Abstract: A radially expanding trocar for laparascopic cholecystectomy includes an awl, a cannula, a seal, and a valve connected to the seal. A balloon extends within the cannula. A lower portion of the cannula can be made from any suitable, expandible material. An inflation tube can be in fluid communication with the interior of balloon and the valve to allow air or water into the balloon. Inflating the balloon can cause the balloon to press against an inner surface of the peripheral wall of the cannula, expanding the peripheral wall and increasing a diameter of the cannula. The balloon can be deflated to release the pressure on the peripheral wall and decrease the diameter of the cannula to its original size, e.g., 12 mm.

Abstract: An artificial bone plate unit and an assembleable artificial bone plate are provided. The artificial bone plate unit includes a plate body, multiple connecting pins, connecting holes, drug cavities, and drug-releasing openings. The plate body has two main surfaces and a peripheral surface connected between the two main surfaces. The connecting pins and the connecting holes are formed on the plate body and arranged along the peripheral surface on the plate body. The connecting holes correspond in shape to the connecting pins. The drug cavities are formed in the artificial bone plate unit and are connected to the drug-releasing openings. The artificial bone plate units are connected using the connecting pins and the connecting holes to form the assembleable artificial bone plate. The assembleable artificial bone plate can be bent into the shape of a defect area of the skull, which saves material and time.

Abstract: An assembly for rectifying vertebrae, comprises: two bone anchoring means intended to be implanted on a same vertebra, a triangulation bar and a connection means for connecting the triangulation bar to each bone anchoring means and for holding the bone anchoring means in a given position in order to form, with the triangulation bar connected to the bone anchoring means by means of the connection means, a rigid triangular assembly, the triangulation bar comprising an attachment area for attaching a correction instrument arranged to ensure a rigid attachment in rotation and in translation of the correction instrument on the triangulation bar.

Abstract: The various embodiments disclosed herein relate to bone fixation devices, including intramedullary fixation or fusion devices. The various devices disclosed include an intermedullary device having a proximal member and a distal member that is articulable in relation to the proximal member. The proximal and distal members have ends that are movably coupled to form a joint that can be actuated to reduce a fracture and realign the bone after insertion of the device into the bone.

Abstract: One aspect of the disclosure relates to an extramedullary biocompatible implant for moving bone in a patient's body. In some cases, the implant includes: a first plate configured to be attached to bone at a first location; a second plate configured to be attached to bone at a second location; and a distractor extending from the first plate and being at least partially contained within the second plate, where the distractor houses a drive system including a driver and a gear system coupled with the driver, and where the drive system is configured to cause translation of the second plate relative to the first plate.

Abstract: A bone repair device includes a plate having a pathway and a flexible structure. The plate includes opposing top and bottom surfaces and a first side extending between the top and the bottom surfaces. The flexible structure is directly attached to and extends from the first side of the plate. In operation, the bone repair device is placed around and over a plurality of bone parts. The plate is secured to the plurality of bone parts with a cable inserted through the pathway and wrapped around the bone parts.

Abstract: The present invention relates to a clamping screw (6) for osteosynthesis, comprising at least one screw thread (7, 10) along a main axis (X) and, at its end referred to as the apex end (11), having a socket (12) which, about said main axis (A), has evenly angularly distributed shapes designed to accept complementing shapes of a screwdriver (19) engaged in said socket (12), notable in that the socket (12) of the screw (6) comprises at least three regular shapes (13) of which the vertices are inscribed inside a circle referred to as circumscribed circle (30) and at least two adjacent vertices of the socket (21) are connected to form a convex lobe referred to as indexing lobe (16) of which the radius of curvature is equal to the radius of the circumscribed circle (30).

Abstract: Bone anchors providing tensioning between adjacent bones, including a vertebra. Various embodiments use combinations of bone fasteners and staples to attach a tethering head to a bone. In some embodiments, the tether is attached to the head by means of a separate ring. In still other embodiments the tension in the tether is adjusted by use of a variable depth pocket within the head and/or the bone anchor.

