Abstract: A valve repair device, e.g., for treating mitral valve regurgitation, includes a tubular body defining a longitudinal axis, paddles supported by the tubular body and movable to change abduction of the paddles relative to the longitudinal axis, and retention members supported by the tubular body proximal the paddles and similarly movable to change abduction of the retention members relative to the longitudinal axis to facilitate capture of native valve leaflets between pairs of paddles and retention members. Movement of the paddles and/or retention members is provided by one or more control mechanisms including a collar a shaft extending within the tubular body. Each shaft is threadedly engaged to a respective collar and coupled to one or more of the movable elements such that, when the collar is rotated, the shaft translates to change abduction of the movable element relative to the longitudinal axis.

Abstract: A delivery device for cardiac valve repair implants includes a delivery catheter and an extension member protruding from a distal end of the delivery catheter. The delivery device further includes a control arm assembly having pairs of control arms. Each pair includes a proximal control arm drivable from a handle assembly of the delivery device and a distal arm coupled to a distal end of the proximal control arm and a distal end of the extension member. Proximally driving each of the proximal control arms of the control arm assembly results in expansion of the control arm assembly and corresponding expansion of a cardiac valve repair implant coupled to the control arm assembly.

Abstract: Provided are systems and techniques for a medical procedure. For example, the system may include one or more robotic arms, an imaging device, a master controller, a viewer configured to render one or more digital images based on image data from the imaging device, at least one computer-readable memory having stored thereon executable instructions, and one or more processors. The one or more processors may be configured to execute the instructions to cause the system to: in a first mode of operation, cause movement of at least one of the robotic arms; and in a second mode of operation, cause the viewer to display an interactive menu and a graphical overlay on the one or more digital images.

Abstract: Delivery systems for expandable and stented implants include adjustable tensioning members that control the expansion of the implant along the length of the implant. The tensioning members are wound onto one or more rotors located on the distal segment of the delivery system, which are rotated to unwind the tensioning members and incrementally expand the implant. Positioning mechanisms are also provided to adjust the position and orientation of the implant during delivery.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Abstract: Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least one degree of freedom of movement, and an end effector coupled to the wrist. The end effector can include a cartridge for delivering a plurality of clips to tissue. The wrist may include one or more cables capable of moving an actuator with one degree of freedom of movement within the end effector to advance one or more clips through the end effector.

Abstract: Provided are systems and techniques for a medical procedure. For example, the system may include one or more robotic arms, an imaging device, a master controller, a viewer configured to render one or more digital images based on image data from the imaging device, at least one computer-readable memory having stored thereon executable instructions, and one or more processors. The one or more processors may be configured to execute the instructions to cause the system to: in a first mode of operation, cause movement of at least one of the robotic arms; and in a second mode of operation, cause the viewer to display an interactive menu and a graphical overlay on the one or more digital images.

Abstract: A replacement heart valve comprises a unibody, folded, double-wall stent, with a stent cover and a leaflet valve attached to the inner lumen of the stent. The heart valve is delivered using a multi-pulley, suture-based stent restraint assembly provided by fixed guide openings or structures along the distal end of the delivery system that independently permits expansion of the distal and proximal ends of the outer wall of the stent, and control of the inner wall expansion simultaneously with or separately from the expansion of the outer wall.

Abstract: A robotic system can include a high force instrument that amplifies input forces such that output forces are greater than input forces. The high force instrument can include an end effector. The high force instrument can further include a first pulley configured to rotate about a pulley axis and a first jaw member connected to the first pulley by a first drive pin. The high force instrument can also include a second pulley configured to rotate about the pulley axis and a second jaw member connected to the second pulley by a second drive pink. A link can provide a first pivot point about which the first jaw member can pivot and a second pivot point about which the second jaw member can pivot.

Abstract: A delivery device for cardiac valve repair implants includes a delivery catheter and an extension member protruding from a distal end of the delivery catheter. The delivery device further includes a control arm assembly having pairs of control arms. Each pair includes a proximal control arm drivable from a handle assembly of the delivery device and a distal arm coupled to a distal end of the proximal control arm and a distal end of the extension member. Proximally driving each of the proximal control arms of the control arm assembly results in expansion of the control arm assembly and corresponding expansion of a cardiac valve repair implant coupled to the control arm assembly.

Abstract: A replacement heart valve comprises a unibody, folded, double-wall stent, with a stent cover and a leaflet valve attached to the inner lumen of the stent. The heart valve is delivered using a multi-pulley, suture-based stent restraint assembly provided by fixed guide openings or structures along the distal end of the delivery system that independently permits expansion of the distal and proximal ends of the outer wall of the stent, and control of the inner wall expansion simultaneously with or separately from the expansion of the outer wall.

Abstract: A replacement heart valve comprises one or more stent frame features, including inset barbs, ring attachment structures or attachment tabs.

Abstract: Certain aspects relate to silicone sheaths for insulating wristed, electrically conductive instruments. The electrically conductive instruments can include monopolar instruments. The sheaths that are provided can include an internal, tear-resistant braided structure.

Abstract: A robotic system can include a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

Abstract: A valve repair device, e.g., for treating mitral valve regurgitation, includes a tubular body defining a longitudinal axis, paddles supported by the tubular body and movable to change abduction of the paddles relative to the longitudinal axis, and retention members supported by the tubular body proximal the paddles and similarly movable to change abduction of the retention members relative to the longitudinal axis to facilitate capture of native valve leaflets between pairs of paddles and retention members. Movement of the paddles and/or retention members is provided by one or more control mechanisms including a collar a shaft extending within the tubular body. Each shaft is threadedly engaged to a respective collar and coupled to one or more of the movable elements such that, when the collar is rotated, the shaft translates to change abduction of the movable element relative to the longitudinal axis.

Abstract: Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least two degrees of freedom of movement, and an end effector coupled to the wrist. The end effector can include an upper jaw, a lower jaw, and a firing mechanism configured to form staples in tissue. Actuation of the firing mechanism can be decoupled from the movement of the wrist in the at least two degrees of freedom.

Abstract: Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

Abstract: Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least two degrees of freedom of movement, and an end effector coupled to the wrist. The end effector can include an upper jaw, a lower jaw, and a firing mechanism configured to form staples in tissue. Actuation of the firing mechanism can be decoupled from the movement of the wrist in the at least two degrees of freedom.

Abstract: A replacement heart valve comprises a unibody, folded, double-wall stent, with a stent cover and a leaflet valve attached to the inner lumen of the stent. The heart valve is delivered using a multi-pulley, suture-based stent restraint assembly provided by fixed guide openings or structures along the distal end of the delivery system that independently permits expansion of the distal and proximal ends of the outer wall of the stent, and control of the inner wall expansion simultaneously with or separately from the expansion of the outer wall.

Abstract: Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least one degree of freedom of movement, and an end effector coupled to the wrist. The end effector can include a cartridge for delivering a plurality of clips to tissue. The wrist may include one or more cables capable of moving an actuator with one degree of freedom of movement within the end effector to advance one or more clips through the end effector.