Abstract: The present invention provides a minimally invasive surgical instrument with a terminal steerable mechanism, comprising an intervention device, a control device and one or more wires. The strip-shaped intervention device sequentially includes a main section, a flexible section and an operation section from the top to the end. The control device includes a sphere with a preset rotational degree of freedom, and an operating lever connected to the sphere. Said one or more wires are extended along the main section of the intervention device. Here, the second ends of said at least one or more wires are connected to the flexible section or the operation section of the intervention device, and the first ends thereof are connected to at least a part of the control device.

Abstract: A surgical instrument, comprising an articulatable end effector that is selectively articulatable about an articulation axis. The end effector comprises first and second jaws wherein the second jaw is pivotable relative to the first jaw about a pivot axis by an axially movable closure member. One of the first and second jaws supports a fastener cartridge that defines a proximal most fastener location therein. A first distance between the pivot axis and an area of camming contact between a closure member cam surface on the closure member and a jaw cam surface on one of the first and second jaws divided by a second distance from the articulation axis to the proximal most fastener location is less than 0.5.

Abstract: A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: A device for positioning an implant for intervertebral fusion, comprising: a handle; a rod protruding from the handle along a main direction of extension of the device up to a free end; a coupler which couples with an implant for intervertebral fusion operatively active at the free end; wherein said coupler comprises: an axial retention assembly provided with a gripper arranged at said free end of the rod and selectively operable between a clamping and a releasing configuration, and an anti-rotational constraint assembly selectively movable between a locking position, in which it is arranged around said axial retention assembly and abuts said implant to prevent its rotation, and a disengagement position, in which it leaves the implant free to rotate in the gripper; and wherein the axial retention assembly and the anti-rotational constraint assembly are structurally different and complementary.

Abstract: A surgical instrument system comprising a handle assembly is disclosed. The handle assembly comprises an actuation trigger comprising a curved proximal portion and a curved cylinder surrounding the curved proximal portion of the actuation trigger. The curved cylinder comprises an electroactive polymer. The surgical instrument system comprises an actuation rod which is configured to transmit an actuation force and a sensor system which is configured to detect the magnitude of the actuation force. The electroactive polymer is responsive to the actuation force and provides feedback to a user of the surgical instrument system.

Abstract: A rongeur includes a device body having a first arm and a second arm slidably coupled to the first arm. A handle operatively coupled to the first arm and the second arm is configured to move the second arm along a length of the first arm in a first direction and an opposing second direction. A tip assembly is removably coupled to a distal end of the device body. The tip assembly includes a first tip and a second tip slidably coupled to the first tip. A locking mechanism is configured to removably couple the first tip to the first arm and removably couple the second tip to the second arm. The second tip is movable with respect to the first tip from an open position toward a closed position as the second arm moves in the first direction.

Abstract: A stitching assembly includes upper and lower cradles, upper and lower needles, and first and second sutures supported by the upper and lower needles, respectively. The cradles move along a curved path in relation to the carriages between advanced and retracted positions. When each cradle is moved from the retracted position towards the advanced position, a stitch loop is formed when the respective needle is retracted. This process is repeated alternating between the first and second cradles with the upper and lower needles passing through the previous stitch loop formed by the other needle before passing through the tissue.

Abstract: A medical forceps includes a handle, a traction string, a sleeve tube, a forceps base, a push-pull rod, two connecting members and two forceps jaws. The sleeve tube is connected to the forceps base. The traction string passes through the flexible spring tube and the forceps base, one end of the traction string is connected to the handle, and the other end thereof is connected to the push-pull rod. Middle parts of the two forceps jaws are hinged by a hinge shaft mounted on the forceps base. A lower part of the forceps jaw is hinged to one end of the respective connecting member, and the other end of the connecting member is hinged to the push-pull rod. The push-pull rod has two hinge centers for being respectively hinged to the two connecting members arranged in a crossed manner. The push-pull rod has two hinge centers.

