Abstract: A system for imaging a subject with a contrast agent is provided. The system includes an X-ray source, an X-ray detector, and a controller. The X-ray source is operative to transmit X-rays through the subject. The X-ray detector is operative to receive the X-rays after having passed through the subject. The controller is in electronic communication with the X-ray source and the X-ray detector and operative to: generate a target contrast level based at least in part on a contrast adjustment factor; determine when a level of the contrast agent in a first plurality of images of the subject acquired via the X-ray source and the X-ray detector reaches the target contrast level; and acquire a second plurality of images of the subject via the X-ray source and the X-ray detector after the level of the contrast agent has reached the target contrast level.

Abstract: An imaging apparatus includes a nuclear medicine imaging device (10), a patient table (14), and a table controller (18) comprising an electronic processor and actuators configured to position the patient table along an axial direction and in a transverse plane that is transverse to the axial direction. An automatic positioning engine (40) comprises an electronic processor (42) programmed to determine an optimal position of the patient table in the transverse plane for imaging a target of interest in a patient based on a prior image (20, 34) of the patient. The table controller operates the patient table to position the patient table in accord with the determined optimal position of the patient table.

Abstract: The present disclosure relates to systems and methods for image generation. The methods may include obtaining projection data generated by a scanner; generating, based on a first weighting function, a first image by back-projecting the projection data, the first image having a first region corresponding to a first part of the object; generating, based on a second weighting function, a second image by back-projecting the projection data, the second image having a second region corresponding to the first part of the object, the second region of the second image presenting a better CT number uniformity than the first region of the first image; and generating a third image based on the first image and the second image.

Abstract: A system and method include acquisition of a plurality of projection images of a subject, each of the projection images associated with a respective projection angle, determination, for each of the projection images, of a center-of-light location in a first image region, determination of a local fluctuation measure based on the determined center-of-light locations, and determination of a quality measure associated with the plurality of projection images based on the local fluctuation measure.

Abstract: A new chest X-ray database, referred to as “ChestX-ray8”, is disclosed herein, which comprises over 100,000 frontal view X-ray images of over 32,000 unique patients with the text-mined eight disease image labels (where each image can have multi-labels), from the associated radiological reports using natural language processing. We demonstrate that these commonly occurring thoracic diseases can be detected and spatially-located via a unified weakly supervised multi-label image classification and disease localization framework, which is validated using our disclosed dataset.

Abstract: A method for recording image data of a moving, (e.g., cyclically moving), region of interest of a patient by a medical imaging system with an X-ray source and an X-ray detector, wherein a robotic device with a kinematic chain of moving components has a tactile connection with the patient, and wherein, the tactile connection is maintained at least for a prespecified period. The method includes acquiring measured values by sensors of the robotic device, evaluating the measured values and forwarding to the medical imaging system, wherein the evaluated measured values include information on the movement and/or position of the region of interest, and irradiation of the region of interest by the radiation source and recording of image data of the irradiated region of interest by the X-ray detector, and wherein the evaluated measured values are used to actuate the imaging system.

Abstract: The radiation system includes a radiation device, a computer, and a substrate configured to relay them. The substrate includes a video signal—Ethernet (registered trademark) conversion unit for converting a video signal from the computer into video data into an Ethernet (registered trademark) protocol and an X-ray imaging apparatus communication unit for transmitting the video data to the X-ray imaging apparatus by communications. The substrate and the radiation device are electrically insulated.

Abstract: A mobile radiography apparatus has radio-opaque markers, each marker coupled to a portion of the mobile radiography apparatus, wherein each of the markers is in a radiation path that extends from an x-ray source. A detector is mechanically uncoupled from the x-ray source for positioning behind a patient. Processing logic is configured to calculate a detector position with relation to the x-ray source according to identified marker positions in acquired projection images, and to reconstruct a volume image according to the acquired projection images.

Abstract: A method includes receiving sensor data, including audio data, of a user at an electronic device. The method also includes identifying respiratory phases of the user's breathing based on the sensor data. The method further includes converting the audio data into image data and identifying an abnormal sound associated with the user's breathing based on the image data. In addition, the method includes determining a pulmonary condition of the user based on the abnormal sound and the identified respiratory phases.

