy supply device. The energy supply device has at least a first and a second energy supply mode that can be preselected on the energy supply device and which supplies energy to the medical instrument according to a preselected energy supply mode. The energy supply device additionally has a third mode which differs from the at least two energy supply modes, can be preselected on the energy supply device, can detect an actuation of an energy supply operating element arranged on the medical instrument, and can carry out the supply of energy to the medical instrument in the first or second mode based on the detected actuation.

Abstract: A radio frequency (RF) current sensor for remotely activating a smoke evacuation device in an electrosurgical system includes a sensor body with a cable interfacing sidewall and a retaining member. The cable interfacing sidewall and the retaining member define a retention pocket for receiving a cable communicating RF current. The RF current sensor additionally includes a sensor element for detecting RF current in the cable and a sensor cable in electrical communication with the sensor element. The RF current sensor can operate in at least two modes, depending on whether the cable communicates RF current to a monopolar or bipolar electrosurgical instrument, but regardless of the operation mode, the sensor cable can communicate an activation signal and a current signal derived from the detected RF current to the smoke evacuation device, which activates or adjusts the period of time and/or the smoke evacuation flow rate of a vacuum source.

Abstract: A smoke evacuation device includes one or more cooling mechanisms and an exhaust mechanism to reduce velocity and noise of filtered air exiting the smoke evacuation system. The cooling mechanism includes ventilation openings and/or a rotary mechanism disposed within the system to circulate air and cool by convective heat transfer. A pressure relief mechanism is also provided at the inlet or outlet of the system or the pump within the system. The pressure relief mechanism is configured to reduce pressures due to abnormal flows within the smoke evacuation system.

Abstract: A filter connection for a smoke evacuation device includes a filter canister assembly and a socket. The filter canister assembly has a cross-sectional shape with only one line of symmetry that corresponds to a cross-sectional shape of the socket so that the filter canister can only be inserted into the socket in one orientation. One or more key notches on the filter canister may also ensure that the filter is properly installed. A seal creates an airtight boundary between the filter canister and a recess of the socket so that a sealed path in communication with the smoke evacuation device is established before the filter canister is fully inserted into the socket. An electronic connection is made between the filter canister and the socket after the airtight boundary is created.

Abstract: The active electrode assembly for an electrosurgical device includes an electrically conductive shaft having opposed proximal and distal ends, the proximal end being adapted for connection to a conventional electrosurgical device. An electrically insulating sheath partially covers the distal end of the electrically conductive shaft. The electrically insulating sheath has a cut-out portion or recess formed therein, such that a portion of the distal end of the electrically conductive shaft is exposed therethrough. The exposed portion of the distal end defines an application surface for applying electrical current to the patient's tissue. The area surrounding the application surface remains covered by the electrically insulating sheath, thus providing electrically insulating protection for both the patient and the surgeon.

Abstract: System for electrically ablating tissue of a patient through a plurality of electrodes includes a memory, a processor and a treatment control module stored in the memory and executable by the processor. The treatment control module generates an estimated treatment region based on the number of electrical pulses to be applied.

Abstract: A smoke evacuation device that evacuates smoke from a surgical site and filters the smoke from the air. The smoke evacuation device can include a fluid trap for removing moisture from the smoke. The smoke evacuation device can also include a filter with a compression mechanism for compressing a filter medium. The smoke evacuation device can also include features for controlling flow parameters, noise, and vibrations of the device. A remote activation device can also be used to activate the smoke evacuation device upon detection of certain system parameters.

Abstract: An endoscopic bipolar forceps includes a housing and a shaft, the shaft having an end effector assembly at its distal end. The end effector assembly includes two jaw members for grasping tissue therebetween. The jaw members are adapted to connect to an electrosurgical energy source which enable them to conduct energy through the tissue to create a tissue seal. A drive assembly is disposed within the housing which moves the jaw members. A switch is disposed within the housing which activates the electrosurgical energy. A knife assembly is included which is advanceable to cut tissue held between the jaw members. A movable handle is connected to the housing. Continual actuation of the movable handle engages the drive assembly to move the jaw members, engages the switch to activate the electrosurgical energy source to seal the tissue, and advances the knife assembly the cut the tissue disposed between the jaw members.

Abstract: The present disclosure provides a treatment method for hypertrophic cardiomyopathy applied to an ablation system comprising an ablation needle assembly and an energy generating device coupled to the ablation needle assembly. The treatment method comprises: advancing a distal end of the ablation needle assembly from an outside of a body through an intercostal and a cardiac apex into a ventricular septum; turning on the energy generating device, and using the distal end of the ablation needle assembly to perform radio-frequency ablation or microwave ablation to hypertrophied myocardium within the ventricular septum to make it necrotic and/or atrophic. The present disclosure avoids risk and pain of surgical septal myectomy and extracorporeal circulation in surgical resection, and does not have risk of large-area myocardial infarction caused by alcohol ablation. It is easy to operate and slight trauma to patients.

Abstract: A medical device includes a body and at least one electrode disposed thereon. The electrode includes a metallic substrate, such as a platinum group metal, an alloy of platinum group metals, or gold. The surface of the substrate is modified in a manner that increases its effective surface area without inducing bulk heating. For example, the surface of the substrate can be laser textured and/or coated, such as with titanium nitride or iridium oxide.

Abstract: Disclosed herein are an apparatus and a method for the treatment of a prostatic disease.

Abstract: Devices, systems, and methods for therapeutically treating tissue. The devices and methods are suitable for minimally invasive surgery or open surgical procedures. More particularly, methods and devices described herein permit treating large areas of tissue with a therapeutic device. In some variations, the method and devices allow for large area treatment without having to reposition the device. The methods and devices described herein discuss the treatment of cardiac tissue for purposes of illustration.

