Abstract: A biopsy forceps device includes a tension member and an end effector including first and second jaws movable between an open configuration, in which the jaws are separated from one another to receive target tissue therebetween, and a closed configuration, in which cutting edges of the jaws are moved toward one another to cut a portion of the target tissue. The jaws define a tissue receiving space therebetween to house the cut tissue. The jaws are pivotable relative to one another, each of the jaws including a serrated cutting edge extending therealong, the end effector further including a tension member attachment including a proximal end coupled to the tension member. The attachment is movably coupled to the jaws so that distal movement of the attachment moves the jaws to the open configuration while proximal movement thereof moves the jaws to the closed configuration.

Abstract: An endoscopic forceps is provided and includes a housing having a shaft. An end effector assembly operatively connects to a distal end of the shaft and has a pair of first and second jaw members. One of the first and second jaw members is movable relative to the other jaw member from an open position, to a clamping position. One of the first and second jaw members includes one or more cam slots defined therein and configured to receive a cam member that upon movement thereof rotates the movable jaw member from the open position to the clamping position. A resilient member is operably coupled to the jaw member that includes the one or more cam slots. The resilient member is configured to provide a camming force to the cam slot and to bias the first and second jaw members in the clamping position.

Abstract: An articulating surgical implement (1) comprising: an elongate body (2) having a proximal end (4) and a distal end (5) and a longitudinal axis (6); a grip (7) on the proximal end for holding the surgical implement; a surgical implement head (8) formed on the distal end of the elongate body, and having surgical implement jaws (10, 11), the surgical implement head having a first joint (13) It that allows the surgical implement jaws to move relative to each other to open and close for gripping or cutting; a second joint (12) on the distal end of the elongate body for changing the angle of the surgical implement head relative to the longitudinal axis of the elongate body; a mechanism comprising a control lever (35), a control rod (39) and a linkage arm (40) for changing the angle of the surgical implement head relative to the longitudinal axis of the elongate body through an angular range of movement by pivoting about an axis of rotation of the second joint; and a mechanism comprising a pulley wheel (50) and a pu

Abstract: An endosurgical device is provided. The endosurgical device comprises a flexible tube having at least two lengthwise extending channels, an end effector comprising two opposite jaws having opposite cutting edges, an effector sleeve that surrounds the tube at least at the distal tube end, and means for reciprocating the end effector axially in relation to the effector sleeve to close the jaws when the effector sleeve is moved forward and backwards to close and open the jaws, respectively. The exterior face of the opposite jaws is electrically insulated, and an electrical cord for providing current to the end effector extends inside one of the lengthwise extending channels of the tube. The endosurgical device may allow the surgeon to take several tissue specimens from an organ and to perform several functionalities when the device is inside the organ.

Abstract: An introducer sheath assembly having a handle portion including a front end and a rear end, and a introducer sheath extending outwardly from the front end of the handle portion, the introducer sheath including a device lumen configured to slidably receive a corresponding device, a guidewire lumen configured to slidably receive a corresponding guidewire, a first steering cable lumen, a second steering cable lumen, a first steering cable disposed in the first steering cable lumen and a second steering cable disposed in the second steering cable lumen, wherein the first steering cable lumen, the second steering cable lumen and the guidewire lumen are disposed radially outwardly from the device lumen.

Abstract: The present invention relates to methods and devices for skin tightening after incising or excising tissue portions from a subject. Exemplary methods and devices include tunable dressings having an adhesive layer and a regulatable layer or an un-stretched layer that responds to one or more external stimuli to contract or expand the dressing, where the contraction or expansion can be uniform or non-uniform.

Abstract: A biopsy device includes an elongated handle body having a proximal end portion and a distal end portion, a needle disposed within the handle body, first and second transducers, and a display. The needle is configured to move between a retracted position and a deployed position. The first and second ultrasound transducers are disposed within the distal end portion of the handle body. The first and second ultrasound transducers are angled relative to one another and define a space therebetween configured for passage of the needle.