Abstract: A manipulator including: an end effector movable about a joint; a motor configured to generate force so as to move the end effector; a wire for transmitting the force from the motor to the end effector; a guide member connected between the end effector and motor. The guide member including: a guide tube comprising at least one lumen extended in a longitudinal direction, the lumen configured to guide the wire; and an outer sheath configured to cover the guide tube in a longitudinal direction and to move relative to the motor in the longitudinal direction, the outer sheath having a rigidity higher than the guide tube. The manipulator further including an adjusting mechanism configured to adjust a position of the proximal end section of the outer sheath relative to the motor in the longitudinal direction of the guide tube so as to adjust a tensile-force generated on the wire.

Abstract: A forceps includes a first jaw member, a second jaw member, a drive rod assembly and a moveable handle attached to a fixed handle. The first jaw member and the second jaw member are in opposing relation relative to one another, and at least one of the first jaw member and the second jaw member is relatively movable from a first open position to a second clamping position when the first jaw member and the second jaw member cooperate to grasp tissue therebetween. Moving the moveable handle relative to the fixed handle moves the drive rod assembly for imparting movement of at least one of the first jaw member and the second jaw member from the first position and the second position. The moveable handle has an actuator with a lost motion connection between the first and second jaw members and the actuator.

Abstract: Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.

Abstract: A biopsy device includes a body, a needle, a cutter, an analysis area, a valve, and a tissue sample holder. The cutter is movable relative to the needle and in communication with the needle for transporting tissue samples. The analysis area is disposed proximally of the cutter and in communication with the needle to receive a tissue sample cut by the cutter for analysis by a user. The valve is disposed proximally of the analysis area and configured to alternate between an open configuration and a closed configuration. The tissue sample holder is disposed proximally of the valve and fixedly attached to the body. The valve is configured to permit analysis of the sample disposed in the analysis area when the valve is in the closed configuration and to permit the tissue sample to be passed into the tissue sample holder when the valve is in the open configuration configuration.

Abstract: End effectors with redundant closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises an elongate shaft having a proximal end and a distal end, a tool body disposed at the distal end of the shaft, a jaw movable relative to the tool body between a clamped configuration and an open configuration, a first actuation mechanism coupled with the jaw and operable to vary the position of the jaw relative to the tool body between the clamped configuration and the open configuration, and a second actuation mechanism coupled with the jaw. The second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where the position of the jaw relative to the tool body is unconstrained by the second actuation mechanism.

Abstract: An end effector is disclosed. The end effector includes a first jaw member. The first jaw member comprises a first electrode. The first jaw member defines a first aperture at a distal end. The end effector includes a second jaw member. The second jaw member comprises a second electrode. The second jaw member defines a second aperture at a distal end. The second jaw member is operatively coupled to the first jaw member. The first and second apertures are configured to define a single aperture when the first and second jaw members are in a closed position. The first and second electrodes are configured to deliver energy.

Abstract: An electrosurgical instrument includes an elongated shaft having opposing jaw members at a distal end thereof. The jaw members are movable relative to one another from a first position wherein the jaw members are disposed in spaced relation relative to one another to a second position wherein the jaw members cooperate to grasp tissue therebetween. A source of electrosurgical energy is connected to at least one of the jaw members such that the jaw members are capable of sealing tissue held therebetween.

Abstract: An end effector assembly for use with an electrosurgical instrument is provided. The end effector assembly has a pair of opposing jaw members. One or more of the jaw members includes a support base, an electrical jaw lead, and a sealing plate coupled to the electrical jaw lead. The sealing plate has a stainless steel layer and one or more piezo electric sensors. The jaw member also includes an insulative plate disposed between the support base and the sealing plate.

Abstract: An endoscope forceps includes a first forcep member and a second forcep member that are openably and closably joined to each other; a first operating member connected to a proximal side of the first forcep member; a second operating member connected to a proximal side of the second forcep member; a tubular member that fixes a proximal side of the first operating member and a proximal side of the second operating member; an outer tubular body formed of a flexible material; a traction line member; a first handle that is connected to a proximal side of the outer tubular body; and a second handle that is connected to the traction line member.

