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