Abstract: A medical appliance for use in medical procedures to controllably advance a medical device through a sheath. The medical appliance features pneumatic action and connecting structures adapted to couple the appliance to a variety of types of catheters, tools, and instruments.

Abstract: Conventional vasectomy techniques suffer from a number of disadvantages and potential complications, including, for example, a substantial risk for the development of hematomas, swelling, and post-surgical pain, a potential for spontaneous regeneration and undesired resumption of fertility, a need for a highly skilled surgical professional, as well as a long recovery period, accompanied by severe limitations on post-surgical activity. The present invention overcomes the disadvantages and deficiencies of the prior art by providing vasectomy instruments, kits, and methods that allow for a rapid, reliable, less invasive male sterilization procedure that may be readily, reliably and successfully performed by minimally skilled personnel around the world in a variety of medical settings.

Abstract: A surgical instrument includes a rotatable electrical coupling assembly having a first part and a second part that electrically couple and rotate relative to each other. The second part is carried by and rotates with a tube collar coupled to a transducer. A portion of the transducer is inserted through an aperture of the second part, but does not contact the second part. The first part of the assembly may electrically couple to the second part via pogo pins, brush contacts, or ball bearings. Alternatively, the first part may comprise conductive channels formed in the casing. The second part may comprise a rotatable drum with a conductive trace. In some versions, one or more components may comprise MID components. In another version, the rotatable electrical coupling assembly comprises a rotatable PC board and brush contact. Further still, a circuit board may be provided with the transducer inside a transducer casing.

Abstract: Provided herein are devices, systems, and methods for monitoring lesion or treated area in a tissue during focal ablation or cell membrane disruption therapy.

Abstract: An electrosurgical system includes an end effector assembly, a display, and a controller. The end effector assembly includes first and second jaw members each defining a tissue-treating surface. At least one of the first or second jaw members is movable relative to the other between a spaced-apart position and an approximated position for grasping tissue between the tissue-treating surfaces thereof. At least one of the first or second jaw members includes a sensor. The controller is configured to receive sensor data from the sensor, generate a tissue indication based upon the sensor data, and output the tissue indication to the display. The display is configured to display the tissue indication. The tissue indication indicates a location along the first jaw member at which tissue is grasped between the tissue-treating surfaces of the first and second jaw members.

Abstract: A paralysis monitoring system can be utilized during various medical procedures. Generally, the system is used during procedures involving anesthesia, when general paralysis is necessary, e.g., during surgery that requires cutting through or mobilizing muscle tissue. The paralysis monitoring system stimulates a nerve with low voltage signals and can provide for continuous monitoring and recording of the evoked muscle activity throughout and after a procedure. By monitoring a quantitative response of the muscle activity to nerve stimulation, an anesthesiologist may adjust subsequent doses of a paralytic agent to achieve a desired level of paralysis.

Abstract: A coaptive surgical sealing tool may be similar to an ordinary hemostat with long (50, 60, 70 or 80 mm) thin jaws for sliding into the liver parenchyma, without tearing the larger blood vessels. The jaws are spring loaded and are designed for uniform compression, and to avoid closing too quickly. The jaws are capable of sealing a 50, 60, 70 or 80 mm sealing length, in a single bite, although it can also seal shorter lengths as well. The tool can be used with existing RF/bi-polar cautery generators.

Abstract: A medical device includes an electrode shaft and an insulation tip. The electrode shaft is configured to deliver energy to a target site and includes an electrode shaft lumen configured to deliver fluid to the target site. The insulation tip is coupled to a distal tip of the electrode shaft. The insulation tip includes an insulation tip lumen fluidly connected to the electrode shaft lumen and configured to deliver fluid to the target site. The insulation tip covers an entirety of the distal tip of the electrode shaft.

Abstract: A surgical instrument includes a first actuation assembly coupled to a first component and movable from a first position to a second position to actuate the first component. A biasing member coupled to the first actuation assembly is configured to bias the first actuation assembly towards the first position. A second actuation assembly is coupled to a second component and is selectively actuatable to actuate the second component. The second actuation assembly is coupled to the first actuation assembly such that actuation of the second actuation assembly effects movement of the first actuating assembly from the first position towards the second position. A linkage assembly is configured to reduce the bias applied to the first actuation assembly when the second actuation assembly effects movement of the first actuation assembly.

