Abstract: An introduction device for the percutaneous introduction of drainage tubes, in particular thoracic drainage tubes, including: a main body, which has a grip portion adapted to be gripped by a hand of an operator, and a proximal portion provided with an internal longitudinal cavity; a terminal tubular element, which is extended longitudinally and distally from the proximal portion of the main body; a longitudinally extended percussion element, which can slide within the terminal tubular element between a retracted position and an extracted position; and a tubular introducer which forms inside it a through duct and can be configured in a coupled cutting configuration, in which the tubular introducer is fitted on the terminal tubular element, and in an uncoupled configuration, in which the tubular introducer and the terminal tubular element are uncoupled.

Abstract: A radially expandable trocar, port or cannula system is provided for use in minimally invasive surgeries. The cannula creates a port access with an initial small internal diameter. The passage of the cannula devices is defined by a plurality of elongate rigid members. A number of mechanisms are provided for expanding the passage of the cannula devices, by moving the plurality of elongate rigid members towards a larger radial location, thereby creating a larger internal diameter for the port. The elongate rigid members can be prevented from unintended movement when the system is at the un-expanded state, during expansion and when it is expanded to the desired larger diameter. Exemplary embodiments include methods of preventing gas loss from the tissue that would occur through the gaps created during expansion.

Abstract: An intraosseous access system including an intraosseous driver coupleable with access assembly that includes an obturator assembly having an obturator and an access assembly needle assembly having a needle lumen defining a needle lumen. The access assembly further includes an extension set having an extension tube having extension tube hub and a bag attachment member coupled with the extension tube at opposite ends. The extension tube hub forms a rotating seal with the access assembly. The access assembly and the bag attachment member are contained within separate sterile packages with the extension tube extending therebetween. A fluid pathway extends between the bag attachment member and the needle lumen.

Abstract: The present invention provides devices and methods for laparoscopic access and wound closure. The device is in the form of a unitary needle device, which enables performance of several tasks, including penetration or puncture of fascia layers, insufflation of a body cavity with gas, and placing a suture for wound closure. In particular, the device features a blunt-tipped stylet having a hook or notch at the proximal end, which can be used to capture a suture.

Abstract: A puncture instrument kit includes a puncture rod, mesh, and sheath. The puncture rod consists of a puncture head, puncture rod body, and handle. One end of the puncture rod body is connected to the handle and the other end is integrated with the puncture head. The puncture head is arc-shaped with an end gradually tapering to form a tip. The tip of the puncture head is circumferentially designed with a groove for fixing a thread during surgery. The puncture head is smoothly connected with the puncture rod body, and the line between the tip of the puncture head and puncture rod body is at an obtuse angle of 130-140° relative to the puncture rod body. The sheath is sleeved on the puncture rod with the rod tip exposed. The mesh and sheath are designed as separate or integrated, and the tip of the puncture rod is provided with a shape-matching detachable silicone protective sleeve.

Abstract: An Umbilical Forming Device is provided for enhancing healing of an umbilical wound in a subject following a surgery involving the umbilicus, including but not limited to an abdominoplasty. The Umbilical Forming Device comprises a flexible body comprising a wall, wherein the wall defines a hollow cavity and comprises one or more holes configured to facilitate drainage of secretions and/or ventilation of the umbilical wound. In some embodiments, the flexible body comprises proximal and distal openings configured to facilitate observation of the healing of the umbilical wound, removal of any secretions from the umbilical wound, and/or administration of one or more therapeutic agents to the umbilical wound. In some embodiments, the flexible body has a substantially rectangular shape and/or has a shape configured to facilitate contouring a scar from the umbilical wound to facilitate healing into an anesthetically pleasing umbilical structure. Packaged kits and methods of use are also provided.

Abstract: A bone fixation system where an alignment rod is engaged by pedicle screws. The alignment rod has sections of buttress thread. Each pedicle screw has a threaded shaft that supports a slotted receptacle. A set screw threads into the slotted receptacle. A spring plates is interposed between the set screw and the alignment rod. The spring plates contain protrusions that engage the sections of buttress thread on the alignment rod. The threaded shaft of the pedicle screw has an upper section and a lower section. A threaded connecting rod interconnects the sections. The upper section, lower section and threaded connecting rod all have external threads of the same thread pitch.

