Abstract: Apparatuses, systems, and methods for displaying a cooperative overlays based on interacting instruments are disclosed herein. In one aspect, a method for displaying cooperative overlays includes communicatively coupling a first augmented reality display device to a surgical hub; generating, by the first augmented reality display device, a first intraoperative display of a surgical field; displaying, by the first intraoperative display, a first data overlay based on operation of a first surgical instrument; interacting the first surgical instrument with a second surgical instrument; and displaying, by the first intraoperative display, an indicator of the interaction based on the interaction between the first and second surgical instruments.

Abstract: An eye surgery surgical system includes a visualization device for visualizing the position of at least one trocar point for a trocar on the sclera of a patient's eye. The trocar serves to introduce a surgical instrument configured for surgical interventions on the fundus of the patient's eye into the patient's eye. The eye surgery surgical system also includes a computer unit which is configured to provide the position of the at least one trocar point to the visualization device. Here, the computer unit contains a trocar point computation routine configured to calculate the position of the at least one trocar point from the location of at least one surgical site in a model of the patient's eye and from geometric data relating to at least one surgical instrument introducible into the patient's eye through the trocar.

Abstract: A system including a biopsy needle device having a cannula with a distal end configured to sever a tissue sample, and a trocar disposed within the cannula having a notch configured to retain a tissue sample, wherein at least one of the cannula and the trocar is divided into at least two segments including different echogenic coatings, an ultrasound probe, and a processor configured and arranged to collect images from the ultrasound probe and color code the at least two segments based on at least one characteristic relating to different echogenic coatings, surface textures, surface contours and dimensions of the biopsy device.

Abstract: Devices, systems, and methods for generating therapy annotations for display on a graphical user interface are disclosed herein. In some embodiments, therapy annotations can correspond to a location of a tip section of a catheter relative to an anatomical structure of a patient when therapy is delivered to the anatomical structure. One or more properties of the therapy annotations can be based at least in part on signals received from sensors distributed about the tip section of the catheter and/or on other characteristics of therapy delivery. The therapy annotations can be displayed alone or in combination with a three-dimensional surface representation of the anatomical structure, a representation of the catheter, and/or other visual indicia, such as a therapy contour, a distance from a nearest therapy site and/or the most recent therapy site, and/or a representation of gaps between two therapy sites.

Abstract: A method, device, and system for evaluating a vessel of a patient, and in particular the hemodynamic impact of a stenosis within the vessel of a patient. Proximal and distal pressure measurements are made using first and second instrument while the first instrument is moved longitudinally in the vessel and the second instrument remains in a fixed position. A series of pressure ratio values are calculated, and a pressure ratio curve is generated. The pressure ratio curve may be output to a display. One or more stepped change in the pressure ratio curve are identified using an Automatic Step Detection algorithm. An image is obtained showing the position of the first instrument within the vessel that corresponds to the identified stepped change. The image is registered to the identified stepped change in the pressure ratio curve. The image may be output to the display.

Abstract: A method of relating an object to a coordinate system, the object being supported by a support element, and the object and the support element being housed within a housing, includes engaging a registration element with the object or the support element, conducting an optical surface scan of the object and the registration element, using an optical scanner, to form a three-dimensional surface image of the object, the three-dimensional surface image having the coordinate system associated therewith, with the registration element being associated with the coordinate system, and correlating the object with the registration element in the three-dimensional surface image so as to register the object with the coordinate system. Associated methods and systems are also provided.

Abstract: A system (50) for tracking an object (1) comprises a magnetic field source (10) configured to be fixed to this object (1); a magnetometric data collection unit (20) that uses magnetic field sensors (22) fixed at predetermined positions on a support (23) to form an array (21), and that includes a sensor control unit (25) for controlling the magnetic field sensors (22); a data processing unit (30) configured to receive the magnetic field data from the sensor control unit (25) and to calculate from these data position coordinates of the magnetic field source (10) with respect to the array (21) forming a vector of such position coordinates which minimizes the distance between magnetic field values expected at the sensor positions (22) and magnetic field values collected by the collection unit (20), wherein the magnetic field source (10) is arranged to generate a local magnetic field (4), at the magnetic field sensors (22), of intensity set between 5 and 500 microtesla, so that the magnetic field sensors (22) dete

Abstract: Provided herein are systems, devices, assemblies, and methods for localization of a tag in a tissue of a patient. For example, provided herein are systems, devices, and methods employing a detection component that is attached to or integrated with a surgical device, where the detection component detects a signal from a tag in a patient, where the tag is activated by remote introduction of a magnetic field.