Abstract: An ultrasonic surgical instrument includes an ultrasonic waveguide defining a blade at a distal end portion thereof. The ultrasonic waveguide is configured to transmit ultrasonic energy therealong to the blade. The blade defines a plurality of surfaces. At least one lumen is defined at least partially through the blade. The at least one lumen establishes a flow path through the blade extending from a first open end on one surface of the plurality of surfaces to a second open end on a different surface of the plurality of surfaces. The at least one lumen is configured to urge fluid through the blade along the flow path from the one surface to the different surface.

Abstract: Conventional vasectomy techniques suffer from a number of disadvantages and potential complications, including, for example, a substantial risk for the development of hematomas, swelling, and post-surgical pain, a potential for spontaneous regeneration and undesired resumption of fertility, a need for a highly skilled surgical professional, as well as a long recovery period, accompanied by severe limitations on post-surgical activity. The present invention overcomes the disadvantages and deficiencies of the prior art by providing vasectomy instruments, kits, and methods that allow for a rapid, reliable, less invasive male sterilization procedure that may be readily, reliably and successfully performed by minimally skilled personnel around the world in a variety of medical settings.

Abstract: An improved surgical instrument having an end effector mounted on the end of an elongate shaft extending from a handle. The end-effector is capable of different operations, including grasping, cutting, and sealing and/or coagulating tissue, and one of the operations is controlled by a trigger mechanism contained within the handle. In some embodiments, the end effector includes a pair of curved jaw members and blade assembly having a cutting blade at its distal end. The trigger mechanism drives blade assembly longitudinally within the elongate shaft such that the cutting blade protrudes between the jaw members. To help the trigger mechanism push the blade assembly around the curved jaws, the distal end of blade has a graduated flexibility that easily bends to the shape of the jaw members. The distal end of the blade may also be provided with a low friction coating so that it can easily slide between the jaw members.

Abstract: A forceps having at least a first jaw with a longitudinal axis is disclosed. The first jaw can include a body portion, a first flange, a second flange and a cam pin. The first flange can define a first cam slot with a longitudinal extent along the longitudinal axis. The second flange can be spaced from the first flange a distance transverse to the longitudinal axis of the first jaw and can have a second cam slot. The cam pin, with a longitudinal axis, can be moveably secured within the first cam slot and the second cam slot. A diameter of the cam pin can be less than a width between a first longitudinal edge that defines a first side of each of the first cam slot and the second cam slot and a second longitudinal edge that defines a second opposing side of each of the first cam slot and the second cam slot so that the cam pin is moveably received by both the first cam slot and the second cam slot.

Abstract: A transseptal crossing needle has an elongate, flexible tubular body, having a proximal end, a distal end and an electrically conductive sidewall defining a central lumen. The distal end has a radially inwardly extending annular recess. The tubular body has a first outside diameter proximally of the annular recess and a second, smaller outside diameter in the recess. An electrode tip has a proximally extending connector residing within the annular recess, and the electrode tip has a third outside diameter distally of the connector, which is greater than the first diameter. An insulation layer encloses the sidewall and the connector, and has an outside diameter approximately the same as the third diameter to provide a uniform outside diameter throughout a distal zone of the needle.

Abstract: An arthroscopic tissue resecting probe includes an elongated shaft having outer and inner sleeves which are formed from an electrically conductive material extending about an axis to a working end. Outer and inner resecting windows are formed in the sleeves in the working end. The working end includes a ceramic body having a collar portion extending fully around a region of the outer sleeve proximal to outer resecting window. A radiofrequency (RF) electrode is disposed on an outer surface of the ceramic body and is spaced-apart from the outer resecting window.

Abstract: An electrosurgical device: forceps having: a first working arm, a second working arm, wherein the electrosurgical device has a first electrosurgical configuration where the first working arm and the second working arm are in an opposed position so that the forceps deliver a first therapy current that flows between the first working arm and the second working arm; and wherein the electrosurgical device has a second electrosurgical configuration when the first working arm, the second working arm, or both are repositionable relative to each other so that the first working arm is extended with respect to the second working arm or vice versa and a second therapy current is delivered from the first working arm to a remote electrode.