Abstract: A bone screw implant comprising a bone screw and a sleeve. The bone screw includes a first end, a second end opposite the first end, a cannula extending from the first end to the second end, an externally treaded portion provided between the first end and the second end, and at least one cutting flute. The at least one cutting flute extending from the first end toward the second end, where the cutting flute comprises at least one window extending through the cutting flute and in communication with the cannula. The sleeve comprising a cylindrical body portion extending about the second end of the bone screw, and a plurality of projections extending from the cylindrical body portion configured to engage bone as the bone screw is threadingly advanced.

Abstract: An implantable device may include a barrel, the barrel having an upper portion and a lower portion. The implantable device may further include an actuator assembly disposed in the barrel, and a central screw that extends from a rear ramped actuator through a front ramped actuator. The implantable device may further include a first plate having multiple projections extending from one side of the first plate. The implantable device may further include a second plate having multiple projections extending from one side of the second plate, the second plate configured to be received on the central screw. 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.

Abstract: A rod reducer includes a shaft, a sleeve assembly defining a bore dimensioned to receive the shaft therethrough, a housing defining a bore dimensioned to receive the shaft, arm members operatively associated with the housing, and an anvil operatively coupled with the shaft. The sleeve assembly includes a locking tab. The housing includes a groove configured to selectively receive the locking tab of the sleeve assembly. The housing includes a locking ledge portion in registration with the groove. The anvil is transitionable between a proximal position, in which, the arm members are spaced apart, and a distal position, in which, the arm members are in an approximated position. The sleeve assembly is rotatable between an engaged state in which, the locking ledge portion inhibits relative axial displacement of the sleeve assembly with the housing, and a disengaged state in which, the sleeve assembly is axially movable relative to the housing.

Abstract: A bone fixation system includes an intramedullary nail and a lag screw. A proximal portion of the intramedullary nail includes a first proximal bore configured to accept the lag screw and a second proximal bore configured to accept a portion of an antirotation screw insertion tool. A distal portion of the intramedullary nail defines at least one opening configured to accept a distal locking screw. The lag screw includes a sheath and a rod mounted for sliding movement within the sheath. The rod has a threaded distal end defining a diagonal bore configured to accept an antirotation screw.

Abstract: An implant and method for fixation of long bones. The implant provides rotational, longitudinal, and bending stability. The implant comprises one or more elongated members that span the intramedullary cavity of a long bone, a distal tip that expands radially relative to the long axis of the implant, and a locking mechanism at the proximal end of the implant.

Abstract: Bone nail (1) with a front portion (2), suitable for insertion into the bone and having a free end (3), a rear portion (5) having a free end (6), an outer surface (4); and a nail axis (7); wherein the rear portion (5) has a through hole (8) with a central axis (12) and with an inlet opening (9) located at the rear free end (6) and an outlet opening (10) located on the outer surface (4) of the rear section (5) whereby the through hole (8) is formed for receiving a polyaxial bone screw (11).

Abstract: A rib implant system can include a first implant, a second implant, and a reduction member. The first implant can be securable to a first rib portion of a rib. The second implant can be securable to a second rib portion of the rib. The reduction member can be connected to the first implant and the second implant, and the reduction member can be operable to move the second implant and the second rib portion toward the first implant and the first rib portion.

Abstract: Various power screwdrivers with screw delivery systems are disclosed. In some embodiments, an apparatus attachable to a power screwdriver comprises a housing, a cartridge barrel having a plurality of barrel chambers, each capable of holding a screw and drive-bit assembly, and a drive shaft assembly. The drive shaft is aligned with a barrel chamber. The drive shaft has a handle sleeved thereon. The handle is coupled to a barrel cam connected to the cartridge barrel. Moving the handle proximally to a retracted position and then distally to a neutral position rotates the cartridge barrel in a way that the drive shaft is aligned with a barrel chamber adjacent the previous barrel chamber. Moving the handle distally to a forward position advances a screw out of a port.

Abstract: Various surgical impactors are disclosed. The surgical impactor may include a housing, a rod that extends at least partially inside the housing, a hammer head attached to the rod, and a hammer housing that receives the hammer head. Actuation of the rod can cause the hammer head to move proximally and/or distally inside, and to impact, the hammer housing. The force of the impact can be conveyed to a surgical implant, instrument, etc.