Abstract: An image registration system 111 for registering a live stream of ultrasound images 112 of a beamforming ultrasound probe 113 with an X-ray image 114 is described. The image registration 111 system identifies, from the X-ray image 114, the position of a medical device 116 represented in the X-ray image 114; and determines, based on ultrasound signals transmitted between the beamforming ultrasound probe 113 and an ultrasound transducer 115 disposed on the medical device 116, a location of the ultrasound transducer 115 respective the beamforming ultrasound probe 113. Each ultrasound image from the live stream 112 is registered with the X-ray 114 image based on the identified position of the medical device 116.

Abstract: The present invention proposes an apparatus and method for assisting a user to plan a puncture trajectory within a region-of-interest of a subject. The apparatus comprises: a data interface (211) configured to receive anatomical data of the region-of-interest of the subject and to output the at least one candidate puncture trajectory, and a data processor (213) for calculating at least one candidate puncture trajectory on basis of the anatomical data, multiple criteria, and a tradeoff among the multiple criteria. The anatomical data of the subject comprises three-dimensional data of the region of interest. The data processor (213) is further configured, upon receiving a first user input for adjusting the tradeoff among the multiple criteria, to adjust the tradeoff among the multiple criteria on basis of the first user input, and to calculate the at least one candidate puncture trajectory on basis of the anatomical data, the multiple criteria and the adjusted tradeoff among the multiple criteria.

Abstract: A control unit for a robot system including a robot with a rigid proximal portion having a remote center of motion (RCM), a flexible distal portion, and an image acquisition device. The control unit includes a processor that receives images from the image acquisition device; generates a first deployment path to a first target position based on the images; generates a second deployment path to a second target position from the first target position based on the images; generates first guidance information for positioning the rigid proximal portion along the first deployment path; generates second guidance information for positioning the flexible distal portion along the second deployment path; and deploys the first guidance information to the rigid proximal portion for guiding the rigid proximal portion to the first target position, and deploys the second guidance information to the flexible distal portion for guiding the flexible interface distal portion to the second target position.

Abstract: In general, devices, systems, and methods for fiducial identification and tracking are provided.

Abstract: In one embodiment, an ultrasound imaging system is configured to receive a set of ultrasound images of a target anatomical region. The set of ultrasound images is combined to create a composite tissue frame. The ultrasound imaging system determines whether an interventional instrument is present within the ultrasound images based on a set of trained classification algorithms based on the set of ultrasound images and the composite tissue frame. If an interventional instrument is detected, the ultrasound imaging system further determines whether an additional ultrasound frame should be captured to image the interventional instrument, and the steer angle to be used for the additional ultrasound image. The ultrasound imaging system determines a linear structure corresponding to the interventional instrument, and creates a blended image showing the interventional instrument and the composite tissue frame.

Abstract: Disclosed is a surgical robotic system comprising a robotic arm holding an end-effector and a control unit for controllably moving the robotic arm and maintaining the end-effector in at least one target position relative to a patient. The control unit can, based on a first input continuously applied onto the robotic arm, activate a hand guiding mode wherein the robotic arm is freely movable by the user; based on a second input different from the first input, continuously applied onto the robotic arm, activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory; when the computed trajectory is activated, detect that the end-effector meets a predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm is automatically movable to maintain the end-effector in the target position relative to a tracker attached to the patient.

Abstract: A navigated surgery system includes at least one processor that is operative to obtain a 2D medical image slice of anatomical structure of a patient. The operations further obtain a 3D graphical model of anatomical structure. The operations determine a pose of a virtual cross-sectional plane extending through the 3D graphical model of the anatomical structure that corresponds to the anatomical structure of the 2D medical image slice. The operations control the XR headset to display the 2D medical image slice of the anatomical structure of the patient, display the 3D graphical model of the anatomical structure, and display a graphical object oriented with the pose relative to the 3D graphical model of the anatomical structure.