Abstract: Embodiments of the present disclosure relate to the field of ultrasonic detection, and disclose a method, device, ultrasonic probe, and terminal for adjusting a detection position. The method for adjusting a detection position in the present disclosure comprises: acquiring a first ultrasonic image currently detected by a ultrasonic probe; determining a current detection position of the detected object corresponding to the first ultrasonic image; determining indication information for indicating movement of the ultrasonic probe, according to the current detection position of the detected object and a target detection position of the detected object; and adjusting the detection position of the ultrasonic probe according to the indication information. In the present disclosure, the user may quickly acquire the correct ultrasonic detection image.

Abstract: A method and apparatus for locating a Doppler ultrasound transceiver tipped guide wire in the orifice of a stenotic aortic valve. The guide wire is inserted into a peripheral blood vessel, and the transceiver generates electrical signals reflective of the maximum velocity of the blood passing through the stenotic aortic valve, thus aligning the tip of the guide wire with the axis of the orifice of the stenotic aortic valve. Upon removal of the guide wire, a catheter is inserted over the guide wire. The guide wire is removed from the catheter, and a second, stiffer guide wire is inserted through the catheter, and the catheter is removed. A sheath comprising a collapsed caged bioprosthetic valve circumscribing a dilation balloon is inserted over the second guide wire to a location in the orifice of the stenotic aortic valve, which has been located by blood velocity images shown on a display screen electrically connected to a velocimeter.

Abstract: Described here are systems and method for using ultrasound to localize a medical device to which an active ultrasound element that can transmits ultrasound energy is attached. Doppler signal data of the medical device are acquired while the active element is transmitting acoustic energy, and the Doppler signal data are processed to detect symmetric Doppler shifts associated with the active element. The systems and methods described in the present disclosure enable tracking and display of one or more locations on or associated with the medical device.

Abstract: An ultrasound imaging device includes an ultrasound transducer module disposed within a housing and a flowable acoustic damping material disposed on at least one surface located within an interior of the housing. The flowable acoustic damping material may be a Teflon-containing gel material, in contact with at least one internal surface of the imaging device to provide acoustic damping.

Abstract: An ultrasound imaging system includes a beamformer configured to generate 2-D images offset from each other based on sweeping motion of a transducer array during a 3-D ultrasound imaging procedure producing volumetric data. The ultrasound imaging system further includes a 2-D mask processor configured to generate a 2-D mask image for each of the 2-D images. Each of the 2-D mask images includes a contour of a predetermined structure of interest in the volumetric data. The ultrasound imaging system further includes a 3-D mask processor configured to segment the structure from the 3-D image with the 2-D mask images, generating a 3-D segmentation.

Abstract: The invention relates to a method for measuring a mean visco-elasticity value for a soft material. Said method using a single probe carrying at least one transducer comprises the steps of: a) inducing, in a constraint zone, at least one burst of mechanical vibrations in order to generate internal shear waves in the tissue propagating from said constraint zone into the tissue, b1) measuring, with said transducer, the transient tissue displacements in at least one first measurement zone in the tissue, said first measurement zone being located away from said constraint zone, c) estimating a mean visco-elasticity of the region of the tissue situated between the constraint zone and the first measurement zone from said measured transient tissue displacements of the tissue in the first measurement zone.

Abstract: A urine specimen cup holder is provided to collect a urine stream in a specimen collection cup. The urine specimen cup holder includes a handle and a receiver portion at an end of the handle. The receiver portion is sized to at least partially surround and removably hold the urine specimen cup.

Abstract: In an embodiment of the invention, a frictional tissue sampling device with a head designed to be swept across or rotated without rotating off the designated site can be used to remove and obtain cell and tissue biopsy samples. A frictional tissue sampling device with a head designed to be applied to a designated site can be used to remove cells or debride tissue from, or obtain an epithelial or sub-epithelial tissue biopsy sample from lesions. The device can be otherwise used to sample specific locations. In various embodiments, the head of the device is coated with an abrasive frictional material on a platform applicator or gloved finger. The applicator tip may be trumpet shaped, propeller shaped, cone shaped, capsule shaped, narrow, or tapered, covered with a facet that can be round, diamond shaped, oval, or another geometric shape to match the device contour in contact with a tissue surface. The facet contour on applicator or finger can be concave, convex or flat.