Abstract: A tool assembly for a surgical device includes a first jaw member defining a first tissue contact surface and a second jaw member defining a second tissue contact surface. The first jaw member and the second jaw member are movable in relation to each other between open and closed positions wherein, in the closed position, the first and second tissue contact surfaces are spaced apart from each other and define a tissue gap. A compressible material is secured to a distal end of the first jaw member. The compressible material engages the second jaw member when the first and second jaw members are in the closed position. A surgical device includes the aforementioned tool assembly. A kit includes the compressible material secured on a tool assembly of a surgical device. A method of manufacturing the tool assembly and securing the compressible material is disclosed.

Abstract: An instrument includes a hand piece, a pair of jaws, and an actuator. The jaws extend from the hand piece. Each jaw includes a proximal portion and a distal portion. The actuator is in communication with both the hand piece and the pair of jaws. Movement of the actuator causes the jaws to move from an open configuration to a closed configuration. During the move from the open configuration to the closed configuration, the jaws undergo a translational movement followed by a first non-translational movement.

Abstract: A method of surgery includes grasping tissue between tissue-treating plates of first and second jaw members. One or both of the jaw members includes a bifurcated body having first and second jaw components. Each jaw component includes a tissue-treating plate portion disposed thereon. The tissue-treating plate portions cooperate to define the tissue-treating plate of the jaw member. The method further includes energizing the tissue-treating plates of the first and second jaw members for conducting energy through grasped tissue to treat grasped tissue and separating grasped and treated tissue by rotating at least one of the first and second jaw components of the at least one jaw member relative to the other from an aligned orientation, wherein the tissue-treating plate portions are substantially co-planar relative to one another, to an angled orientation, wherein the tissue-treating plate portions are angled relative to one another.

Abstract: The devices and method described herein allow for therapeutic damage to increase volume in these hyperdynamic hearts to allow improved physiology and ventricular filling and to reduce diastolic filling pressure by making the ventricle less stiff.

Abstract: A microsurgical instrument, with a handle and a removably insertable engine block. The handle can be coupled with a work piece and includes a base body and, mounted in the base body, an input shaft for motorized actuation of at least one degree of freedom of the work piece. In addition, the handle has an engine interface, into which the engine block can be installed, and on which at least an electric contact and a mechanical coupling are situated, the mechanical coupling includes a claw coupling element that is non-rotatably connected with the input shaft and can be coupled with a corresponding claw coupling element of the engine block. In addition, the handle has an actuation element, with which a current flow through the electric contact of the engine interface can be activated and deactivated. The claw coupling element of the handle is mounted on the input shaft so that it can slide longitudinally.

Abstract: A surgical instrument includes: a clamp section main body which is movable between a close position that is close to a vibration transmission member and an away position that is away from the vibration transmission member; a pressure pad provided on the clamp section main body and provided on a position that is close to the vibration transmission member, the pressure pad being brought into contact with the vibration transmission member when the clamp section main body is in the close position; and a pressing member which is configured to press the vibration transmission member in association with the clamp section main body coming close to the close position, and is configured to decrease pressure of contact between the pressure pad and the vibration transmission member.

Abstract: The present application relates to systems, methods, and devices for performing drilling operations, such as in a surgical setting. The embodiments disclosed herein include handheld drill apparatus configured to be used with guides for completing a specific operation. The drill apparatus is capable of receiving instructions either through programming, from a memory device, or from scanning a device located on an external item, such as a guide.

Abstract: Certain aspects relate to a superelastic medical instrument that of bending elastically through the tortuous pathways of an endoscope, returning to a straight shape upon deployment from the endoscope, and deploying straight along the axis of the end of the bronchoscope (within a tolerated margin) to distances of 2 cm or more.

