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