Abstract: A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.

Abstract: Systems and methods for tissue containment and retrieval are disclosed. The containment system includes a primary chamber interconnected with a secondary channel extending from the primary chamber. A tissue specimen is mobilized inside a body cavity and placed into the primary chamber through a first opening. The first opening is pulled through a first incision or orifice and the narrower secondary channel is placed at a second incision or orifice. A second opening at the end of the secondary channel permits observation via a scope inserted through the second opening of the tissue specimen in the primary chamber undergoing morcellation via the first opening. Other systems and methods for deployment, containment, debulking and sealing of the second opening to create a closed system for the safe retrieval of the tissue specimen are provided.

Abstract: A retractor is designed to assist in cuff implantation procedure. It has a flat non-cutting retracting end at the distal. Its function is to isolate tissue of interest, to make access, and to retract tissue for cuff placement and removal while protecting critical tissue at the surgical site. A variation of this retractor can accept removable ends and tips from various instruments. This variation can be utilized in other applications such as rehabilitation or fine motor trainings of hands and prosthesis.

Abstract: A tongue elevator device is a unitary body having a handle portion, an elongated neck portion and a manipulator end portion. The handle preferably has an oblong main body having a relatively thin flat portion and a relatively thick transversely-extending end portion for secure and comfortable gripping between the fingers and thumb of the user. The elongated neck portion extends distally from the flat portion of the handle portion, and is preferably provided with measuring indicia to visually illustrate distances from the manipulator end portion of the device. The manipulator end portion has a concave distal edge, which may be formed angularly or arcuately, and a central recess or slot is provided in the concave distal edge to receive the frenulum tissue.

Abstract: A medical device including a handle; a flexible conduit having a proximal segment and a distal segment, wherein the proximal segment is coupled to the handle; and a substantially contiguous shaping structure coupled to the distal segment of the flexible conduit, wherein the shaping structure is configured to transition from (i) a substantially linear configuration to (ii) a configuration where a portion of the contiguous shaping structure is laterally displaced from remaining portions of the contiguous support structure upon the application of an axial compression force to the shaping structure.

Abstract: A tissue retraction system that allows aeration in a skinfold of a patient needing medical attention may include a flexible frame having a defined body shape comprising an internal facing surface configured to face a crease in the skinfold, an external facing surface opposite the internal facing surface configured to face outwardly and away from the patient, a first tissue facing surface, and a second tissue facing surface opposing the first tissue facing surface. Each of the first and the second tissue facing surfaces may be configured to engage against opposing sides of the skinfold.

Abstract: Provided is an implant, including a chamber having an interior radius wherein the interior radius has a flange, a cover slip, a cup, a setting member, a securing member, a resistance member, and an opposing member, wherein the cover slip, cup, resisting member, and setting member are attached to one another, the setting member sets on a flange and the securing member secures the setting member to the flange, the resistance member includes a flexibility and a longitudinal axis with a length wherein the flexibility permits modification of the length, and the opposing member sets a minimum length of the longitudinal axis. Also provided is a method of using said implant including affixing the chamber to a skull of a mammal.

Abstract: The tissue removal containment system is provided that includes a tissue removal and/or containment bag arranged to be inserted through an opening into a confined space. The bag has a support or ring having a compressed, partially compressed and/or uncompressed state or position. The bag can also include an enclosure or film defining the enclosure connected to the support with the enclosure having a confined state and a deployed or unconfined state.

Abstract: A suture anchor for tissue repair that has a proximal section and a main section where the proximal and main sections are formed of different materials. Only the proximal section is formed of a biologic material, such as human cortical bone. The proximal section is about one-third of the body of the anchor.

Abstract: A method for the treatment of plantar plate injury including insertion of at least one suture anchor into a bone opening and anchoring the at least one suture anchor and thereafter threading two ends of a suture of at least one anchored suture anchor through the plantar plate and pulling the plantar plate to the bone with the opening and fix the soft tissue to that bone by tying a knot in the suture.