Abstract: A differential compression bone screw and a method are provided for compressing adjacent bone portions together to encourage bone fusion. The compression bone screw is comprised of a head portion and a shank. A center hole extends from the head portion to a distal end of the shank. A superior end of the head portion includes a shaped opening that receives a tool for driving the compression bone screw into a hole drilled in a patient's bone. An inferior end of the head portion includes barbs that engage with surrounding bone tissue. A smooth portion of the shank is disposed between proximal threads and distal threads that rotatably engage within the hole in the patient's bone. A thread pitch of the distal threads is greater than a thread pitch of the proximal threads, such that the compression bone screw comprises a differential pitch configured to compress the adjacent bone portions.

Abstract: A bone fixation device comprises a continuum morphable hollow shell structure including a proximal end and a distal end, an implantation head at the proximal end and a screw thread positioned external to the shell structure between the implantation head and a screw tip positioned at the distal end. A bone fixation system comprises a bone fixation device as described above, at least one reinforcement wire configured for insertion into the bone fixation device, and a castable filler material configured for insertion into the bone fixation device. A bone fixation method comprises fabricating a bone fixation device as described above, drilling the implantation trajectory, implanting the bone fixation device, implanting at least one reinforcement wire within the bone fixation device, and injecting the bone fixation device with a castable filler material via an aperture of the bone fixation device.

Abstract: There is disclosed an orthopaedic impactor, comprising: a strike assembly arranged to impart a force to an object; and a winding arranged to receive a current and thereby generate a magnetic field. The winding is arranged to interact with the strike assembly so that, in use, a magnetic field generated by the winding causes the strike assembly to move so as to impart the force to the object.

Abstract: According to some embodiments, a method of treating a subject having diabetes or symptoms associated with diabetes is provided. The method includes delivering a neuromodulation catheter within a vessel (e.g., hepatic artery) having surrounding nerves that innervate the liver (e.g., sympathetic nerves of the hepatic plexus). The method may also include modulating (e.g., disrupting, ablating, stimulating) the nerves by mechanical compression, energy delivery, or fluid delivery.

Abstract: According to some embodiments, a method of treating a subject having diabetes or symptoms associated with diabetes is provided. The method includes delivering a neuromodulation catheter within a vessel (e.g., hepatic artery) having surrounding nerves that innervate the liver (e.g., sympathetic nerves of the hepatic plexus). The method may also include modulating (e.g., disrupting, ablating, stimulating) the nerves by mechanical compression, energy delivery, or fluid delivery.

Abstract: According to some embodiments, a method of treating a subject having diabetes or symptoms associated with diabetes is provided. The method includes delivering a neuromodulation catheter within a vessel (e.g., hepatic artery) having surrounding nerves that innervate the liver (e.g., sympathetic nerves of the hepatic plexus). The method may also include modulating (e.g., disrupting, ablating, stimulating) the nerves by mechanical compression, energy delivery, or fluid delivery.

Abstract: Cryotherapeutic devices for targeted lunch neuromodulation therapies and associated systems and methods are disclosed herein. A cryotherapeutic device configured in accordance with embodiments of the present technology can include, for example, an elongated shaft having a distal portion and a cooling assembly positioned at the distal portions. The shaft is configured to deliver the distal portion at a target site within a bronchus of a patient. The cooling assembly includes an expandable member, an injection lumen configured to dispel a refrigerant into the expandable member, and an exhaust lumen configured to receive expanded refrigerant. The cooling assembly is configured to impart cryogenic cooling to ablate neural fibers proximate to the target site. The device can be sized to fit within a working channel of a bronchoscope such that at least a portion of the cooling assembly can be visualized during a cryotherapeutic procedure.

Abstract: A method and system for automated and semi-automated predictable, consistent, safe, effective, and lumen-specific and patient-specific cryospray treatment of airway tissue in which treatment duration is automatically set by the system following entry of patient information and treatment location information into the system by the user, and treatment spray is automatically stopped by the system when the automatically selected treatment duration has been achieved as determined by the system.

Abstract: An electrosurgical system having an electrosurgical device, an accessory charging circuit, and an electrosurgical unit is disclosed. The electrosurgical device is operable in at least one of a monopolar mode and a bipolar mode. The electrosurgical unit electrically is coupled to the electrosurgical device and the accessory charging circuit. The electrosurgical unit provides one of a monopolar RF energy signal and a bipolar RF energy signal to the electrosurgical device corresponds with an activated mode and a bipolar signal to the accessory charging circuit.