Abstract: A medical device is provided, including: a sheath portion (10); a pair of operation wires (30); and a turning operation portion (60) in which the sheath portion (10) is bent in a direction corresponding to the pulled one operation wire (30) through a turning operation. The turning operation portion (60) includes a wire fixation panel (64) around which the operation wires (30) are wound on a side peripheral surface; and a penetration portion (63c) and a closing portion (63d) which are provided further radially outwards than the side peripheral surface of the wire fixation panel (64) and at a position facing the side peripheral surface, so as to be integrated with the wire fixation panel (64).

Abstract: A robotic surgical system includes a controller, a surgical instrument supporting an end effector, and one or more connector members coupled to the end effector and movable to operate the end effector. Memory is operably coupled to the controller and is configured to maintain reference data of the one or more connector members. A sensor is secured to the one or more connector members and is disposed in electrical communication with the controller. The sensor is configured to register real-time data of the one or more connector members and communicate the real-time data to the controller. The controller is configured to compare the real-time data to the reference data and provide an output signal in response to a comparison of the real-time data to the reference data. A pair of connector members may be coupled to the end effector to impart three outputs.

Abstract: A medical device may include a sheath, an elongate member at least partially surrounded by the sheath, an end effector at a distal end of the elongate member and movable between an open position and a closed position, and a handle. The handle may include an actuator member coupled to the sheath, an adjustment member, and a biasing member extending between the actuator member and the adjustment member.

Abstract: A robotic surgical system including a control system that controls the movement of a robotic arm is described. The robotic arm can be coupled to a tool assembly that includes an end effector positioned at a distal end of a shaft. The tool assembly can include one or more sensors that measure a variety of forces or velocities associated with either the robotic arm or end effector. The control system can collect and monitor such sensed forces and velocities to determine and control one or more appropriate movement parameters associated with the robotic arm thereby controlling the cutting of tissue and preventing unwanted cutting of tissue. Furthermore, movement parameters associated with more than one robotic arm can be controlled by the control system.

Abstract: A device for surgical interventions comprises (i) an inner end (1) guidable/steerable to an operation field, (ii) an outer end (3) operated by user and (iii) a middle part (2) which connects both ends (1, 3) together. Force transmission units extend between the outer end (3) and the inner end (1). The force transmission units, the outer and the inner ends and the middle part (2) transfer movements of the outer end (3) to the inner end (1) in an identical measure, as if the inner end (1) was a straight continuation of the outer end (3).

Abstract: Provided are surgical instruments, and more particularly, surgical instruments that may be manually operated to perform laparoscopic operations or various surgical operations.

Abstract: The disclosure provides a device to facilitate the insertion and attachment of an implant that includes a barrel assembly and a plate assembly in an interspinous space. The device comprises a main body, a first arm that is configured to hold the barrel assembly, and a second arm that is configured to hold a locking plate of the plate assembly, wherein the first and second arms are movably attached to the main body.

Abstract: A robotic surgical system includes a pair of movable members and a pair of jaw members. The movable members include drive and guide pins that are received within holes and slots defined by the jaw members. The jaw members are movable relative to one another in response to movement of the movable members.

Abstract: A detector-equipped treatment tool including: a distal-end treatment portion that applies a force to and treats biological tissue; a proximal-end portion that supports the distal-end treatment portion so as to be relatively movable; a detector that is disposed in a cavity provided inside of the distal-end treatment portion and detects the force; wiring that is connected to the detector; and a duct that is connected to the distal-end treatment portion and guides the wiring led out of the distal-end treatment portion from the detector in the cavity to the proximal-end portion.

Abstract: Embodiments of a surgical instrument and its methods of use are disclosed. The disclosed embodiments of a surgical instrument may include a handle and an elongated shaft assembly distally extending from the handle. The elongated shaft assembly may include an articulable portion. An articulation control may be associated with the elongated shaft assembly. The articulation control may be movable between a first position in which the elongated shaft assembly is arranged in a first articulation position and a second position in which the elongated shaft assembly is arranged in a second articulation position. The surgical instrument may include a fastener deployment system with a locking member. The articulation control may block movement of the locking member when the articulation control is located in the first position. The articulation control may also permit movement of the locking member when the articulation control is located in the second position.

