Feasibility of Robotic Instrument Guidance System to Perform Safe Ultrasound-Guided Percutaneous Procedures During Routine Medical Procedures.

Inclusion criteria

For all procedures:

• Age ≥ 18 years
• Subject or legal representative is willing and able to provide informed consent
• Subject is willing and able to comply with protocol follow-up
• Elective procedure (non-emergent)

For organ access procedures, one of the following must apply:

• Subjects for whom a percutaneous renal access for nephrostomy tube placement or percutaneous nephrolithotomy have has been indicated
• Subjects for whom a percutaneous biopsy have has been indicated
• Subjects for whom a percutaneous drainage (e.g. paracentesis, thoracentesis, etc.) have has been indicated

For vascular access procedures:

• Subjects for whom a vascular access (arterial or venous) have been indicated

For pain management injections procedures:

• Subjects for whom a pain management injection procedure has been indicated, such as intra-articular injection, nerve block pre- or post- operatively, and epidural

Exclusion criteria

• For all procedures:

• Subject refusal
• Subject is unstable or potentially unstable
• Known significant coagulopathy (INR >2.0, platelet count <100,000 / µL)
• Previous failed attempt of same procedure
• Suspected infection at intended needle insertion or target site
• BMI >35 kg/m²
• Subject has any other medical, social, or psychological problem that, in the opinion of the Investigator, precludes them from participating
• Subject who is pregnant or intends to become pregnant during the study
• Hypertension (subject blood pressure ≥180/110mmHg)
• History of venous thrombosis

For organ access procedures:

• Known anatomic abnormalities of target organ
• Subject underwent transplant or urinary diversion
• Abnormal kidney function