Abstract: An end-effector and a surgical instrument including the end-effector are disclosed. The end-effector includes a clamp arm and an ultrasonic blade configured to acoustically couple to an ultrasonic transducer and to electrically couple to a pole of an electrical generator. The clamp arm includes a clamp jaw, a cantilever electrode configured to electrically couple to an opposite pole of the electrical generator. The cantilever electrode is fixed to the clamp jaw at a proximal end and free to deflect at a distal end. The clamp arm includes control features to adjust a tissue path relative to the clamp arm to create a predefined location of contact.

Abstract: Disclosed herein is a delivery catheter for implanting a leadless biostimulator. The delivery catheter includes a shaft and a tubular body having a lumen and an atraumatic end. The atraumatic end includes at least one of a braided, woven or mesh construction configured to facilitate the atraumatic end changing diameter. When a distal portion of the shaft is coupled to a proximal region of the leadless biostimulator, at least one of distally displacing the tubular body relative to the shaft or proximally displacing the shaft relative to the tubular body causes the leadless biostimulator to be received in the volume of the atraumatic end and the atraumatic end to encompass the leadless biostimulator. Conversely, at least one of proximally displacing the tubular body relative to the shaft or distally displacing the shaft relative to the tubular body causes the leadless biostimulator to exit the volume of the atraumatic end.

Abstract: An electrosurgical instrument may comprise a pair of jaw members configured to move between an open position and a closed position. In the closed position, the pair of jaw members may be configured to exert a gripping force on material placed between working surfaces of the pair of jaw members. A first jaw member of the pair of jaw members may comprise a first electrode, and a second jaw member of the pair of jaw members may comprise a second electrode and a third electrode.

Abstract: A microwave ablation antenna assembly (10) including a coaxial cable (14) terminating in a radiating section (16), a first tubular member (18) circumscribing the coaxial cable (14) and spaced therefrom to permit fluid flow therebetween, and a second tubular member (20) circumscribing the first tubular member (18) and spaced therefrom to permit fluid flow therebetween. The microwave ablation antenna assembly (10) further includes a hub (26) configured to receive the coaxial cable (14), first tubular member (18), and second tubular member (20), the hub (26) including a fluid inflow chamber (36) and a fluid outflow chamber (38) and an integrated hub divider (40) and hub cap (28) separating the fluid inflow chamber (36) from the fluid outflow chamber (38) and prohibiting fluid flow between the inflow chamber (36) and outflow chamber (38) except via the spacing between the coaxial cable (14) and the first tubular member (18) and between the first tubular member (18) and the second tubular member (20).

Abstract: A surgical instrument is disclosed that comprises a motor, a radio frequency (RF) energy generator, a first jaw, a second jaw movable relative to said first jaw in response to an actuation from said motor to capture tissue, and a segmented circuit comprising a first electrode configured to measure tissue impedance at a first position and a second electrode configured to measure tissue impedance at a second position. The RF energy generator is configured to transmit RF energy to the tissue by way of said first electrode or said second electrode. A controller is configured to control said motor based on the measured tissue impedances, energize said first electrode with a first amount of RF energy based on the tissue impedance measured at said first position, and energize said second electrode with a second amount of RF energy based on the tissue impedance measured at said second position.

Abstract: The disclosed technology is directed to a surgical instrument comprises a sheath having respective opposed proximal and distal ends. A pair of grasps is disposed on the distal-end portion of the sheath gripping a treatment target therebetween. A drive shaft is coupled to at least one of the pair of grasps to open or to close the pair of grasps by being moved along the longitudinal axis with respect to the sheath. Electric elements are used to apply treatment energy to the treatment target. A first operating device supplies the electric energy to the electric elements in a first supply state. A first member produces a force to open or close the pair of grasps and applies the force to the drive shaft. A second member is disposed in line with the first member and applies a force to the drive shaft in response to the operation input.

Abstract: A device is described herein for performing capsulotomies that improves suction uniformity and produces rolled capsulotomy edges. The device includes a suction cup that forms a tapered circumferential suction chamber which enables suction to be applied to a tissue in a first direction. The tapered circumferential suction chamber decreases in cross-sectional area from a proximal end of the device towards a distal end of the device. The device further includes a stem coupled to the suction cup to provide suction to the suction cup. The stem forms a neck that enables fluid flow to the suction cup in a direction substantially perpendicular to the first direction. The device further includes a cutting element configured to excise the tissue.