Abstract: Surgical end effectors are disclosed having angled tissue-contacting surfaces. The end effectors may have a first jaw member that is movable relative to a second jaw member between an open position and a closed position. The first jaw member may have a first positively-angled tissue-contacting surface. The second jaw member may have a second positively-angled tissue-contacting surface. At least one of the jaw members may have at least one active electrode configured to deliver RF energy to tissue located between the first jaw member and the second jaw member when in the closed position.

Abstract: A surgical instrument includes a shaft defining an axis, an end effector coupled to a distal portion thereof, a fixed handle coupled to a proximal portion thereof, a drive bar, a movable handle, and a linkage. The drive bar is disposed within the shaft and operably coupled to the end effector. The movable handle is movable relative to the fixed handle between open and closed positions and is coupled to the drive bar via a first pin on the axis. The linkage includes a first end portion coupled to the movable handle via a second pin and a second end portion coupled to the shaft via a third pin on the axis. In the closed position of the movable handle, the second pin is disposed in a near-over-center position relative to the axis to reduce a force necessary to maintain the movable handle in the closed position.

Abstract: A quick wearing tool for a pair of magnetic eyelashes members, which includes a handle, a clip unit, an upper clip plate connected to a top end of the clip unit; and a lower clip plate moveable connected to the handle allowing upward and downward movement. The two clip plates have a magnetic polarity opposite to the magnetic eyelashes members, are made of iron materials or magnetic materials for forming a magnetic loop with the magnetic eyelashes members. The magnetic properties of the two clip plates are lower than that of the magnetic eyelashes members, therefore the magnetic eyelashes members are pre-loaded onto the two clip plates through magnetic attraction and then detached from the two clip plates to secure into position on real eyelashes by attraction between the two eyelashes members when the lower clip plate is moved upward towards the upper clip plate.

Abstract: A forceps includes a first jaw member, a second jaw member, a drive rod assembly and a moveable handle attached to a fixed handle. The first jaw member and the second jaw member are in opposing relation relative to one another, and at least one of the first jaw member and the second jaw member is relatively movable from a first open position to a second clamping position when the first jaw member and the second jaw member cooperate to grasp tissue therebetween. Moving the moveable handle relative to the fixed handle moves the drive rod assembly for imparting movement of at least one of the first jaw member and the second jaw member from the first position and the second position. The moveable handle has an actuator with a lost motion connection between the first and second jaw members and the actuator.

Abstract: Provided is a forceps device including: an elongated body portion; a pair of gripping pieces that are provided at a distal end of the body portion, at least one of which possesses conductivity; a motive-power output portion that is provided at a base end of the body portion; a motive-power converting mechanism that connects the pair of gripping pieces and the motive-power output portion, and that converts motive power output by the motive-power output portion into relative opening/closing motions of the pair of gripping pieces; and an insulating member that is provided in a pathway connecting the pair of gripping pieces and the motive-power output portion via the motive-power converting mechanism.

Abstract: Devices and methods for forming and securing a tissue plication are disclosed herein. In one aspect, a tissue manipulation device is described that includes a first jaw member pivotally coupled to a distal end of an elongate shaft and having an articulating portion located distal to the proximal end of the first jaw member. The device also includes a second jaw member pivotally coupled to the first jaw member such that the jaws move in a first plane, and a fastener delivery member attached to the second jaw member. The articulating portion of the first jaw member is configured to move the first and second jaw members between a straight configuration in which a longitudinal axis of the elongate shaft is contained within the first plane and an articulated configuration in which the longitudinal axis of the elongate shaft is transverse to the first plane.

Abstract: A combination medical includes a first arm and a second arm interconnected to the first arm. The first arm and the second arm are biased towards each other by a closing force. A biasing member is disposed between the first arm and the second arm. The biasing member has a first position that biases the first arm and the second arm away from each other against the closing force and a second position that does not oppose the closing force. The combination medical device may be an electrosurgical device with a mono-polar and bi-polar configuration.