Abstract: Disclosed herein are minimally invasive systems and methods for intravascularly accessing the heart and performing a transcatheter repair of a heart valve by inserting a suture as an artificial chordae into a heart valve leaflet. In various embodiments, such systems and methods can be employed in other heart valve repair procedures such an edge to edge repair to coapt leaflets by inserting one or more sutures that retain the leaflets in a coapted positioned or inserting a suture to repair a tear in a leaflet, for example.

Abstract: Suture passers and methods of use. Described herein are suture passers preloaded with suture, including cartridges that couple to a suture passer to form a loaded suture passer; the suture passer may be operated to pass one or more lengths of suture without having to be manually reloaded. In particular, described herein are preloaded and automatically reloading apparatuses typically.

Abstract: A suture package for retaining a barbed suture is provided. The suture package includes a suture retaining member including an outer wall and an inner wall. The inner wall is radially spaced from the outer wall and defines a suture retaining area therebetween. The inner wall defines a needle retaining area and includes at least one opening therein to permit reception of at least one suture therethrough. The outer wall includes a plurality of inwardly extending tabs configured to engage a cover. The suture package further includes a cover configured to be received within the outer wall of the suture retaining member and to selectively engage the inwardly extending tabs formed thereon.

Abstract: Surgical constructs, assemblies and methods for tissue reinforcement with a reinforcement (reinforcing) material such as suture, tape, weave, ribbon or mesh, among many others. The reinforced construct includes a reinforced section that prevents a suture from pulling apart. The reinforced section is be a piece of material (a reinforcement or reinforcing material) such as reinforced stitched suture tape attached to a flexible strand. A needle attached to the flexible strand terminating with the reinforced section passes through a proximal end of the reinforced section to form an adjustable “starter loop.” The starter loop is slid and positioned over tissue (for example, graft, tendon, ligament, etc.) and the suture is pulled apart to tighten the loop around the tissue.

Abstract: A sling suspension system for supporting the thumb of a patient after basal joint arthroplasty, the sling suspension system comprising: an index metacarpal anchor, a thumb metacarpal anchor and a sling for securing the thumb metacarpal anchor to the index metacarpal anchor; the index metacarpal anchor comprising at least one bone-engaging element for engaging the index metacarpal and a sling-engaging element for capturing the sling to the index metacarpal anchor; the thumb metacarpal anchor comprising at least one bone-engaging element for engaging the thumb metacarpal and a sling-engaging element for capturing the sling to the thumb metacarpal anchor; and the sling comprising an elongated body having a first anchor-engaging element for securing the sling to the sling-engaging element of the index metacarpal anchor, and a second anchor-engaging element for securing the sling to the sling-engaging element of the thumb metacarpal anchor, wherein the second anchor-engaging element is adjustable.

Abstract: A suture having a first end for penetrating tissue, an elongated suture body having a periphery; a plurality of retainers on the periphery, and a second end having a variable loop of variable circumference, wherein the variable loop includes a fixed loop slidably engaging the elongated body for slidingly varying the circumference of the variable loop, and wherein the first end may pass through the variable loop to secure tissue as an anchor, the anchor preventing movement of the suture in the direction of deployment of the first end.

Abstract: A surgical instrument assembly can comprise a handle including an electric motor, a shaft assembly including a drive member, and a magnet configured to generate a magnetic field. The surgical instrument assembly further comprises, one, a rotatable output shaft operably coupled with the electric motor and the drive member and, two, a wire coil wound around the output shaft which is positioned in the magnetic field. The wire coil is rotated within the magnetic field when the output shaft is rotated about a longitudinal axis which induces a current in the wire coil. The surgical instrument assembly further comprises a strain gauge mounted to the output shaft configured to detect strain created within the output shaft and, in addition, a circuit mounted to the output shaft, wherein the circuit and/or the strain gauge is powered by the current induced in the wire coil.