Abstract: An apparatus includes a body assembly, a shaft defining a longitudinal axis extending from the body assembly, an acoustic waveguide having a flexible portion, and an articulation section coupled with the shaft. A portion of the articulation section encompasses the flexible portion of the waveguide. The articulation section has a first member and a second member translatable relative to the first member. An end effector has an ultrasonic blade that is in communication with the waveguide. An articulating control assembly has a motor. The motor is operable to translate the first and second members to thereby deflect the end effector away from the longitudinal axis at the articulation section.

Abstract: For robotically operating a catheter, translation and/or rotation manipulation is provided along the shaft or away from the handle, such as near a point of access to the patient. A worm drive arrangement may allow for both translation and rotation of the shaft. Some control may be provided by robotic manipulation of the handle, while other control (e.g., fine adjustments) are made by robotic manipulation of the shaft.

Abstract: A surgical instrument comprising an end effector is disclosed. The end effector comprises a surgical dissector. The surgical dissector can apply mechanical and/or electrosurgical energy to treated tissue.

Abstract: Unintended current flow or plasma discharge has been observed in known illuminated electrosurgical devices having a metallic tubular heat sink surrounding a conductive electrode and an illumination element, and having a distal outer edge that abuts against the light emitting element. An insulating, shielding or other isolating element that prevents or discourages unintended plasma formation between the distal outer edge and nearby patient tissue can reduce the potential for tissue damage to a patient or injury to a surgeon.

Abstract: A device for use in the treatment of hemorrhoids. The device includes an elongated tube-shaped element that includes a forward end and an aft end. The aft end provides access to the interior of the tube-shaped element. The tube-shaped element extends along a longitudinal axis L and includes at least one opening formed between the forward and aft end. The device includes an anal mucosa support device removably arranged within the tube shape element. The support device includes at least two cavities to receive anal mucosa. At least one needle guide structure is formed in the elongated tube-shaped element and the anal mucosa support device such that at least one needle is capable of being guided during movement within the tube-shaped element across the at least two cavities in the anal mucosa support device to a position where the needle extends across the opening in the tube-shaped element.

Abstract: Disclosed are steerable needles having a shaft that can be controllably buckled, a steering head positioned at a distal end of the shaft, a transmission for controlling the orientation of the steering head, and a base at the end of the shaft, the base optionally comprising a controller for controlling the transmission. Also disclosed are methods of using the disclosed steerable needles.

Abstract: A system is provided to treat sleep apnea, with a method of use. The system includes a handpiece which includes at least one penetrating electrode configured to penetrate tissue and one or more temperature sensors. A processor is coupled with the one or more temperature sensors and the at least one penetrating electrode, and a memory is configured to store instructions executable by the processor. The instructions, when executed, are operable to emit, by the at least one penetrating electrode, RF energy from the electrodes to heat a region of a base of a tongue until a target energy is delivered to the region. The instructions are also operable to measure, by the one or more temperature sensors, the temperature of the region.

Abstract: Prosthesis deployment devices are disclosed herein. In some embodiments, the prosthesis deployment device comprises an elongate delivery catheter assembly configured for electrosurgery and also configured to retain and deploy a prosthesis. Kits comprising the prosthesis deployment devices with a prosthesis loaded into a prosthesis pod of the device are disclosed herein as well as methods of using the prosthesis deployment devices.

Abstract: Disclosed is an ultrasonic scalpel bit, comprising a bit tip (1), a bit bar (2) and a bit body (3), one end of the bit bar (2) being connected to the bit tip (1), and the other end of the bit bar (2) being connected to the bit body (3), wherein a main body of the bit tip (1) is of a flat sheet structure, an upper and a lower face of which respectively form an upper bit ridge (11) and a lower bit ridge (12) of the bit tip (1); a protrusion (14) is formed at a front end of the upper bit ridge (11); the upper bit ridge (11) has a thickness greater than that of the flat sheet structure and that of the lower bit ridge (12); and the protrusion (14) is smooth and free of edges.

Abstract: An electrosurgical electrode for coagulating and cutting tissue includes a main body fabricated from a conductive material, and a conductive blade extending inwardly from an inner surface of the main body. The blade has an edge configured to concentrate RF for cutting tissue.

Abstract: Flexible catheters adapted to be inserted into a body to deliver high-voltage, fast (e.g., microsecond, sub-microsecond, nanosecond, picosecond, etc.) electrical energy to target tissue may include a plurality of conductive layers, that may be coaxial. These catheters and method of using them to treat tissue are configured to reduce or avoid arcing.