Abstract: Methods and apparatuses for detecting tension on a tendon and/or mechanical deformation (e.g., breakage) of one or more steering tendon of a steerable and flexible articulating device. Theses apparatuses may have one or more tendons that are each electrically conductive and configured to steer the apparatus when tension is applied to the proximal end of the tendon. Tension and/or breakage (or other deformation) of one or more of these tendons may be detected by monitoring the electrical resistance of the tendons.

Abstract: A steerable transseptal punch system and method of using the steerable transseptal punch system to access the left atrium.

Abstract: The present invention relates to an acetabular cup removing apparatus for an artificial hip joint. An acetabular cup removing apparatus for an artificial hip joint according to one embodiment of the present disclosure comprises: a main driving unit; a main shaft which is rotatable by a driving force of the main driving unit; a cutter unit which is disposed at a front end of the main shaft, tiltable along an acetabular portion into which an acetabular cup has been implanted, and cuts the acetabular portion while being rotated by the main shaft; and a stepless adjustment unit for steplessly adjusting a tilting angle of the cutter unit while continuously moving in a forward and backward direction relative to the main shaft.

Abstract: An infusion device includes a housing with an interior chamber sized and configured to hold at least a flange and plunger of a syringe, a trigger held by the housing, and a lever in communication with the trigger and including an upwardly extending cam with a cam path having an upper end. The cam is in communication with the flange of the syringe. In response to actuation of the trigger to dispense fluid from the syringe, the upper end of the cam travels upward above the syringe and longitudinally toward a dispensing end of the syringe to linearly translate the plunger of the syringe in a first direction to dispense fluid from the syringe. To refill fluid into the syringe, the upper end of the cam travels downward and longitudinally away from the dispensing end of the syringe to linearly translate the plunger in a second direction to intake fluid.

Abstract: According to one aspect, a medical device including a shaft having a proximal and a distal end. The medical device may also include a handle coupled to the proximal end of the shaft. The medical device may further include a body at the distal end of the shaft. The body may have a wall defining a lumen within the body, and the lumen may have a longitudinal axis. The wall may include a protrusion at the distal end of the body, and the protrusion may be defined by a gap in the wall and may have a sharp portion configured to grasp tissue. The gap may extend proximally from the distal end of the body, and edges of the wall defining the gap may be transverse to the longitudinal axis.

Abstract: Methods, devices, apparatuses and systems are disclosed for performing mammography, such as utilizing tomosynthesis in combination with breast biopsy.

Abstract: A surgical tool exchanger includes an elongated base having a first end and a second end. The surgical tool exchanger also includes an end effector configured to receive a replaceable surgical tool and an elbow configured to allow the end effector to pivot with respect to the elongated base. The surgical tool exchanger further includes an actuator connected to the second end of the elongated base. The actuator is operatively connected to the end effector and is configured to cause the end effector to retain the replaceable surgical tool in a first actuation state and release the replaceable surgical tool in a second actuation state.

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

Abstract: Examples of a module for housing unrelated electronic and electromechanical equipment for use during surgery. The module can include a lower section and a tower-like upper section. The lower section can house unrelated electronic and electromechanical equipment. The tower-like upper section can be located on top of the lower section. A water-resistant cowling can enclose at least a portion of the lower section and the tower-like upper section. A cartridge containing one or more ultraviolet-C producing lights can be protectively housed within the tower-like upper section. The cartridge containing one or more ultraviolet-C producing lights can be configured to emerge upward from a top of the tower-like upper section to substantially seat itself on the top of the tower-like upper section when activated allowing the ultraviolet-C light to disinfect the patient and staff-contacting upper surfaces of the equipment in the operating room.

Abstract: An apparatus includes a tubular structure having a proximal end, a distal end, and a body extending between the proximal and distal ends, wherein the body includes a lumen for housing at least a part of an imaging device, and a fluid delivery channel that is fixed in position relative to the body, and an opening that is in fluid communication with the fluid delivery channel, wherein the fluid delivery channel has a first portion, and a second portion that forms an angle with an axis of the first portion.