Abstract: A device including smart sensors with a local signal processor is disclosed. The device includes an end-effector including at least one sensor and a signal processing component corresponding to the at least one sensor; and a handle configured to receive processed information from the signal processing component. The processed information is generated by the signal processing component at the end-effector based on data received from the at least one sensor at the end-effector.

Abstract: The present disclosure includes apparatuses for a surgical handle assembly. An example apparatus includes a toothed rack, a tab configured to provide a reverse mode of operation for the toothed rack by engaging a reverse gear, and a trigger gear connected to the reverse gear and to a movable handle member configured to reverse the toothed rack linearly in a proximal direction in response to actuation of the movable handle member.

Abstract: An electronic system for a surgical instrument is disclosed. The electronic system comprises a main power supply circuit configured to supply electrical power to a primary circuit. A supplementary power supply circuit configured to supply electrical power to a secondary circuit. A short circuit protection circuit coupled between the main power supply circuit and the supplementary power supply circuit. The supplementary power supply circuit is configured to isolate itself from the main power supply circuit when the supplementary power supply circuit detects a short circuit condition at the secondary circuit. The supplementary power supply circuit is configured to rejoin the main power supply circuit and supply power to the secondary circuit, when the short circuit condition is remedied.

Abstract: An electronic system for a surgical instrument is disclosed. The electronic system comprises a main power supply circuit configured to supply electrical power to a primary circuit. A supplementary power supply circuit configured to supply electrical power to a secondary circuit. A short circuit protection circuit coupled between the main power supply circuit and the supplementary power supply circuit. The supplementary power supply circuit is configured to isolate itself from the main power supply circuit when the supplementary power supply circuit detects a short circuit condition at the secondary circuit. The supplementary power supply circuit is configured to rejoin the main power supply circuit and supply power to the secondary circuit, when the short circuit condition is remedied.

Abstract: An apparatus comprises an end effector, a shaft assembly, and an interface assembly. The end effector is coupled with the shaft assembly. The shaft assembly comprises a translating member extending through the shaft assembly. The interface assembly is operable to engage the shaft assembly and comprises a plurality of drive shafts and a rack. One of the drive shafts is operable to drive the rack along a path that is parallel to the longitudinal axis of the shaft assembly. A plurality of racks may be used to rotate the shaft assembly, articulate the shaft assembly, and/or drive the translating member through the shaft assembly to thereby actuate the end effector.

Abstract: A surgical stapler is described herein which includes a shaft portion and a tool assembly supported on a distal end of the shaft portion. The tool assembly includes an anvil and a cartridge body which rotatably supports a plurality of staples within notches. At least one firing cam is provided to sequentially to engage and rotate each of the staples to fire the staples from the cartridge body. Each of the staples includes first and second legs axially offset from each other and interconnected by an intermediate portion. At least one firing cam is provided to sequentially to engage and rotate each of the staples to fire the staples from the cartridge body. The at least one firing cam includes axially offset cam members.

Abstract: The disclosed technology is directed to a treatment instrument comprises an end effector having a pair of clamping members configured to pivot with respect to one another. A sheath is attached to the end effector along a longitudinal axis so that the end effector can be bent or curved. A drive shaft is connected to the end effector so as to guide the end effector to open or close the pair of clamping members relative to one another when moved in a longitudinal direction relative to the sheath. An elongated member is connected to the end effector and is configured to make the end effector bend or curve with respect to the sheath when moved in the longitudinal direction relative to the sheath. First and second members are configured to produce first and second forces sufficient to open or close the pair of clamping members.

Abstract: A handle assembly for use with a surgical tack applier includes an actuation assembly and an articulation lever assembly configured to articulate an articulation portion of the surgical tack applier. The actuation assembly includes a motor, an actuation rod, and an actuation switch configured to actuate the motor. The actuation rod has a first end operatively coupled to an output shaft of the motor for concomitant rotation therewith, and a second end operatively coupled to a loading unit of the surgical tack applier such that rotation of the actuation rod ejects a surgical tack from the loading unit. The articulation lever assembly includes an articulation rod operatively coupled with an articulation portion of the surgical tack applier such that axial displacement of the articulation rod causes articulation of the articulation portion, and an articulation lever operatively coupled with the articulation rod.