Abstract: A medical device includes a shaft including a distal end including a passive electrode that defines a central opening extending through the passive electrode, and an active electrode within the central opening. The active electrode is movable between at least an extended position in which the active electrode does not contact the passive electrode, and a retracted position in which the active electrode contacts the passive electrode.

Abstract: A method and device for controlling a treatment procedure includes a treatment tool, an energy source, and a controller. The controller controls the energy source such that in a first treatment phase, power fed into the material to be treated is controlled with an increasing course. An impedance detector determines the impedance course and/or the present impedance of the material to be treated, and recognizes the achievement of an impedance minimum. A timer is started upon recognition of an impedance minimum, and upon recognition of a further impedance minimum within the specific time interval, the timer is reset. If no new impedance minimum is detected within the specific time interval and the time interval expires, the controller switches the power control to constant power or to a power course with an altered gradient. Upon fulfilling a specific criterion, there is a switchover from power control to voltage control.

Abstract: A method of controlling a function of a surgical instrument of a surgical robot with a input of a user interface includes selecting a function of a surgical instrument to link a input of the user interface with the function of the surgical instrument, actuating the input to activate the function of the surgical instrument, and delinking the input from the surgical instrument in response to an event of the surgical robot or the user interface.

Abstract: A cutting bur assembly including a cutting head with a head shaft extending therefrom. The cutting head and the head shaft are rotatable by a motor. A tube with the head shaft is rotatably mounted therein. The head shaft extends out from within the tube to locate the cutting head beyond a distal end of the tube. A plurality of bearing rollers are in direct cooperation with an outer surface of the head shaft such that upon rotation of the head shaft the plurality of bearing rollers roll along the outer surface. An outer bearing race surrounds the plurality of bearing rollers and the head shaft to retain the plurality of bearing rollers in cooperation with the head shaft.

Abstract: Methods, devices, and systems are disclosed for controlled delivery of a therapy, such as a stimulant, to a mouth of a subject via an oral device positioned in a secured configuration in the mouth. At least one of a tongue position stimulator (TST) and tongue position sensor (TSE) is provided, according to certain aspects. According to another aspect, a stimulus is delivered to the mouth and/or tongue via a mouthpiece secured to the subject's teeth. In another regard, a stimulus is delivered that generates a natural response to eliminate or reduce sleep disorders, such as for example at least one of snoring and obstructive sleep apnea.

Abstract: A tissue resecting device includes an outer sleeve having an axial bore extending along a longitudinal axis from a proximal end to a distal end and opening to an outer window near the distal end. An inner sleeve is rotatably received in the axial bore of the outer sleeve and has an axial channel adapted for communication with a negative pressure source. A distal housing is attached to a distal end of the inner sleeve and has an annular dielectric portion and a circumferentially adjacent annular metal portion having an inner window with circumferentially spaced-apart sharp cutting edges that opens to the axial channel. An active electrode is carried by the annular dielectric portion, and the inner window is circumferentially spaced-part from the active electrode so that the inner window and the active electrode rotate alternately into alignment with the outer window as the inner sleeve is rotated within the outer sleeve.

Abstract: A flexible microwave ablation antenna and a microwave ablation needle including the same are disclosed. The flexible microwave ablation antenna including: a radiator for transmitting microwave for ablation; a coaxial cable for propagating the microwave for ablation generated by a microwave generator to the radiator; wherein the flexible microwave ablation antenna is bendable. Preferably, an annular composite structure is disposed around a periphery of the coaxial cable to suppress the electromagnetic wave from propagating along the coaxial cable in a reverse direction. The annular composite structure includes an annular non-metallic layer and an annular metallic layer surrounding the annular non-metallic layer. The annular metallic layer is electrically insulated from the coaxial cable.

Abstract: Rail tension extraction devices and methods of extracting target(s) inside a patient's body are disclosed. The device includes a base assembly having a handle and an elongate base. The device additionally includes at least one magnet configured to engage a metallic target, and a capture element received in the base assembly and disposed adjacent to the at least one magnet. The capture element is configured to at least partially surround the metallic target engaged by the at least one magnet. The device further includes an outer tube configured to move relative to the elongate base between a locking position in which a distal end of the outer tube is adjacent the capture element and the at least one magnet to secure the metallic target therebetween, and an unlocking position in which the distal end of the outer tube is spaced from the capture element and the at least one magnet.

