Abstract: Described herein are methods and systems for using the treatment tip apparatuses and high-voltage connectors with robotic surgical systems. For example, retractable treatment tip apparatuses (e.g., devices, systems, etc.) including one, or more preferably a plurality, of electrodes that are protected by a housing (which may be retractable) until pressed against the tissue for deployment of the electrodes and delivery of a therapeutic treatment, are disclosed. In particular, these apparatuses may include a plurality of treatment needle electrodes and may be configured for the delivery of nanosecond pulsed electric fields. Also described herein are high-voltage connectors configured to provide high-voltage energy, such as nsPEF pulses, from a generator to the retractable treatment tip apparatuses.

Abstract: Methods and apparatuses for treating a tissue with an electric treatment by rotating a pattern of electrodes partway through a treatment is disclosed. Also described herein are methods and apparatuses to treat tissue, including treating skin disorders, by selectively de-nucleating epidermal cells without provoking a significant inflammatory response, e.g., without increasing the density of leukocytes in the treated skin, and without affecting the non-cellular components of the dermis.

Abstract: The invention provides articulating mechanisms, and flexible members and flexible segments that can form such articulating mechanisms. The mechanisms are useful, for example, for remote steering, guidance and/or manipulation of various instruments and tools at a targeted location. The mechanisms, members or segments include links connected by flexible hinges. The proximal and distal ends of the mechanisms are connected by at least one set of cables in such a fashion that a proximal active flexible segment forms a discrete pair with a distal active flexible segment. Movement of active flexible segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. This configuration allows each flexible segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.

Abstract: A system for deploying needles in tissue includes a controller and a visual display. A treatment probe has both a needle and tines deployable from the needle which may be advanced into the tissue. The treatment probe also has adjustable stops which control the deployed positions of both the needle and the tines. The adjustable stops are coupled to the controller so that the virtual treatment and safety boundaries resulting from the treatment can be presented on the visual display prior to actual deployment of the system.

Abstract: An articulating mechanism comprises a first link, a second link, an intermediate portion, a first hinge between the first link and the intermediate portion, and a second hinge between the second link and the intermediate portion. The first link, the second link, the intermediate portion, the first hinge, and the second hinge are integrally formed. The articulating mechanism also comprises a plurality of cables for rotating the first and second links about the first and second hinges. The cables extend through channels in the first link and the second link without extending through the intermediate portion. The first and second hinges are oriented parallel to each other to permit the first and second links to rotate in the same plane about the first and second hinges, respectively. The first and second links are rotatable about the first and second hinges in two directions under control of the cables.

Abstract: A system for deploying needles in tissue includes a controller and a visual display. A treatment probe has both a needle and tines deployable from the needle which may be advanced into the tissue. The treatment probe also has adjustable stops which control the deployed positions of both the needle and the tines. The adjustable stops are coupled to the controller so that the virtual treatment and safety boundaries resulting from the treatment can be presented on the visual display prior to actual deployment of the system.

Abstract: The pulse applicator includes a first arm, including a first electrode, a second arm, including a second electrode, and a spacer. The first arm, the spacer, and the second arm are movably connected, and define a gap between the first arm and the second arm. The first electrode, the gap, and the second electrode are selectively alignable, and the first electrode and the second electrode are configured to deliver an electrical field across the gap in response to an electrical pulse received across the first and second electrodes.

Abstract: The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator.

Abstract: Articulating mechanisms, link systems, and components thereof, useful for a variety of purposes including, but not limited to, the remote manipulation of instruments such as surgical or diagnostic instruments or tools, are provided. The link systems include links wherein torque can be transferred between at least two adjacent links while allowing for pivoting motion between the links. Mechanisms for preventing undesired lateral movement of links relative to one another are also provided.

Abstract: Provided herein is a tool for use in surgical procedures. The tool includes a portion having distal links and a portion having proximal links, each link being movable in multiple degrees of freedom relative to an adjacent link The tool includes an articulation mechanism for manipulating the distal links of the distal portion, the articulation mechanism including pairs of links and tension load bearing members. The tool includes an articulation lock between the distal portion and the proximal portion, each set of tension load bearing members connecting the proximal link and corresponding distal link of one of the pairs of links The articulation lock has a disengaged state wherein the links move freely and an engaged state wherein the adjacent distal links are forced into frictional engagement and the adjacent proximal links are forced into frictional engagement to impede movement of the distal and proximal portions.

Abstract: The invention provides surgical or diagnostic tools and associated methods that offer improved user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. A rotation lock provides for enablement and disablement of rotatability of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator.

Abstract: An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprises an elongate shaft having a longitudinal axis and a plurality of axially aligned links located at the distal end of the shaft. The articulating mechanism also includes an actuating element connected to and configured to cause movement of the axially aligned links and a locking mechanism located proximal of the axially aligned links. The locking mechanism including a collar mechanism through which the actuating element extends and a locking member movable between first and second positions. The collar mechanism frictionally impedes motion of the actuating element when the locking member is in the first position and the collar mechanism allows translation of the actuating element when the locking member is in the second position.

Abstract: The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

Abstract: An articulating mechanism is provided with at least one pair of spherical joints interconnected by a set of tension members. Each joint includes a ball member, a socket member configured to pivotably receive at least a portion of the ball member, and at least one tension member extending through both the ball and socket members parallel to and offset from a central longitudinal axis of the joint.

Abstract: The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator.

Abstract: An articulating mechanism comprises a first link, a second link, an intermediate portion, a first hinge between the first link and the intermediate portion, and a second hinge between the second link and the intermediate portion. The first link, the second link, the intermediate portion, the first hinge, and the second hinge are integrally formed. The articulating mechanism also comprises a plurality of cables for rotating the first and second links about the first and second hinges. The cables extend through channels in the first link and the second link without extending through the intermediate portion. The first and second hinges are oriented parallel to each other to permit the first and second links to rotate in the same plane about the first and second hinges, respectively. The first and second links are rotatable about the first and second hinges in two directions under control of the cables.

Abstract: A sheath useful for remote steering, guidance and/or manipulation of a flexible instrument, including e.g. an endoscope, received through the sheath.

Abstract: The invention provides articulating mechanisms, and flexible members and flexible segments that can form such articulating mechanisms. The mechanisms are useful, for example, for remote steering, guidance and/or manipulation of various instruments and tools at a targeted location. The mechanisms, members or segments include links connected by flexible hinges. The proximal and distal ends of the mechanisms are connected by at least one set of cables in such a fashion that a proximal active flexible segment forms a discrete pair with a distal active flexible segment. Movement of active flexible segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. This configuration allows each flexible segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.

Abstract: The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body. These tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. The tool may also include other features. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator.

Abstract: An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprises an elongate shaft having a longitudinal axis and a plurality of axially aligned links located at the distal end of the shaft. The articulating mechanism also includes an actuating element connected to and configured to cause movement of the axially aligned links and a locking mechanism located proximal of the axially aligned links. The locking mechanism including a collar mechanism through which the actuating element extends and a locking member movable between first and second positions. The collar mechanism frictionally impedes motion of the actuating element when the locking member is in the first position and the collar mechanism allows translation of the actuating element when the locking member is in the second position.