Abstract: A tapered fiber optoacoustic emitter includes a nanosecond laser configured to emit laser pulses and an optic fiber. The optic fiber includes a tip configured to guide the laser pulses. The tip has a coating including a diffusion layer and a thermal expansion layer, wherein the diffusion layer includes epoxy and zinc oxide nanoparticles configured to diffuse the light while restricting localized heating. The thermal expansion layer includes carbon nanotubes (CNTs) and Polydimethylsiloxane (PDMS) configured to convert the laser pulses to generate ultrasound. The frequency of the ultrasound is tuned with a thickness of the diffusion layer and a CNT concentration of the expansion layer.

Abstract: An electrosurgical instrument end effector has first and second jaw members each including an electrically conductive tissue-contacting surface. The first and second jaw members are configured to grasp and electrosurgically treat tissue between the tissue-contacting surfaces. A thermal cutting element includes a body portion extending along the tissue-contacting surface of the second jaw member and a distal probe portion extending distally therefrom. The distal probe portion extends distally beyond a distal-most extent of the second jaw member, has a free end distally-spaced from this distal-most extent, and is exposed about the entire outer periphery thereof between the distal-most extent the free end. The body portion of the thermal cutting element is energizable for thermally treating tissue grasped between the tissue-contacting surfaces, while the distal probe portion of the thermal cutting element is energizable for thermally treating tissue positioned distally of the first and second jaw members.

Abstract: An electrosurgical instrument including an end effector assembly having first and second jaw members and at least first and second thermal cutting elements. Each of the first and second jaw members includes an electrically conductive tissue contacting surface. At least one of the first or second jaw members is movable relative to the other from a spaced apart position to an approximated position to grasp tissue between the tissue contacting surfaces. The first and second jaw members are adapted to connect to a source of energy for electrosurgically treating tissue grasped between the tissue contacting surfaces. Each of the first and second thermal cutting elements is disposed on or within one of the first or second jaw members and adapted to connect to a source of energy for thermally treating tissue.

Abstract: An electrosurgical system is provided and includes a bipolar electrosurgical instrument and an electrosurgical generator. The bipolar electrosurgical instrument is arranged to seal and cut tissue captured between jaws of the bipolar electrosurgical instrument. The electrosurgical generator is arranged to supply RF energy through the bipolar electrosurgical instrument, monitor the supplied RF energy, and adjust or terminate the supplied RF energy to optimally seal the tissue.

Abstract: A surgical instrument, comprising a motor drive unit comprising a motor drive unit; a rotary surgical end effector arranged to be coupled to the motor drive unit; and a coupling means for coupling the motor drive unit and the rotary surgical end effector, the coupling means being configured such that there is only one possible rotational alignment between the rotary surgical end effector and the motor drive unit when coupled. This arrangement guarantees the rotational position of the rotary surgical end effector in relation to the rotational position of the motor drive unit. This enables quick and easy control of the rotational position of the rotary surgical end effector.

Abstract: A nozzle member for retaining an electrode within an electrosurgery handpiece/pencil that includes a first hollow tubular member, a second hollow tubular member having a smaller diameter than the first hollow tubular member, and a rib member that connects the first hollow tubular member to the second hollow tubular member so that the second hollow tubular member is positioned completely outside of the first hollow tubular member.

Abstract: An electrosurgical instrument includes a shaft assembly, an end effector, an input actuator, a biasing feature, an end of stroke feature, a first clamp closure sensor, a second clamp closure sensor, and a control unit. The end effector includes an energized feature, a first jaw, and a second jaw. The first clamp closure sensor is configured to produce first sensor information relating to movement of the input actuator. The second clamp closure sensor is configured to produce second sensor information relating to deflection of the biasing feature in response to a tissue load force between the first and second jaws. Based on each of the first and second sensor information, the control unit is configured to determine the tissue load force exerted on the end effector, and a position of one of the first and second jaws relative to the other of the first and second jaws.

Abstract: A jaw member for a surgical instrument includes a jaw housing and a first electrically conductive material deposited atop the jaw housing. An electrical wire is operably associated with the jaw housing and includes an exposed, electrically conductive tip. The exposed, electrically conductive tip is disposed atop the first electrically conductive material. A second electrically conductive material is deposited atop the exposed, electrically conductive tip to secure the exposed, electrically conductive tip in electrical contact with the first electrically conductive material.