Abstract: A laparoscopic suturing device is provided. The suturing device can pass a suturing needle back and forth between jaws of a jaw assembly to suture tissue at a surgical site in a minimally invasive procedure. The jaw assembly can have a pivotable jaw member in each jaw to position the jaw assembly and needle in a low-profile stowed configuration for insertion through a low diameter surgical port. The jaw assembly can be actuated by a handle assembly that provides simultaneous needle passing from a driving jaw to a receiving jaw and latching the needle within the receiving jaw in a single trigger cycle.

Abstract: The disclosure includes methods, systems and devices for severing and optionally removing at least a portion of heart valve leaflets. Leaflets can be partially removed or entirely removed or otherwise, the leaflets can be severed or splayed in such a way as to avoid coronary blockage, LVOT obstruction, or access challenges in procedures where a prosthetic valve is to be implanted within a previously implanted prosthetic valve. The disclosure also relates to numerous devices for and methods of disabling one or more valve ligating devices to provide an unobstructed valve opening so that a prosthetic heart valve can be implanted within the opening. The ligation device(s) is disabled either by removing the ligation device(s) or severing one leaflet so that ligated leaflets can be separated. In some embodiments, the ligation device(s) are severed to disable the ligation device(s).

Abstract: A surgical instrument includes a shaft section connected to a handle that has a rigid handle part and a movable handle part. The surgical instrument also has a release mechanism that can be actuated such that the shaft section and the handle are decoupled from each other. The release mechanism has a preferably rocker-like actuating element that can be swiveled such that the shaft section and the handle are released from each other.

Abstract: A suture passing device includes a jaw assembly that is moved to an open configuration after exiting a hollow needle distal tip and moved to a closed configuration when retracted into the needle tip. The jaw assembly may include a pair of jaw members biased to a default diverging configuration. A suture capturing mechanism formed on the jaw members securely captures suture to both push and pull the captured when the jaw assembly is retracted into the hollow distal tip. The device may also include a second suture capturing mechanism that loosely captures suture and enables the captured suture to slide.

Abstract: Provided is a treatment tool including an elongated inserting section that is curveable or bendable, a wire that is disposed from an end effector to a proximal end side of the inserting section through the inserting section, the end effector being connected to a tip of the inserting section, and a power input section that is disposed on the proximal end side of the inserting section and configured to input power to a proximal end portion of the wire, and the wire transmits, to the end effector, power to drive the end effector, and the power input section is configured to increase the power to be input into the proximal end portion of the wire in response to displacement of the proximal end portion of the wire in a longitudinal direction, the displacement accompanying a curve or bend of the inserting section.

Abstract: In one general aspect, various embodiments are directed to systems and methods for controlling a surgical instrument. The surgical instrument may comprise an ultrasonic transducer, a blade extending distally from the ultrasonic transducer along a longitudinal axis, and a motor coupled to the ultrasonic transducer. The motor, when activated, may rotate the ultrasonic transducer and the blade about the longitudinal axis. A control system may receive an indication to operate the surgical instrument according to an ultrasonic-only mode. The control system may instruct the motor to rotate the blade to a park position, and activate the ultrasonic transducer to longitudinally vibrate the blade.

Abstract: A vessel sealer having a uniform pressure mechanism, detachable blade/cutter and detachable jaw assembly is disclosed. A bipolar surgical instrument, includes a jaw assembly having jaws connected to an outer tube, wherein the blade is connected to the blade pushing tube through a blade connector; a spring cap operatively engages said blade tube assembly wherein on disengagement of the said jaw assembly from an outer tube and said spring cap from said blade pushing tube are adapted to be detached from each other; a handle assembly, operatively coupled to said jaw assembly comprising a uniform pressure mechanism which contains primary spring, a secondary spring, wherein said uniform pressure mechanism enables closure of the jaws to ensure and exert a uniform pressure on the tissue and/or vessel.

Abstract: Described here are devices, systems, and methods for providing remote traction to tissue. Generally, the systems may include a grasper and a delivery device configured to releasably couple to the grasper. The grasper may have a first jaw and a second jaw and a main body having a barrel portion. The barrel portion may have a lumen extending therethrough, and a portion of the delivery device may be advanced through the lumen to rotate one or both of the jaws. The delivery devices may include a handle, a shaft, and a distal engagement portion. The delivery devices may further include an actuation rod which may be advanced through a barrel portion of a grasper to actuate the grasper. In some instances, the delivery device may further include a locking sheath, wherein the locking sheath is configured to temporarily couple to a grasper.