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

Abstract: A method of evaluating a vessel of a patient is provided. The method includes outputting, to a display device, a screen display including: a visualization based on pressure measurements obtained from a first instrument and a second instrument positioned within the vessel of the patient while the second instrument is moved longitudinally through the vessel and the first instrument remains stationary within the vessel; and a visual representation of a vessel; receiving a user input to modify the visualization to simulate a therapeutic procedure; and updating the screen display, in response to the user input, including modifying the visualization based on the user input. A system for evaluating a vessel of a patient is also provided. The system includes first and second instruments sized and shaped for introduction into the vessel of the patient; and a processing system communicatively coupled to the first and second instruments and a display device.

Abstract: A system and method for determining a location for a surgical jig in a surgical procedure includes providing a mixed reality headset, a 3D spatial mapping camera, and a computer system configured to transfer data to and from the mixed reality headset and the 3D spatial mapping camera. The system and method also include attaching a jig to a bone, mapping the bone and jig using the 3D spatial mapping camera, and then identifying a location for the surgical procedure using the computer system. Then the system and method use the mixed reality headset to provide a visualization of the location for the surgical procedure.

Abstract: Systems, devices, and methods for displaying multiple intraluminal images in a luminal assessment are provided. An intraluminal imaging device is provided which is configured to be positioned within a body lumen of a patient and receive imaging data associated with the body lumen. The intraluminal imaging device may be in communication with a controller configured to display two or more transverse images of the body lumen on a single display device. The system may also be configured to automatically measure, display, and compare measurements of features, including misalignment or malapposition of a stent, the diameter and area of the stent at various locations along the stent, as well as the diameter and area of the lumen before the stent is positioned.

Abstract: A controller for assisting navigation in an interventional procedure includes a memory that stores instructions and a processor (310) that executes the instructions. When executed by the processor (310), the instructions cause the controller to implement a process that includes obtaining (S410) a three-dimensional model generated prior to an interventional procedure based on segmenting pathways with a plurality of branches in a subject of the interventional procedure. The process also includes determining (S470), during the interventional procedure, whether a current position of a tracked device (250) is outside of the pathways in the three-dimensional model. When the current position of the tracked device (250) is outside of the pathways in the three-dimensional model, the process includes deforming (S480) the three-dimensional model to the current position of the tracked device (250).

Abstract: An endoscope based system is configured to provide one or more procedure guidance features. The endoscope is paired with an image processing device that performs object detection and other analysis on captured images, and displays an interface to users that includes various visual guidance combined with endoscopic images. Interfaces displayed in different modes may indicate the location and extent of energy delivery tracked by the system, may guide placement of implant devices, may identify the location of nerves within tissue, and may provide step-by-step guidance for navigating the endoscope to certain anatomy. In some implementations, a removable and replaceable sheath may be coupled to the endoscope, and may enable one or more functional features of the endoscope while maintaining a sterile barrier. Sheaths may include an embedded memory that stores procedure configurations and procedure results.

Abstract: A system for identifying a location of a lumen of a tubular body structure in a patient's body includes a flexible, longitudinally extending probe configured to be inserted through the lumen in the tubular body structure in the patient. A detection system may include an antenna arranged to receive signals from a longitudinally extending detectable portion of the probe. A processing system may process the received signals and identify a longitudinally extending position of the longitudinally extending detectable portion of the probe in a three dimensional reference frame.

Abstract: A location pad includes two or more field-generators, one or more tracking elements, and a frame. The field-generators are configured to generate respective magnetic fields at least in a region-of-interest (ROI) of an organ of a patient, for measuring a position of a medical instrument in the ROI. The one or more tracking elements are for registering the location pad with the organ. The frame is coupled with tissue that is at least partially surrounding the organ, and the frame is configured to fix (i) the two or more field-generators at respective positions surrounding at least a portion of the ROI, and (ii) the one or more tracking elements at one or more respective predefined positions on the frame.

Abstract: A flexible probe has an assembly in its distal end. The assembly has a distal side and a proximal side. The assembly includes first and second flat spring coils having internal edges that mate with first and second retainers, respectively. The first and second flat coils are disposed in the probe distal end proximal to the electrode and separated by a spacer. The first and second flat coils are configured to deform in response to pressure exerted on the distal tip when the tip engages a wall of the body cavity. A transmitter is disposed on one of the distal side or the proximal side of the assembly and a receiver is disposed on the opposite side. The receiver is configured to receive signals from the transmitter for sensing a position of the receiver relative to the transmitter.