Abstract: An RF microneedle system is provided with a cooling duct that at least partially surrounds a circumference of a microneedle housing. Depending upon how much circumference is surrounded by the nozzle determines the cooling coverage. For example, if the nozzle surrounds the entire circumference, 360 degrees of cooling coverage is provided. In addition, the nozzle is configured to direct cooled air into at least one slot in the microneedle housing to cool the array of microneedles.

Abstract: Systems, devices, and methods to treat a urinary bladder are disclosed. An expandable member is introduced and expanded in the urinary bladder to appose one or more elongate conductors on the outer surface of the expandable member against the inner wall of the urinary bladder. The one or more elongate conductors are used to create a predetermined pattern of electrically isolated tissue regions having reduced electrical propagation such that electrical propagation through the urinary bladder as a whole is reduced. A mucus layer may be removed from the inner bladder wall prior to the ablation. Ablation may be regulated by impedance measurement with the one or more elongate conductors. The urinary bladder may be filled with a fluid to facilitate the impedance measurement.

Abstract: [Object] Provided is a catheter that can enhance the smoothness of a lumen. Solution A balloon catheter includes: an outer shaft to be inserted into a body, the outer shaft including a main lumen that extends in an axial direction from a proximal end side toward a distal end side; and a second member exposed in a portion of an inner circumferential surface of the outer shaft to the main lumen and having frictional properties lower than those of a first member (an inner shaft) that forms the inner circumferential surface of the outer shaft. The balloon catheter further includes sub-shafts that include sub-lumens extending in the axial direction and that are formed of the second member, and a portion of outer circumferential surfaces of the sub-shafts is exposed in a portion of the inner circumferential surface of the outer shaft to the main lumen.

Abstract: A method for carrying out a medical procedure includes advancing a medical device towards a puncture site in a patient's body and positioning a radiofrequency puncture electrode of the medical device adjacent the puncture site; delivering radiofrequency energy from the radiofrequency puncture electrode to create a puncture in the puncture site; advancing the medical device through the puncture to position an auxiliary electrode of the medical device adjacent a target site in the patient's body; and using the auxiliary electrode for diagnosis, mapping, and/or treatment at the target site.

Abstract: The present disclosure provides catheters for electroporation systems. One catheter includes a plurality of catheter electrodes disposed along a portion of a distal end of the electroporation catheter. The plurality of catheter electrodes includes a plurality of first type catheter electrodes adapted for use with an electroporation generator during an electroporation procedure and a plurality of second type catheter electrodes adapted for use with an electroporation generator during an electroporation procedure and for use with a diagnostic subsystem. The plurality of first type catheter electrodes is positioned at a distal end of the electroporation catheter. Each second type catheter electrode is adjacent another second type catheter electrode.

Abstract: A method for calculating a corrected temperature value (RTP corrected). The method includes determining a measured temperature value from a remote thermocouple probe (RTP measured), determining a temperature value of a remote thermocouple module (RTM), determining a temperature value of a system controller module (SCM), determining a temperature value of a microwave module (MWM), and calculating the corrected temperature value (RTP corrected). The corrected temperature value (RTP corrected) is based on the determined temperature value of the remote thermocouple probe (RTP measured), the determined temperature value of the system controller module (SCM), and at least one of the determined temperature value of the remote thermocouple module (RTM) or the determined temperature value of the microwave module (MWM).

Abstract: A laser irradiation device includes a housing which has an accommodation space formed therein and an opening formed in one side thereof, a laser module which is positioned in the accommodation space and outputs a pulsed beam having a predetermined focal length and a predetermined focal depth range through the opening, a guide member positioned at one side of the housing, and a contact member which is mounted on the guide member and includes a contact portion having a through-hole, through which the pulsed beam passes, formed therein, wherein the contact portion is in contact with a subject to assist in fixing an irradiation point of the pulsed beam, one end of the contact portion is positioned within the focal depth range such that plasma ablation is induced in at least a portion of the subject, and a diameter of the through-hole having a circular shape.