Abstract: A surgical instrument configured to facilitate access to interior components thereof for cleaning and refurbishment purposes includes a housing assembly, an elongated shaft assembly and an end effector. The housing assembly includes an actuator, and the elongated shaft assembly includes an interior control member operatively coupled to the actuator. The elongated shaft assembly also includes outer cover including first and second cover members and a hinge coupling the first and second cover members to one another such that the outer cover may be selectively moved between a closed configuration wherein the interior control member is enclosed within the outer cover and an open configuration wherein the interior control member is exposed. The end effector is supported at a distal end of the elongated shaft assembly, and is operatively associated with the interior control member.

Abstract: A device for performing a procedure may include an elongate tube having a proximal end and a distal end and an adapted link having a proximal end and a distal end. The distal end may include a first mating surface, where the proximal end may be configured to attach to the distal end of the elongate tube. The device may also include a rotating link having a second mating surface configured to rotatably interface with the adapted link first mating surface.

Abstract: A handling device for a medical instrument includes a main body with a coupling for releasable mechanical connection to a proximal end of an outer shaft, a first actuation device movable relative to the main body, a second actuation device movable relative to the main body, a first coupling device coupling the first actuation device to a first transfer device for transferring at least a force or a torque, and a second coupling device coupling the second actuation device to a second transfer device for transferring at least a force or a torque. The coupling devices each have a decoupling position, in which the associated actuation device is decoupled from the associated transfer device. The decoupling positions of both coupling devices can only be reached when the outer shaft is not connected to the coupling on the main body in the manner provided for use of the medical instrument.

Abstract: Instruments and methods for providing selective surgical instrument trigger lockout are provided herein. In one embodiment, a surgical instrument can include a distal end effector, a proximal actuator portion, a first trigger, a second trigger, and a lock arm. The lock arm can be configured to move between a first position, in which it interferes with actuation of the first trigger, and a second position, in which it permits actuation of the first trigger. Further, actuation of the second trigger can be effective to move the lock arm from the first position to the second position. Actuation of the first trigger can therefore be prevented if the second trigger is not already actuated. Selective trigger lockout can be useful in a variety of instruments, including, for example, surgical instruments that grasp, seal, and transect tissue.

Abstract: A surgical device is disclosed including a surgical instrument and an outer sheath surrounding the surgical instrument. The surgical instruments includes an end effector including a first jaw member and a second jaw member. At least one of the first jaw member or the second jaw member is pivotable toward the other to grasp tissue. The outer sheath is slidable relative to the surgical instrument along a longitudinal axis between a first position, wherein the first jaw member and the second jaw member are positioned within the outer sheath proximal to a distal portion of the outer sheath, and a second positon, wherein the first iaw member and the second iaw member are positioned outside the outer sheath distal to the distal portion of the outer sheath. The distal portion of the outer sheath is configured to clamp tissue.

Abstract: A surgical instrument may comprise a shaft comprising a wrist at a first end, an end effector coupled to the wrist, and an actuation element that extends along the shaft and the wrist. The actuation element may follow a twisted path along at least a portion of the wrist. The twisted path may have an angular extent of less than 360 degrees along an entire length of the wrist. A method of configuring a surgical instrument wrist is also contemplated, as well as a support structure for an actuation element of a surgical instrument. The support structure may comprise at least one passage defining a twisted path about a longitudinal axis of the support structure. The passage may have an angular extent of less than 360 degrees from a first end of the passage to a second end of the passage.

Abstract: A suture passer includes a handle, an elongated sleeve defining a distal end, an inner shaft slidably disposed within the elongated sleeve, and an end effector assembly disposed at a distal end of the inner shaft. The end effector assembly includes first and second arms, at least one which is movable relative to the other between a spaced-apart position and an approximated position for retaining a portion of a suture therebetween. The inner shaft and elongated sleeve are relatively movable between a first condition, wherein the first and second arms are disposed in the approximated position and the distal end of the elongated sleeve is exposed, a second condition, wherein the first and second arms are disposed in the approximated position and the distal end of the elongated sleeve is shielded, and a third condition, wherein the first and second arms are disposed in the spaced-apart position.