Abstract: An apparatus includes a catheter, a housing configured to house at least a portion of the catheter, and an actuator movably coupled to the housing. The housing has a first port configured to receive a proximal end portion of the catheter and a second port configured to couple the housing to an indwelling vascular access device. A portion of the actuator is disposed within the housing and is configured to be movably coupled to a portion of the catheter. The actuator is configured to be moved a first distance to move a distal end portion of the catheter a second distance greater than the first distance from a first position to a second position. The distal end portion of the catheter is disposed within the housing when in the first position and is distal to the indwelling vascular access device when in the second position.

Abstract: A steerable assembly comprises an elongated body structure with an implement arranged at a distal end thereof, wherein a premagnetized material is arranged closer to the distal end than a proximal end, and is configured to enable steering of the implement through tissue of an animal body responsive to application of a magnetic field eternal to the body. A method for guiding passage of an implement through tissue includes altering strength and/or position of at least one magnetic field source external to an animal body to interact with and effectuate movement of a premagnetized material inserted into the animal body.

Abstract: A medical marking device, consisting of a radiotransparent plate having a first plurality of radiopaque elements embedded therein in a first predefined pattern and a second plurality of optical reflectors positioned on a surface in proximity to the plate in a second predefined pattern. The device also includes a sigmoid mounting arm having a first end connected to the radiotransparent plate and a second end containing one or more fastening receptacles.

Abstract: A medical system includes an elongate instrument, a tracking system, and one or more processors. The tracking system is disposed along at least a portion of the elongate instrument. The one or more processors are coupled to the tracking system and are configured to: generate a plurality of linked bounded-surface elements corresponding to a set of connected passageways of a patient anatomy; receive shape information from the tracking system, the shape information indicating a shape of at least a portion of the elongate instrument when the portion is disposed in the set of connected passageways; register the shape information to the plurality of linked bounded-surface elements; and based on the registering, display a composite image including an instrument image of the elongate instrument displayed within a model of the set of connected passageways.

Abstract: A medical device for diagnosis or treatment of tissue in a body is provided. The device includes an elongate, tubular shaft configured to be received within the body. The shaft has a proximal portion and a distal portion configured for movement relative to the proximal portion. A flexible member having a predetermined stiffness is disposed between the proximal and distal portions. A plurality of coils are disposed within the shaft with one or more of the coils configured for movement with the distal portion. Electromagnetic fields generated from within or outside of the medical device induce currents in the coils from which movement of the distal portion in response to contact of the distal portion with the tissue may be determined. In one embodiment, several of the coils are connected in series to reduce the space required in the device for conductors.

Abstract: Methods and systems for image-based guidance in deep-brain stimulation. An endoscope system includes a waveguide tube, a right-angle prism, a light source, and a photoacoustic transducer. Light from the light source propagates along the length of the waveguide tube via internal reflection within the wall. The right-angle prism is positioned to redirect light emitted at a distal end of the waveguide tube in a direction perpendicular to the length of the waveguide tube. Light emitted in the perpendicular direction causes soundwaves to be generated by the surrounding tissue via photoacoustic effect. Those soundwaves are then conducted through the interior channel of the waveguide tube from the distal end of the waveguide tube to a proximal end of the waveguide tube where the soundwaves are detected by the photoacoustic transducer, which is acoustically coupled to the interior channel of the waveguide tube at the proximal end of the waveguide tube.

Abstract: A method for automatically monitoring a robot-assisted movement of a medical object through a hollow organ of a medical object of a patient performed by a robotic system is provided. The method includes tracking movement of the medical object using a medical imaging device such that the medical object and/or the hollow organ is at least partially arranged in a recording region that is mappable by the imaging device. The tracking is effected by a relative movement between the recording system of the imaging device and the patient. An image of the recording region is recorded during the tracking. In each case, a further image is recorded at regular intervals. The current image in each case and/or sensor data from a sensor assigned to the robotic system or the object is evaluated to determine whether a situation relevant to decision-making and/or safety with respect to the robotic system is present.

Abstract: A medical image diagnosis apparatus for use in a therapeutic procedure to a subject includes processing circuitry. The processing circuitry is configured to determine a status of a current therapeutic procedure; determine at least one proposed preset of settings of the medical image diagnosis apparatus according to the status of the current therapeutic procedure; and perform a control in accordance with the at least one proposed preset.