Abstract: A laser fiber apparatus and method for preparing the apparatus is described herein. An apparatus comprising a laser fiber having a proximal end, a distal end, a core, and a cladding. A lens at the distal end of the laser fiber is proximally elongated from bulbous in shape. The core of the laser fiber transmits laser energy from a laser source coupled to the proximal end through the lens. The cladding of the laser fiber also circumferentially coats at least the proximally elongated portion of the lens, and epoxy material circumferentially coats the cladding, a portion of the lens distal the cladding, and defines an aperture at the apex of the lens.

Abstract: A medical device may include an ablation device configured to deliver ablation energy to a treatment site. The medical device may further include a probe device configured to deliver excitation radiation to the treatment site. Further the medical device may include a radiation-receiving device configured to receive photoluminescence radiation emitted from the treatment site in response to the treatment site being illuminated by the excitation radiation and to generate a detection signal in response to the received photoluminescence radiation. Additionally, the excitation radiation may be different from the ablation energy.

Abstract: Currently, prehabilitation and pre-operative kinetic sensing is decoupled from surgical planning. Systems and methods are provided for procedure planning using data collected and provided by a prehabilitation (monitoring) system. Extrapolations (e.g. using a machine trained model or other approach) generate post-operative kinetic condition data predicting how the patient will move after surgery, based on the trends of their condition during prehabilitation, and the surgical intervention itself. A surgical plan optimized for the post-surgical kinetic condition of the patient may be generated and provided. The plan may be provided for display and/or to a surgical navigation or robotic system for the planned procedure. These and other aspects will be understood including a model, such as a neural network model, which is trained to provide the extrapolations.

Abstract: Disclosed herein are devices, systems, methods, and computer program products for planning and performing medical procedures. In some embodiments, a system for planning a medical procedure includes a processor and a memory operably coupled to the processor. The memory can store instructions that, when executed by the processor, cause the system to perform operations including: receiving image data of an anatomic region including a plurality of lymph nodes and a target lesion; generating a three-dimensional model of the anatomic region by segmenting the image data; selecting a subset of the lymph nodes to be biopsied during the medical procedure based at least in part on a location of the target lesion in the three-dimensional model; and determining a sequence for navigating a biopsy device to locations of the subset of the lymph nodes during the medical procedure.

Abstract: A method of planning a hip arthroplasty for a subject is described the method comprising: receiving at least one image of the subject, wherein the at one least image is substantially acquired from the sagittal plane when the subject is standing; calculating at least one spinopelvic metric from the at least one image; and based on the calculated spinopelvic metrics, calculating a hip arthroplasty risk characteristic of the subject. Also described are a method of determining a range of acetabular cup orientation angles for an acetabular cup implant for a subject is also described and a computer-implemented method of determining a range of orientation angles for an acetabular cup implant for a subject.

Abstract: A computing system is configured to determine a location of a humerus anatomical neck. The computing system receives a three-dimensional (3D) representation of a humerus, and applies a machine learning model to the three-dimensional representation to determine a segmentation of the 3D representation of the humerus. Based on the segmentation, the computing system determines a location of the humerus anatomical neck on the 3D representation of the humerus based on the segmentation, and generates a labeled 3D representation of the humerus that indicates the location of the humerus anatomical neck.

Abstract: A method for optimizing a knee arthroplasty surgical procedure includes receiving pre-operative data comprising (i) anatomical measurements of the patient, (ii) soft tissue measurements of the patient's anatomy, and (iii) implant parameters identifying an implant to be used in the knee arthroplasty surgical procedure. An equation set is selected from a plurality of pre-generated equation sets based on the pre-operative data. During the knee arthroplasty surgical procedure, patient-specific kinetic and kinematic response values are generated and displayed using an optimization process. The optimization process includes collecting intraoperative data from one or more surgical tools of a computer-assisted surgical system, and using the intraoperative data and the pre-operative data to solve the equation set, thereby yielding the patient-specific kinetic and kinematic response values. A visualization is then provided of the patient-specific kinetic and kinematic response values on the displays.

Abstract: Disclosed herein are medical systems and devices that include an elongate probe configured for insertion into a patient, where a multi-core optical fiber extends along the elongate probe. The optical fiber includes sensing core fibers that extend distally along a flexible distal tip section having a bending flexibility that exceeds a flexibility of a main probe section. The optical fiber may further include illumining core fibers, imaging core fibers, and an electrical conductor. An electrode at the distal end provides for detection of an ECG signal. The distal tip section may also be steerable. The system includes a console having processors and logic stored in memory. The logic facilitates portraying of a shape of the elongate probe, an ECG waveform and/or an image of an interior of the patient. The elongate probe further includes a shape memory material defining a transition temperature.