Abstract: A surgical end effector includes an ultrasonic blade and a jaw member. The blade is adapted to receive ultrasonic and electrosurgical energy and defines a distal face. The jaw member is movable relative to the blade from a spaced-apart to an approximated position for clamping tissue and includes a structural body having a body portion and a distal cap portion. The distal cap portion defines an electrode that receives electrosurgical energy. The jaw member further includes a jaw liner engaged within the body portion and extending therefrom towards the blade such that, in the approximated position, the jaw liner contacts the blade to define a gap distance between the electrode and the distal face to facilitate bipolar electrosurgical tissue treatment upon conduction of bipolar energy between the electrode and the distal face and through tissue in contact therewith.

Abstract: A tissue cutting device has an outer sleeve with a distal window and an inner cutting sleeve which moves past the window to cut tissue. The inner cutting sleeve has a lumen which may have a larger proximal diameter than distal diameter. A perimeter of the window may comprise a dielectric material. A distal edge of the inner sleeve may be displaced inwardly.

Abstract: A system for applying a series of pulse field ablation (PFA) pulse trains to tissue of a heart includes energy-generating circuitry and a processor. The processor is configured to apply one of the pulse trains using the energy-generating circuitry and a catheter in the heart, to store a location of the catheter at which the one of the pulse trains is applied, to track a position of the catheter following the application of the one of the pulse trains, to detect, based on the tracking, that the catheter is within a predefined distance from the location following a predefined minimum duration from a most recent one of the pulse trains, and to apply another one of the pulse trains, in response to the detecting, using the energy-generating circuitry and the catheter. Other examples are also described.

Abstract: A puncturing device comprising: a resin tube having a distal end and a proximal end, and extending in a longitudinal direction; a metal tube disposed in a lumen of the resin tube; a metal member disposed at a distal end portion of the metal tube; and a metal tip disposed at a distal end portion of the metal member, wherein a flow path is present between an inner surface of the resin tube and an outer surface of the metal member and is in communication with a lumen of the metal tube, the resin tube further includes an opening portion through which the flow path and outside of the resin tube are in communication with each other, and the opening portion is present on a distal side relative to a distal end of the metal tube and on a proximal side relative to the proximal end of the metal tip.

Abstract: The present invention relates to comprehensive systems, devices and methods for delivering energy to tissue for a wide variety of applications, including medical procedures (e.g., tissue ablation, resection, cautery, vascular thrombosis, treatment of cardiac arrhythmias and dysrhythmias, electrosurgery, tissue harvest, etc.). In certain embodiments, systems, devices, and methods are provided for treating a tissue region (e.g., a tumor) through application of energy.

Abstract: The present disclosure provides a system with an innovative electrode designed as an RF/microwave antenna as well as methods to monitor/assess biological tissue and perform surgical procedures.

Abstract: A compact laser-steering end effector includes a frame, at least two active mirrors, and a pair of actuators. The frame has a greatest dimension in a plane orthogonal to a longitudinal axis of no more than 13 mm, and the mirrors are mounted proximate to the distal end of the frame. The actuators are mounted to the frame and configured to respectively change the tilt of the active mirrors relative to the frame. A pathway is provided through the frame to deliver a laser beam to the mirrors, and wherein the mirrors are positioned and configurable via the actuators to reflect the laser beam off of each mirror en route to an external target.

Abstract: A laser system may include a controller configured to direct a plurality of temporally spaced-apart electrical pulses to a device that optically pumps a lasing medium, and a lasing medium configured to output a quasi-continuous laser pulse in response to the optical pumping. The plurality of temporally spaced-apart electrical pulses may include (a) a first electrical pulse configured to excite the lasing medium to an energy level below a lasing threshold of the lasing medium, and (b) multiple second electrical pulses following the first electrical pulse. The quasi-continuous laser pulse is output in response to the multiple second electrical pulses.

Abstract: A method of treating a mobile target tissue with a laser beam includes: providing a laser device for generating a laser beam and providing an optical fiber having a delivery end for guiding the laser beam to the target tissue; a controller causes the laser device to generate one or more laser pulses substantially along the same longitudinal axis. The controller causes the laser device to provide one or more laser pulses. The one or more pulses are selected to allow a vapor bubble formed by the one or more pulse to expand an amount sufficient to displace a substantial portion of the liquid medium from the space between the delivery end of the fiber and the target tissue. The one or more pulses are delivered to the target tissue through the vapor bubble after the vapor bubble has reached its maximum extent and has begun to collapse to reduce retropulsion of the mobile target tissue.