Abstract: The present subject matter is directed to an endoscopic grasping device for capturing objects within a human subject. The device includes a fork; and two jaws pivotally mounted about a pivot point to the fork, and movable between a predetermined closed position and a predetermined open position. Each jaw comprises front teeth near a distal end of the jaw. The front teeth of both jaws are configured to substantially mesh with each other when the jaws are in the closed position. The substantially meshed front teeth of both jaws in the closed position form a substantially hemisphere-shaped distal tip.

Abstract: A method of marking a tumor includes positioning a surgical instrument adjacent breast tissue, generating an image of a tumor in the breast tissue on a display using an ultrasonic probe of the surgical instrument, aligning a needle of the surgical instrument with the tumor using the image of the tumor generated on the display, deploying the needle from the ultrasound probe into the breast tissue, and deploying an elongated tissue marker from the needle into the tumor, thereby fixing a distal portion of the tissue marker in the tumor.

Abstract: Various methods and systems are provided for workflow monitoring during x-ray mammography and related procedures. In one example, a vision system is utilized to monitor an x-ray mammography system, accessories associated with the system, and surrounding environment. Based on the detection and user indications, via a user interface for example, one or more of a current mode of operation of the x-ray system, a current workflow step in the current mode, and one or more errors may be identified using the vision system, and one or more of indications to the user and system adjustments may be performed based on the identification.

Abstract: A steerable guidewire. The steerable guidewire is fabricated includes an outer tube, an inner tube, a hub, and a distal articulating region. The steerable guidewire hub can be removed to permit advancement of catheters over its proximal end followed by re-attachment of the hub to permit deflection of the distal end of the steerable guidewire.

Abstract: An ultrasonic surgical instrument includes a housing, an ultrasonic transducer assembly, and a waveguide. The ultrasonic transducer assembly extends through a proximal opening into the housing and includes a horn disposed within the housing defining a first engagement member. The ultrasonic transducer assembly further includes an inner housing extending through the proximal opening and an outer knob disposed externally of the housing and slidably positioned about the inner housing in fixed rotational orientation relative thereto. The outer knob is selectively translatable relative to the inner housing from a proximal, unlocked position and a distal, locked position to rotationally lock the ultrasonic transducer relative to the housing. The waveguide defines a blade at a distal end and a second engagement member at a proximal end. The second engagement member is configured to releasably engage the first engagement member to thereby engage the waveguide with the ultrasonic transducer assembly.

Abstract: A surgical instrument comprising a shaft and an end effector is disclosed. The end effector is releasably attachable to the shaft by a lock biased into a locked condition to hold the end effector to the shaft.

Abstract: Provided is a cutting biopsy instrument facilitating loading by minimizing a change in a grip on a biopsy instrument and enhancing tissue sampling accuracy and safety and simplifying collection of sampled tissue by proposing a new shift relation between an stylet and an cannula at the shooting of the needles.

Abstract: An endoscopic bipolar forceps includes a housing having a shaft extending therefrom with an end effector disposed at a distal end thereof. The end effector assembly includes a first and second jaw members having cam slots defined therein with distal and proximal sections at different angles relative to a longitudinal axis. Upon initial actuation of a handle, a cam pin engages the distal cam section of the first jaw member causing it to move relative to the second jaw member while the second jaw member remains stationary. Upon continued actuation of the handle, the cam pin engages the proximal cam section of the first jaw member causing the first jaw member to remain stationary while the second jaw member cams relative to the first jaw member to close against tissue disposed between the first and second jaw members.

Abstract: The invention relates to a shaft for a medical instrument (12), in particular a homopolar or bipolar medical instrument, comprising a shaft member (16) that accommodates a tool (18) at the distal end, said tool (18) being provided with a first jaw part (19) and a second jaw part (21) which can be moved relative to each other from an open position (29) into a closed position (28) by a draw bar/push rod (26) that is guided inside the shaft member (16); at the proximal end, the shaft member (16) has a connecting piece (14) for attachment to a manipulating device (23) that allows the draw bar/push rod (26) to be moved back and forth; at the distal end, each jaw part (19, 21) is pivotally guided inside the shaft member (16) by means of a sliding block (49).