Abstract: Disclosed are devices, systems and methods for video-guided endoluminal stapling. An exemplary device includes a circular stapler that includes an anvil and a shaft, an endoscope, and one or more connectors or fasteners that hold the endoscope against the shaft of the circular stapler, wherein the anvil includes a first opening in the anvil, wherein the endoscope is positioned through the first opening, wherein the one or more connectors or fasteners allow the endoscope to move longitudinally along the shaft of the circular stapler, and wherein a section of the shaft includes a second opening that allows the endoscope to transition from an external surface of the shaft to an internal cavity of the stapler.

Abstract: An apparatus for joining two hollow organ sections includes a staple cartridge assembly including an annular wall, an anvil assembly, a buttress member, and a fastening member. The annular wall of the staple cartridge assembly defines an inner aperture in an inner surface thereof and an outer aperture in an outer surface thereof. The buttress member is configured to be positioned on a distal surface of the staple cartridge assembly. The buttress member defines a cutout on a peripheral portion thereof. The fastening member has a first end securely affixed to the inner aperture of the annular wall of the staple cartridge assembly and a second end securely affixed to the outer aperture of the annular wall of the staple cartridge assembly to secure the buttress member on the staple cartridge assembly. The cutout of the buttress member is in registration with the outer aperture of the annular wall.

Abstract: A system for delivering an implant within a patient is disclosed. The activation of the heater coil causes the degradation, melting or reduction of a component that brings the heater coil into or out of electrical contact with another component, or causes the individual loops of the coil to contact each other, thereby resulting a notable change in resistance in the circuit supplying the heater coil with electricity. A core wire terminates prior to the distal end of the device, allowing for greater flexibility.

Abstract: A system for treating tissue includes a capsule including a channel extending therethrough; first and second clip arms each extending from a proximal end to a distal end, the proximal ends being received within the channel of a capsule to be moved between an open tissue receiving configuration; and a closed tissue clipping configuration. The first clip arm includes a first tissue retention feature at a distal portion thereof configured to pierce through a target tissue when in the tissue clipping configuration and subsequently release the target tissue when the clip arms are moved to an at least partially open configuration. The second clip arm includes a second tissue retention feature at a distal portion thereof configured to pierce and retain the target tissue thereon when in both the closed tissue clipping configuration and the open tissue receiving configuration.

Abstract: A clip device includes a restraining tube having an insertion passage with a first arm part and a second arm part facing each other and disposed within the insertion passage and configured to protrude from the restraining tube. The clip device further includes an operation wire configured to move the first arm part. A first stopper is engaged to the first arm part and a second stopper is engaged to the second arm part. The first stopper is disposed in a region closer to a distal end of the restraining tube than the second stopper. The first stopper is configured to, in response to the operation wire moving from the distal end of the restraining tube to a proximal end of the restraining tube, move relative to the second stopper, contact the second stopper, and move in contact with the second stopper.

Abstract: A device for use with a uterine tamponade balloon catheter apparatus, such as the Bakri postpartum hemorrhage balloon, is disclosed. The device comprises a stylet comprising a hub at its proximal end and an atraumatic tip at its distal end. The device is configured to be removably coupled to the tamponade balloon catheter apparatus to aid in the insertion and positioning of the tamponade balloon catheter within the uterine cavity, allowing the balloon to function as intended for the control and management of postpartum hemorrhage and uterine bleeding. The tamponade balloon catheter includes an echogenic element to aid in visualization by ultrasound during insertion and use. Methods of use of the device are also disclosed.

Abstract: Implant deployment systems can generally can include a braided implant that can be detachably attached to a delivery tube by an expansion ring that can be positioned within a notch on an outer surface of the delivery tube near a distal end of the delivery tube. The implant can be positioned within a lumen of the delivery tube and remain attached to the delivery tube as the assembly is fed through a microcatheter to a treatment site. Once the braided implant is implanted, the expansion ring can move from a collapsed configuration that is engaged with the notch of the delivery tube to a deployed configuration that releases the delivery tube, thereby releasing the braided implant from the delivery tube.

Abstract: The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2), and the part to be treated, (ii) a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effector according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).