Abstract: An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, and an articulation drive assembly. The shaft extends distally from the body assembly and defines a longitudinal axis. The acoustic waveguide comprises a flexible portion. The articulation section is coupled with the shaft. A portion of the articulation section encompasses the flexible portion of the waveguide. The articulation section comprises a plurality of body portions aligned along the longitudinal axis and a flexible locking member. The flexible locking member is operable to secure the body portions in relation to each other and in relation to the shaft. The end effector comprises an ultrasonic blade in acoustic communication with the waveguide. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis.

Abstract: A medical device for performing a hysterectomy is provided. The medical device has a tissue incision assembly that includes a first cup nested within a second cup. The tissue incision assembly also includes a spacer assembly between the first cup and the second cup in order to maintain a spacing between the first and second cups. The tissue incision assembly also has a cutting implement that has a portion extending between, and movable with respect to, the first and second cups. The cutting implement can provide a circular cut guided via the spacing between the first and second cups.

Abstract: An end effector assembly suitable for use with a forceps includes opposing first and second jaw members pivotably mounted with respect to one another. The first jaw member includes one or more pivot holes defined therein configured to receive a portion of a pivot pin therein. The end effector assembly also includes an electrically-insulative hinge configured to electrically isolate the first and second jaw members from one another including one or more pivot-hole locators having an aperture defined therein. The electrically-insulative hinge is attached to the first jaw member such that the one or more pivot-hole locators align with the one or more pivot holes of the second jaw member.

Abstract: A quick-connect heart valve prosthesis that can be quickly and easily implanted during a surgical procedure is provided. The heart valve includes a substantially non-expandable, non-compressible prosthetic valve and a plastically-expandable frame, thereby enabling attachment to the annulus without sutures. A small number of guide sutures may be provided for aortic valve orientation. The prosthetic valve may be a commercially available valve with a sewing ring with the frame attached thereto. The frame may expand from a conical deployment shape to a conical expanded shape, and may include web-like struts connected between axially-extending posts. A system and method for deployment includes an integrated handle shaft and balloon catheter. A valve holder is stored with the heart valve and the handle shaft easily attaches thereto to improve valve preparation steps.

Abstract: An electrosurgical forceps includes first and second shaft members and first and second jaw members extending distally from the respective first and second shaft members. A pivot couples the first and second shaft members with one another such that the first and second shaft members are movable relative to one another between a spaced-apart position and an approximated position to move the first and second jaw members relative to one another between an open position and a closed position. The jaw members are configured to facilitate tissue treatment, tissue division, and blunt tissue dissection.

Abstract: A tissue resecting or other medical device includes a handle coupled to an elongated shaft. A radiofrequency (RF) electrode is carried at a distal end of the elongated shaft, and the electrode is moveable across a window in a sleeve or other component of the shaft. The shaft has an interior channel connectable to a negative pressure source to remove debris from the channel. A motor is carried by the handle and operatively coupled to the electrode for moving the electrode relative to the window. An electronic image sensor and lens are disposed at a distal end of the shaft, and a plurality of conductors may extend through the shaft to the image sensor. The image sensor, lens and sensor conductors are disposed within a first tubular member, and an LED or other light source is also positioned at a distal end of the shaft with LED conductors or leads extending through a second tubular member of the shaft to the LED.

Abstract: The present disclosure provides a control system for controlling unmanned aircraft systems (UAS). The control system comprises of an application user system 102 to operate the UAS, an operating system 103, a virtual road system (VRS) 109 and a virtual packet 501. The virtual packet 501 created as a boundary around the UAS defined by application user system 102 or VRS 109. The operating system 103 includes a machine learning processing unit (MLPU) 104 configured for positioning the UAS, detecting collision within path of the virtual packet 901. The VRS 109 configured to generate a virtual roadway 902 using architecture similar to Internet service provider architecture and modules for routing the UAS. The routing and controlling of UAS by the VRS 109 is based on request received from the MLPU 104, application zone packet parameters and actual position co-ordinates received from the MLPU 104.

Abstract: An apparatus for tissue ablation using radiofrequency energy comprises a housing extending from a first end to a second end. One or more pipes extend from the first end and each of the one or more pipes terminates at a tip. Each tip includes a light source operable to provide light. The apparatus further comprises a probe extending from some of the one or more pipes. Each probe is operable to deliver RF energy and to extend from or retract into the tip.