Abstract: Systems and methods are described herein to generate a 3D surface scan of a surface profile of a patient's anatomy. The 3D surface scan may be generated by reflections of structured light off the surface profile of the anatomy. The 3D surface scan may be used during intra-operative surgical navigation by a localization system. Optionally, a pre-operative medical image may also be registered to the localization system or used to enhance the 3D surface scan.

Abstract: A system for visualizing a surgical site is provided. The system includes a robotic mechanism for performing a procedure on a patient, an imaging device coupled to the robotic mechanism, the imaging device configured to provide image data of a site of interest, and a computing device coupled to the imaging device. The computing device includes one or more processors and at least one memory device configured to store executable instructions. The executable instructions, when executed by the processor, are configured to receive the image data of the site of interest, track motion patterns of the site of interest in the received image data, filter the received image data to remove line-of-sight restrictions therein and alter pixels therein based on the tracked motion patterns, and generate an output frame from the filtered image data. The system also includes a presentation interface device coupled to the computing device and configured to present the output frame for visualization of the site of interest.

Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.

Abstract: An auxiliary apparatus for surgical operations, comprising a structure which supports a processing unit programmed to manage a virtual three-dimensional model of an organ to be operated on. A monitor visualizes the virtual three-dimensional model. A contactless sensor detects the movements of a hand and is connected functionally to the processing unit in order to virtually manipulate the virtual three-dimensional model as a function of the movements of the hand. The processing unit displays on the monitor an image that represents the hand, is adapted to follow the movements of the hand in the detection field of the sensor, and is variable at least as a function of specific movements of the hand that correspond to respective manipulation commands and/or operating commands.

Abstract: A patient cart for a robot surgical system can include a mobile base having a frame adapted and configured to support a medical robot, one or more motive devices operatively connected to the frame, and one or more motors connected to the motive devices to drive the motive devices to move the frame. The patient cart can include a drive control interface connected to the frame and configured to sense a user input and to operate the one or more motors to move the one or more motive devices as a function of the user input.

Abstract: Devices, systems, and methods for automatically exchanging a first end-effector on a robot arm with a second end-effector housed in a docking station. The first end-effector has a clamp that either engages or disengages the robot arm based upon an application of force of the robot arm onto the end-effector. The clamp has a spring loaded clip that disengages the first end-effector to allow the robot arm to move away from the released first end-effector. The robot arm is configured to automatically move to a port of a docking station housing the desired second end-effector using magnetic coils on the robot arm and the docking station to guide the robot arm.

Abstract: Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

Abstract: Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

Abstract: In examples, a robotic medical system comprises a link of a robotic arm and a processor configured to control movement of the link based on a received input; determine a distance between the link and another object during the movement; and, responsive to the distance being within a threshold, adjust the movement of the link to avoid a collision between the link and the another object.

Abstract: A method for performing at least one ablation comprising receiving image data of a mass to be ablated; segmenting a volume of the mass to yield a plurality of sub-volumes, each of the plurality of sub-volumes corresponding to one of a plurality of ablation steps; identifying, for each of the plurality of ablation steps and based on the corresponding sub-volume, an ablation center; calculating, for each of the plurality of ablation steps, an ablation tool position and an imaging device position, the imaging device position being independent of the ablation tool position; causing both an ablation tool to be positioned based on the calculated ablation tool position and an imaging device to be positioned based on the calculated imaging device position for one ablation step of the plurality of ablation steps; and causing an ablation tool to activate based on the one ablation step.

Abstract: A device management system can include a device comprising a drive assembly configured to removably couple with an instrument. The drive assembly can include a plurality of drive elements configured to cause movement of the instrument by driving a plurality of input elements of the instrument. A control system can include a processor configured select, for a first drive element of the plurality of drive elements, a first assignment from a plurality of assignments, the first assignment being available to at least two drive elements of the plurality of drive elements. The first assignment can be associated with a first pairing of the first drive element with a first input element of the plurality of input elements. The processor can be configured to cause the first drive element to adopt the first assignment.