Abstract: An optical fiber having a distal end extending from a distal end of an endoscope can direct light to and from a target. An interferometer can receive first light pulses from a first frequency comb having a first repetition rate, form reference arm light pulses and measurement arm light pulses from the first light pulses, direct the measurement arm light pulses to and from the target via the optical fiber to form return light pulses, and interfere the return light pulses with the reference arm light pulses to form interferometer output pulses. A beamsplitter can interfere the interferometer output pulses with second light pulses from a second frequency comb having a second repetition rate to form system output pulses. Processor circuitry can determine, from a time duration between consecutive system output pulses, a spacing between the optical fiber and the target, and can take an action in response.

Abstract: A device for performing a surgical procedure can comprise a shaft extending from a proximal portion to a distal portion, a light conductor extending at least partially through the shaft to be exposed at the distal portion, and a damage mitigator positioned to receive light from the light conductor to discharge the light from the device. A method of preventing damage to an optical fiber in a medical device having laser treatment capabilities can comprise emitting a laser beam from the optical fiber, fragmenting a biological stone with the laser beam, and mitigating damage to the optical fiber from fragmentation of the biological stone.

Abstract: A laser system suitable for modification of a calcified blood vessel includes a laser source; a feedback controller configured to regulate a dosimetry of the laser source to produce spatially and/or temporally modulated laser light; a catheter comprising a first optical delivery element, the first optical delivery element configured to guide the modulated laser light to an in-vivo object in the blood vessel; and a detecting element, configured to detect one or more physical, chemical, mechanical and/or dimensional characteristics of an area of the in-vivo object in real-time, wherein the feedback controller is configured to process the real-time detected information pertaining to the one or more physical, chemical, mechanical and/or dimensional characteristics of the area in real-time, wherein the feedback controller is further configured to regulate the dosimetry of the laser source for a controlled formation of a porous structure and/or a zone of denaturized tissue in the in-vivo object.

Abstract: A controller (122) includes a memory (12220) that stores instructions and a processor (12210) that executes the instructions. When executed, the instructions cause the controller (122) to implement a process that includes obtaining (S405) pre-operative imagery of the tissue in a first modality, registering (S425) the pre-operative imagery of the tissue in the first modality with a set of sensors (195-199) adhered to the tissue, and receiving (S435), from the set of sensors (195-199), sets of electronic signals for positions of the set of sensors (195-199). The process also includes computing (S440) geometry of the positions of the set of sensors (195-199) for each set of the sets of electronic signals and computing (S450) movement of the set of sensors (195-199) based on changes in the geometry of the positions of the set of sensors (195-199) between sets of electronic signals from the set of sensors (195-199).

Abstract: Methods, apparatuses, and systems for determining a surgical plan for an arthroplasty procedure using constraint modeling are disclosed. For example, a method for determining a surgical plan may include determining a constraint model associated with an anatomical model the constraint model configured to indicate at least one valid configuration of an implant model in association with the anatomical model, receiving placement input indicating placement of the implant in association with the anatomical model, and performing, based on the placement input, a violation process based on a violation event responsive to the placement input violating the constraint model, or a placement process positioning the implant according to the placement input. Other embodiments are described.

Abstract: Methods of orthopedic fixation and imagery analysis are provided. Images of first and second bone segments attached to a fixation apparatus are captured. Fixator elements identified in the images can be used to obtain imaging scene parameters. Bone elements identified in the images can be used with the imaging scene parameters to reconstruct a three dimensional representation of positions and/or orientations of the first and second bone segments with respect to the fixation apparatus.

Abstract: In part, the disclosure relates to determining a stent deployment location and other parameters using blood vessel data. Stent deployment can be planned such that the amount of blood flow restored from stenting relative to an unstented vessel increases one or more metrics. An end user can specify one or more stent lengths, including a range of stent lengths. In turn, diagnostic tools can generate candidate virtual stents having lengths within the specified range suitable for placement relative to a vessel representation. Blood vessel distance values such as blood vessel diameter, radius, area values, chord values, or other cross-sectional, etc. its length are used to identify stent landing zones. These tools can use or supplement angiography data and/or be co-registered therewith. Optical imaging, ultrasound, angiography or other imaging modalities are used to generate the blood vessel data.