Abstract: Systems and methods for generating multiple registrations is provided. An image depicting a portion of a patient's anatomy and a tracking device affixed to an accurate robot may be received. A first registration of a patient coordinate space to a robotic coordinate space may be generated based on the image. A second registration of the patient coordinate space to a navigation coordinate space based at least in part on a position of second markers on the tracking device detected by a navigation system may be generated. The first registration and the second registration may be independent of each other.

Abstract: A medical apparatus includes a probe configured for insertion into a body of a patient. The probe includes electrodes configured to contact tissue of a region within the body. The apparatus further includes a display screen a position-tracking system, and a processor. The processor is configured to acquire electrophysiological signals from the electrodes, to extract electrophysiological parameters from the signals, to compute a measure of consistency of the electrophysiological parameters at each of the locations with respect to a weighted median of the parameters extracted at neighboring locations, and to render to the display screen a map of the tissue while overlaying on the map a visual indication of the extracted electrophysiological parameters for which the measure of consistency satisfied a predefined consistency criterion, and automatically omitting from the map the electrophysiological parameters for which the measure of consistency did not satisfy the criterion.

Abstract: Systems, devices, and techniques are disclosed for automatically generating CPM matrices. The system includes a plurality of body surface electrodes configured to sense electric signals and a processor comprising a neural network. The processor is configured to receive a plurality of historical CPM matrices, patient properties, and corresponding catheter locations, train a learning system based on the plurality of CPM matrices, patient properties, and corresponding catheter locations, generate a model based on the learning system, receive new patient properties at least in part from the plurality of body surface electrodes and generate new CPM matrices based on new patient properties at least in part from the plurality of body surface electrodes.

Abstract: Disclosed is an ultrasound probe including an array of ultrasonic transducers and an orientation system, wherein the orientation system obtains orientation information of the ultrasound probe.

Abstract: A placement system for tracking, placing, and monitoring a catheter assembly or other medical device inserted into a body of a patient is disclosed. The placement system utilizes optical fiber-based strain sensors to assist with catheter placement. In one embodiment, the placement system comprises a console including a processor and a plurality of optical fiber-based strain sensors included with the catheter. A light source is also included and configured to operably connect with the strain sensors and produce outgoing optical signals incident on the strain sensors. A photodetector is included and configured to operably connect with the strain sensors and receive return optical signals from the strain sensors. A processor is configured to process data from the return optical signals. The data relates to an aspect of the catheter. A user interface such as a display is configured to communicate information relating to the aspect of the catheter.

Abstract: In an apparatus for measuring biological information using a radio wave, a technique for acquiring an index related to a setting position of the apparatus with respect to a measurement site is provided.

Abstract: Shape-sensing systems and methods for medical devices. The shape-sensing system can include a medical device, an optical interrogator, a console, and a display screen. The medical device can include an integrated optical-fiber stylet having fiber Bragg grating (“FBG”) sensors along at least a distal-end portion thereof. The optical interrogator can be configured to send input optical signals into the optical-fiber stylet and receive FBG sensor-reflected optical signals therefrom. The console can be configured to convert the reflected optical signals with the aid of filtering algorithms of some optical signal-converter algorithms into plottable data for displaying plots thereof on the display screen. The plots can include a plot of curvature vs. time for each FBG sensor of a selection of the FBG sensors for identifying a distinctive change in strain of the optical-fiber stylet as a tip of the medical device is advanced into a superior vena cava of a patient.

Abstract: The present disclosure provides systems and methods for providing surgical guidance. In one aspect, the present disclosure provides a surgical guidance system comprising: an image processing module configured to (i) receive image data obtained using one or more image and/or video acquisition modules and (ii) generate one or more medical predictions or assessments based on (a) the image/video data or physiological data associated with the image/video data and (b) one or more training data sets comprising surgical or medical data associated with a patient or a surgical procedure. The one or more training data sets may comprise anatomical and physiological data obtained using a plurality of imaging modalities. The system may further comprise a visualization module configured to provide a surgical operator with an enhanced view of a surgical scene, based on the one or more augmented data sets.

Abstract: A computer-implemented method for updating a surgical plan for placement of a joint implant is disclosed. The surgical plan is obtained, including an implant model, an implant size, and an initial value for each of a plurality of placement parameters. At least one knee performance equation is selected from a library based on the surgical plan information, wherein each knee performance equation relates an output response associated with a post-operative influence to the plurality of placement parameters. Each output response is calculated across a range of values for each of a subset of the plurality of placement parameters. A graphical representation of the output response across each range is displayed, and input related to a selected value for each placement parameter of the subset is received. The surgical plan is updated based on the selected values. Devices and non-transitory computer readable media for carrying out the method are also disclosed.