Abstract: Systems, devices and methods for monitoring analyte levels using a self-powered analyte sensor and associated sensor electronics are provided.

Abstract: A single-insertion biopsy device includes a cannula having an extraction position at a distal end and a recovery opening at a proximal end. A first elongate element has a first distal end and a second elongate element has a second distal end. The first elongate element and the second elongate element are configured to move between the extraction position and the recovery opening, and to move with respect to each other to define an open configuration and a closed configuration. In the closed configuration, the first and second distal ends are mutually radially opposite such that the first elongate element and the second elongate element surround a volume. A drive unit is configured to move the first elongate element and the second elongate element between the open and closed configurations, and to move the first and second distal ends in unison from the extraction position to the recovery opening.

Abstract: A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. A method and system controls the needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.

Abstract: Described herein are various implementations of systems and methods for accessing and modulating tissue (for example, systems and methods for accessing and ablating nerves or other tissue within or surrounding a vertebral body to treat chronic lower back pain). Assessment of vertebral endplate degeneration or defects (e.g., pre-Modic changes) to facilitate identification of treatment sites and protocols are also provided in several embodiments. Several embodiments comprise the use of biomarkers to confirm or otherwise assess ablation, pain relief, efficacy of treatment, etc. Some embodiments include robotic elements for, as an example, facilitating robotically controlled access, navigation, imaging, and/or treatment.

Abstract: An acetabular cup remover with a blade for removing tissue adjacent an acetabular cup. The blade is oscillated against an arcuate section of tissue. Once a section of tissue is cut, an indexing assembly rotates the blade. The blade is again oscillated to cut a new arcuate section of tissue.

Abstract: A robotic surgical instrument comprising a shaft, a first end effector element, an articulation connecting the first end effector element to a distal end of the shaft, the first end effector element being movable relative to the articulation, and a drive mechanism at a proximal end of the shaft. The drive mechanism comprises a first actuator connected to the first end effector element by a first pair of driving elements. The first pair of driving elements are configured such that a tension force applied by the first actuator to a first one of the first pair of driving elements causes the first end effector element to move relative to the articulation in a first motion direction, and the tension force applied to a second one of the first pair of driving elements causes the first end effector element to move relative to the articulation in a second motion direction.

Abstract: A medical member improved in yield is provided. The medical member is assembled with an assembly unit, is movable relative to at least part of the assembly unit, and is provided with: a conductor including a plurality of curved portions and a through hole extending along a plane including the plurality of curved portions; and a coating portion integrally formed with the conductor in such a manner as to cover the periphery of the conductor and fill the interior of the through hole.

Abstract: Versatile tissue collection devices that can provide reduced crossing profiles, fluid pressure release, and/or easy cleaning or removal. In particular, devices having tissue collection devices with multiple configurations to facilitate navigation through narrow vessel cross-sections while also providing adequate tissue storage capacity. Additionally, the devices may include detachable components that allow easy removal, cleaning, and replacement during a procedure. Furthermore, venting elements and sections may be included to relieve fluid buildup in storage reservoirs.

Abstract: A method of performing a procedure on a meniscus, via an ultrasonic surgical tool. The ultrasonic tool includes a probe capable of transmitting ultrasonic vibration from a proximal end toward a front end. The probe includes a bent portion that is inclined with respect to a longitudinal axis of the probe, and a procedure portion that is disposed at the front end of the probe and has a plurality of cutting surfaces. The method includes: inserting the probe in a body; moving the probe through a space in between the femur and the tibia to position the procedure portion adjacent to the horizontal rupture in the meniscus; positioning a cutting surface of the procedure portion on a posterior portion of the meniscus; and resecting the horizontal rupture along an inclination of the meniscus to form an inclined resection plane.