Abstract: An ablation electrode is mounted on the distal end of a catheter with a first portion inside and a second portion outside the catheter. The second portion is adapted to have a surface that makes maximum contact with a tissue to be ablated, leaving a minimum area not covered by the tissue and potentially exposed to blood. The first portion is adapted to provide an extended surface area for efficient exchange of heat with a coolant flowing inside the catheter. Outlets provided near the area not covered by the tissue in the second portion prevents blood from getting close to or come directly in contact with the area, thereby greatly reducing formation of dangerous blood clots. The minimizing of an electrical circuit through blood greatly reduces wasted power into the electrode so that the efficiently cooled electrode is not burdened. The catheter preferably has multiple electrodes with similar features.

Abstract: Disclosed is a catheter comprising a first support member located near the distal end of the catheter and having a first hollow with both open ends; a second support member located near the proximal end of the catheter in comparison to the first support member and having a second hollow with both open ends; an operating tube configured to elongate in one direction; at least one connection member having one end connected to the first support member and the other end connected to the second support member; and a shaft body located near the proximal end of the catheter in comparison to the second support member to elongate in one direction, the shaft body having a fourth hollow with both open longitudinal ends so that the operating tube is inserted therein and movable in the longitudinal direction.

Abstract: Embodiments of the invention include a treatment device and corresponding treatment method for laser wound healing, the device and method making use of the simultaneous action of multiple laser types and laser wavelengths which are applied at human tissue. The treatment device generally includes a laser system and a hand-piece which is coupled to the laser system. The hand-piece is designed so that one or multiple laser beams are applied at relatively small spot and at a relatively high power level, and are surrounded by a relatively large spot of another laser beam with a relatively low power level. In a preferred implementation, the hand-piece is adapted to facilitate the emission of first and second laser beams together with a third laser beam which is delivered at a different spatial profile in comparison to the first and second laser beams.

Abstract: A laser fiber for use in performing a medical laser treatment includes an optical fiber and a fiber tip. The optical fiber includes a terminating end surface at a distal end. The fiber tip is positioned at the distal end of the optical fiber and includes a transmissive portion and a spacer portion. Laser energy discharged from the terminating end surface of the optical fiber is transmitted through the transmissive portion. The spacer portion defines a distal terminating end of the fiber tip that is spaced a predetermined distance from the terminating end surface of the optical fiber. The predetermined distance is set for shock wave generation for calculus destruction at the distal terminating end of the fiber tip.

Abstract: A method, consisting of receiving a computerized tomography scan of at least a part of a body of a patient, and identifying voxels of the scan that correspond to regions in the body that are traversable by a probe inserted therein. The method also includes displaying the scan on a screen and marking thereon selected start and termination points for the probe. A processor finds a path from the start point to the termination point consisting of a connected set of the identified voxels. The processor also uses the scan to generate a representation of an external surface of the body and displays the representation on the screen. The processor then renders an area of the external surface surrounding the path locally transparent in the displayed representation, so as to make visible on the screen an internal structure of the body in a vicinity of the path.

Abstract: A method and device for tracking objects by surgical navigation systems. The method includes: capturing an image of the tracked object; determining whether a unique identifiable feature associated with at least one totem pattern is discernible in the image; when the unique identifiable feature is discernible: determining a position or an orientation of the tracked object based on the at least one totem pattern; and registering the at least one totem pattern in the surgical coordinate space; and when the unique identifiable feature is indiscernible: determining a position of each totem pattern relative to other totem patterns such that a combination of totem patterns within the captured image is a marker group detectable as a composite totem pattern; determining a position or an orientation of the tracked object based on the composite totem pattern associated with the tracked object; and registering the composite totem pattern in the surgical coordinate space.

Abstract: A navigation apparatus for assisting navigation of a device through tissue comprises processing circuitry configured to receive volumetric medical imaging data representative of an anatomical region, the anatomical region comprising a region of tissue to be traversed by a device; process the volumetric medical imaging data to identify different types of tissue in the region of tissue; determine a position of the device; and process the volumetric medical imaging data to obtain a virtual endoscopic view of at least part of the region of tissue, the virtual endoscopic view comprising a virtual representation of the device in its determined position; wherein the virtual endoscopic view is rendered such as to visually distinguish the identified different types of tissue, thereby assisting navigation of the device through the region of tissue.

Abstract: A magnetic field pad location system is provided with dual elongated field generation pads with self-tracking. Each pad comprises magnetic coils operable to generate magnetic fields. The pads include a mechanism for securing the two pads in place on a patient table to prevent movement of the pads. A processor executes a process for installation of the two pads, comprising correlation of the magnetic fields generated by the coils to define a reference magnetic field for sensing. In one embodiment, each pad includes a same number of magnetic coils in each spatial direction. In one embodiment, the magnetic coils are tri-axial coils placed at corners of the pads. In another embodiment, each pad includes an array of six single coils.

Abstract: Systems, methods, and computer-readable media are provided. Some embodiments include obtaining image data of a subject and a medical device, the medical device including fiducial markers, wherein the image data includes three-dimensional image data. Information is generated representing a three-dimensional shape based on a planned insertion point for performing a medical procedure. A cropping process is applied to the image data to generate cropped image data based on the three-dimensional shape. In some embodiments, the cropped image data includes image data of at least two of the fiducial markers. Fiducial marker objects are detected within the cropped image data, and the fiducial marker objects are registered by matching a model of the fiducial markers with the fiducial marker objects.