Abstract: Various embodiments of the present disclosure encompass an optical shape sensing registration system employing an optical shape sensing guidewire (30) translatable within an over-the-wire device (40), and further employing an optical shape sensing registration controller (20) for controlling an autonomous device registration of an over-the-wire device (40). In operation, the optical shape sensing registration controller (20) automatically detects one or more sensing features of the optical shape sensing guidewire (30) (e.g., shape, curvature, temperature, vibration, strain, etc.) from an optical shape sensing of a translation of the optical shape sensing guidewire (30) within the over-the-wire device (40), and then automatically determines one or more registration characteristics of the over-the-wire device (40) (e.g., a device type, a length, a diameter, a color, a hub type, treatment device(s), anatomical image(s), anatomical model(s), anatomical location(s), procedure type etc.

Abstract: A surgical navigation method utilizing a computer system. The method includes the steps of: (a) fixing a camera relative to a surgical site on a patient such that the camera does not move relative to the surgical site; (b) restraining the body portion of the patient which includes the surgical site relative to an operating table supporting the patient, such that the body portion does not move relative to the operating table; and (c) detecting with the camera the position of a medical instrument having a tracker array.

Abstract: This system for training an operation determination model for a medical instrument control device generates training data by means of a reinforcement learning model, and, using the training data, can train an operation determination model configured to output information associated with operational commands for a driving unit that transports medical instruments.

Abstract: The subject of this invention is a surgical instrument positioning system using a three-dimensional dual fiducial-sensor trackable device and a method of intra-operative use of the three-dimensional dual fiducial-sensor trackable device for joint replacement, spine, hip, trauma fracture reduction, and implant placement/alignment. The surgical instrument positioning system provides real time position of a surgical device with reference to the three-dimensional dual fiducial-sensor trackable device using a fluoroscopic image. The three-dimensional dual trackable device is enabled to receive at least one of K-wire, guide wire, fixation rod, drill bit, screw, and surgical device.

Abstract: Systems and methods are provided for semi-automated, portable, ultrasound guided cannulation. The systems and methods provide for image analysis to provide for identification of anatomical landmarks from image data. The image analysis provides for guidance for insertion of a cannulation system into an airway of a subject which may be accomplished by a non-expert based upon the guidance provided. The system further enables a single person to perform the cannulation rather than the typical 2 or more people. The guidance may include an indicator or a mechanical guide to guide a user for inserting the cannulation system into a subject to penetrate the airway of interest.

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within an anatomic region and including an image capture device. The system can receive a three-dimensional (3D) model of the anatomic region, the 3D model including a model landmark corresponding to an anatomic landmark in the anatomic region. The system can obtain, via the image capture device, a plurality of images of the anatomic landmark, at least some of the images representing different views of the anatomic landmark. Based on the images, the system can determine a set of transformation parameters for aligning the anatomic landmark with the model landmark. The system can use the set of transformation parameters as a seed for registering the 3D model to the anatomic region.

Abstract: A surgical navigation tracker assembly including a rotational adapter for removably attaching a tracker to a surgical instrument assembly including a surgical handpiece. The adapter may be coupled to an end effector of the surgical instrument and configured to allow the end effector to actuate relative to the adapter. The end effector may comprise a stop, the adapter configured to abut the stop when coupled to the end effector. The adapter may comprise a mount for releasably securing the tracker to the adapter. The adapter may also comprise a biasing element, and the biasing element may comprise an abutment interface configured to engage either of the surgical handpiece or the stop when the end effector is coupled to the surgical handpiece. The biasing element is configured to limit rotation of the adapter relative to the surgical handpiece when the abutment interface is engaged with the surgical handpiece or the stop.

Abstract: An imaging self-positioning system includes a robotic actuator for manipulating an imaging tool or medical probe and a sensory component for maintaining a normal orientation above patient a treatment site. The imaging tool, typically an US probe, is grasped by an end-effector or similar actuator, and a sensory component engaged with the imaging tool senses an orientation of the tool relative to the treatment surface, and the robotic actuator disposes the imaging tool for maintaining a normal or other predetermined angular alignment with the treatment surface. The treatment surface is a patient epidermal region adjacent an imaged region for identifying anatomical features and surgical targets. A medical probe such as a biopsy needle may accompany the end-effector for movement consistent with the probe, either manually or robotically advanced towards the surgical target.

Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.

Abstract: A catheter navigation system may be configured to produce a plurality of location signal sets indicating a three-dimensional location of a portion of a catheter in a bodily cavity and a plurality of contact signal sets indicating degrees of detected-transducer-to-tissue contact within the bodily cavity. The catheter navigation system may be configured to, based on the location signal sets and the contact signal sets progressively visually represent in a progressively enlarging manner at least a portion of an envelope representing an interior volume of the bodily cavity, concurrently with a visual representation of transducer graphical elements representing transducers that produce the location signal sets, the contact signal sets, or both, of the portion of the catheter. The visual representation of the at least the portion of the envelope, the transducer graphical elements, or both, may respectively visually represent historical and/or presently detected degrees of transducer-to-tissue contact.

Abstract: A medical device includes an extracorporeal unit including a power transmitting unit that transmits electric power from outside of a living body into the living body in a non-contact manner, and a medical instrument embedded in the living body. The medical instrument includes a power receiving unit that receives the electric power transmitted from the power transmitting unit, a soft portion through which an injection needle is inserted, and a plurality of light emitting units that are provided along an outer edge of the soft portion and are each configured to emit light using the electric power received by the power receiving unit. A light amount adjusting unit that adjusts a light amount of a light-irradiated region including one or more light-irradiated portions to be projected on a body surface from the plurality of light emitting units.

Abstract: A method for controlling a surgical device includes accessing identification information from an identification device of at least one interchangeable accessory. The method further includes configuring an operating configuration of at least one surgical device in response to the identification information. The control instruction is communicated for an actuator of the at least one surgical device via a first port of a plurality of ports of a connection interface. The first port of the connection interface is distinguished from the plurality of ports of the connection interface by displaying an identification symbol identifying the interchangeable accessory on a display screen.

Abstract: A surgical robot navigation and positioning system, and a measurement viewing angle multi-objective optimization method includes a surgical operation planning system, a control host for data processing and robot control, a series robot having any degree of freedom, a positioning sensor and its adaptive positioning tools (4), and an environmental perception sensor. The measurement viewing angle multi-objective optimization method comprises: obtaining information on and positions of all positioning tools (4) of each link in a surgery process, and establishing a multi-objective minimization problem based on a decision variable; establishing a three-dimensional Cartesian coordinate system for each positioning tool (4); defining a non-interference margin function between the positioning tools (4), and at least two objective functions of minimization optimization; and setting constraint conditions to minimize the at least two objective functions at the same time.

Abstract: Devices, systems, and methods are provided in which movement of a tool is controlled based on sensed parameters. In one embodiment, an electromechanical tool is provided having an instrument shaft and an end effector formed thereon. The electromechanical tool is configured to be mounted on an electromechanical arm, and the electromechanical tool is configured to move with or relative to the electromechanical arm and perform surgical functions. A controller is operatively coupled to the electromechanical arm and the electromechanical tool and is configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of a tissue surface, a strain on the tissue of the patient, the temperature of the electromechanical tool, or the like.

Abstract: A system and method for image guided assisted medical procedures using modular units, such that a controller, under the direction of a computer and imaging device, can be utilized to drive and track low cost, purpose specific manipulators. The system utilizes modular actuators, self tracking, and linkages. The systems can be optimized at a low cost for most effectively performing surgical procedures, while reusing the more costly components of the system, e.g. the control, driving, and tracking systems. The system and method may utilize MRI real time guidance during the above procedures.

Abstract: At least one robotic arm is coupled to an instrument and docked to a cannula. The cannula includes a first location of the cannula and a second location of the cannula. The at least one robotic arm is capable of entering a guided mode whereby a remote center of motion changes from the first location of the cannula to the second location of the cannula, and wherein an alert associated with the guided mode informs a user of entry into the guided mode.

Abstract: A system and method for damped manipulation of a medical tool is disclosed. The system includes a robotic arm and a control unit. The robotic arm includes one or more links and one or more joints that cooperate to move the medical tool. The control unit is configured to receive a position and a velocity of a first joint of the one or more joints, apply a damping function to the first joint based on the received position or velocity to modify a force or torque of the first joint, and vary the damping function applied to the first joint based on the position or velocity when the position or velocity changes while the medical tool is moved.