Abstract: The surgical wire twisting tool includes a hollow housing, a plunger, a rotating member, a jaw actuating rod and a hollow cylindrical guide. A portion of the plunger is received within a second end of the hollow housing, and the rotating member is received within the hollow housing, such that a portion of the rotating member projects through a first end of the hollow housing. A pair of jaws are mounted on one end of the jaw actuating rod. The hollow cylindrical guide is received within the hollow housing, such that the other end of the jaw actuating rod projects through a second end of the rotating member and into the hollow cylindrical guide. The plunger slides through a second end of the hollow cylindrical guide to drive movement of the jaw actuating rod. The pair of jaws may be rotated with respect to the hollow housing, and also locked.

Abstract: An explantation accessory includes a catheter with a steerable head carrying a tubular receptacle adapted to accommodate the proximal portion of the capsule. The explantation accessory further includes a lasso having a flexible wire extending along the catheter to and forming at its distal end a deformable loop. One end of the deformable loop is mobile so as to allow tightening of the loop under the effect of a traction exerted on the flexible wire along the catheter. The free end edge of the tubular receptacle comprises a protruding anterior portion, an axially recessed posterior portion with respect to the anterior portion and located diametrically opposite to the protruding anterior portion, and two beveled edges connecting the protruding anterior portion to the recessed posterior portion.

Abstract: Methods and devices for using surgical devices with articulating end effectors are provided. Surgical devices with articulating end effectors can provide rotary driven pivoting of the end effector. In some embodiments, the device can include a handle, a first and a second tube extending from the handle, the second tube disposed within the first tube, and an end effector that includes a pair of distal jaws configured to move in response to rotation of the first tube about a longitudinal axis thereof and rotation of the second tube about a longitudinal axis thereof. The jaws can move in two different ways depending on whether the first and second tubes are rotating in a same direction as one another or in different ways than each other. The jaws can open/close and articulate using the same mechanical mechanism. The device can be powered, or the device can be non-powered.

Abstract: An ultrasonic instrument comprises a body, a shaft assembly, an ultrasonic blade, and a pivoting member. The shaft assembly extends distally from the body. The ultrasonic blade is positioned distal to the shaft assembly. The pivoting member is pivotable with respect to the blade from an open position to a closed position to thereby clamp tissue between the pivoting member and the blade. One or both of the shaft assembly or the pivoting member comprise a guide feature. The guide feature is configured to provide lateral alignment of the distal portion of the pivoting member with the blade as the pivoting member is pivoted to the closed position.

Abstract: An ultrasonic clamp coagulator apparatus is disclosed including a housing including an actuator, an outer tube, an ultrasonic waveguide, an ultrasonically actuated blade, a clamp member pivotable with respect to the blade, and a force limiting mechanism including a first compression spring having a first spring constant, positioned between the actuator and the clamp arm, and a second compression spring having a second spring constant less than the first spring constant. The first compression spring transfers a force at a first rate as a function of a motion of the actuator to pivotably move the clamp member toward the blade. The second compression spring transfers a force as a function of the tissue thickness positioned between the clamp member and the blade. At least one of the first and second compression springs is pre-compressed to provide a preload less than the respective spring constant.

Abstract: A surgical instrument is provided and includes a housing having a shaft. An end effector assembly operatively connects to the shaft and has a pair of first and second jaw members. A jaw insert is operably associated with the first and second jaw members. The jaw insert includes one or more cam slots defined therein configured to receive a cam pin that upon movement thereof rotates the first and second jaw members from an open position to a clamping position and an opening defined therein configured to securely house a pivot pin that provides a point of pivot for the first and second jaw members. The jaw insert is manufactured from an insulative medium to dielectrically isolate the first and second jaw members.

Abstract: Described herein are various implementations of systems and methods for accessing and modulating tissue (for example, systems and methods for accessing and ablating nerves or other tissue within or surrounding a vertebral body to treat chronic lower back pain). Assessment of vertebral endplate degeneration or defects (e.g., pre-Modic changes) to facilitate identification of treatment sites and protocols are also provided in several embodiments. Several embodiments comprise the use of biomarkers to confirm or otherwise assess ablation, pain relief, efficacy of treatment, etc. Some embodiments include robotic elements for, as an example, facilitating robotically controlled access, navigation, imaging, and/or treatment.