Abstract: Described herein are systems, apparatus, and methods for precise placement and guidance of tools during a surgical procedure, particularly a spinal surgical procedure. The system features a portable robot arm with end effector for precise positioning of a surgical tool. The system requires only minimal training by surgeons/operators, is intuitive to use, and has a small footprint with significantly reduced obstruction of the operating table. The system works with existing, standard surgical tools, does not required increased surgical time or preparatory time, and safely provides the enhanced precision achievable by robotic-assisted systems.

Abstract: A method includes: determining, by a host device, a predetermined path including a first tilt from which a target anatomical view is available and a second tilt from which the target anatomical view is not available, where the predetermined path has a pivot of fewer than 180 degrees about an anatomical area; instructing, by the host device, an operator to pivot an ultrasound device along the predetermined path by displaying a display on the host device; receiving a first ultrasound image depicting the target anatomical view and a second ultrasound image not depicting the target anatomical view based on ultrasound data collected by the ultrasound device while pivoting along the predetermined path; and identifying that the first ultrasound image depicts the target anatomical view. The predetermined path is determined prior to collecting the first ultrasound image and the second ultrasound image.

Abstract: A patient tracking device for insertion into a body cavity includes a flexible conformable sensor housing having a sensor cavity therein. The housing conforms to the body cavity when inserted therein. A sensor is disposed within the housing.

Abstract: A guidewire comprising a hydrophilic surface coating encasing a core and a metal coil along a longitudinal length of the hydrophilic surface coating to form a distal closed tip, the metal coil circumscribing the core along a predetermined length, the core extending longitudinally beyond the metal coil in both a proximal direction and a distal direction, wherein a proximal section of the guidewire includes a hydrophobic surface coating.

Abstract: The present invention relates generally to cancer surgery through intraoperative radio-guided procedures such as localization of sentinel lymph nodes and tumors in patients with breast cancer and melanoma. More specifically, it relates to an intraoperative radiation probe system with a standalone orientation tracking capability to further guide the surgeon in identifying and locating radio-labeled organs in human body through radiation-orientation mapping.

Abstract: A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators.

Abstract: A system and method for locating magnetic material. In one embodiment the system includes a magnetic probe; a power module in electrical communication with the magnetic probe to supply current to the magnetic probe; a sense module in electrical communication with the magnetic probe to receive signals from the magnetic probe; and a computer in electrical communication with the power module and the sense module. The computer generates a waveform that controls the supply of current from the power module and receives a signal from the sense module that indicates the presence of magnetic material. The magnetic probe is constructed from a material having a coefficient of thermal expansion of substantially 10?6/° C. or less and a Young's modulus of substantially 50 GPa or greater. In one embodiment magnetic nanoparticles are injected into a breast and the lymph nodes collecting the particles are detected with the probe and deemed sentinel nodes.

Abstract: Apparatus and methods are described including a tube configured to traverse an aortic valve of a subject. A frame is disposed within at least a portion of the tube. An impeller rotates such as to pump blood from the subject's left ventricle to the subject's aorta. The impeller is disposed inside the tube such that, when the impeller and the tube are deployed inside the subject, and prior to rotation of the impeller, a gap between an outer edge of the impeller and an inner surface of the tube is less than 1 mm. A rigid stabilizing element stabilizes the impeller with respect to the tube, such that during rotation of the impeller, a gap between the outer edge of the impeller and the inner surface of the tube is maintained. Other applications are also described.

Abstract: A surgical system, method and CAD program are provided. The surgical system includes a digitization device including a pointer tip to contact a target site and actuatable control input(s). A surgical tool can manipulate the target site. A navigation system tracks a state of the digitization device. Controller(s) receive the tracked state of the digitization device and display, within a virtual reference frame, a virtual representation of the pointer tip. In response to actuation of the control input(s), the controller(s) register virtual reference points within the virtual reference frame based on the pose of the virtual representation of the pointer tip and enable arrangement of one or more geometrical design objects within the virtual reference frame relative to the registered virtual reference points to generate a virtual boundary that defines a region of the target site to be avoided by the surgical tool.