Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including a first jaw providing a first jaw extension and a second jaw providing a second jaw extension, and an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint rotatable about a first pivot axis, and first and second pulleys rotatably mounted to the articulation joint at a second pivot axis perpendicular to the first pivot axis, the first pulley interposing the first jaw extension and a first joint portion of the articulation joint, and the second pulley interposing the second jaw extension and a second joint portion of the articulation joint. Joining the first and second joint portions secures the first and second pulleys within the wrist.

Abstract: A robotic surgical tool includes an elongate shaft extended through a handle and having an end effector arranged at a distal end thereof, a rack extending along a portion of the shaft and operatively coupled to a knife located at the end effector, a first actuation system housed within the handle and operable to drive the rack and thereby advance or retract the knife at the end effector, the first actuation system including a sector gear engageable with the rack and including a tooth-free zone, and a second actuation system housed within the handle and operable to cause z-axis translation of the shaft through the handle. Rotating the sector gear such that the tooth-free zone faces the rack decouples the shaft from the first actuation system to allow the shaft to freely move in z-axis translation.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, an articulable wrist that interposes the end effector and the distal end and includes one or more articulation joints, at least one guiding component arranged within a central portion of the wrist, and a knife rod extending through and supported by the at least one guiding component and terminating at a knife.

Abstract: A robotic surgical tool includes an elongate shaft extendable through a handle that provides a drive input, an actuation system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the actuation system, a rocker bar system arranged at a proximal end of the shaft and actuatable to articulate an end effector at a distal end of the shaft, and first and second drive cables extending along a portion of the shaft, each drive cable having a proximal end anchored to the shaft proximal to the handle and a distal end anchored to the shaft distal to the handle, wherein the drive cables are threaded through portions of the actuation and rocker bar systems such that operation of the actuation system acts on the drive cables and thereby actuates the rocker bar system to articulate the end effector.

Abstract: A robotic surgical tool includes a shaft extendable through a handle, an end effector arranged at a distal end of the shaft and including a first and second jaws providing first and second jaw extension, a plurality of drive members extending along the shaft and actuatable by the handle, and an articulable wrist interposing the end effector and the distal end. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, the first jaw extension being pinned to the first pulley and the second jaw extension being pinned to the second pulley, and a linkage mounted to the jaws. The plurality of drive members terminate at the first and second pulleys and are antagonistically operable to open and close the jaws and articulate the end effector in pitch and yaw.

Abstract: A robotic surgical tool includes an elongate shaft extendable through a handle providing a drive input, a drive cable extending along a portion of the shaft and having a proximal end anchored to the shaft proximal to the handle and a distal end anchored to the shaft distal to the handle, an actuation system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the actuation system, and a toggle mechanism arranged at a proximal end of the shaft and actuatable to close or open opposing jaws of an end effector arranged at a distal end of the shaft. The drive cable is threaded through portions of the actuation system and the toggle mechanism such that operation of the actuation system acts on the drive cable and thereby actuates the toggle mechanism to close or open the opposing jaws.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, and an articulable wrist that interposes the end effector and the distal end, the wrist including a linkage providing one or more lateral arms receivable within a corresponding one or more grooves defined in the first and second jaws, wherein mounting the linkage to the first and second jaws at the corresponding one or more groove generates a jaw pivot where the first and second jaws pivot between open and closed positions.

Abstract: An inflatable central distractor is inserted in to a disc space between two vertebral endplates. A perimeter balloon is inserted into the disc space in such a manner as to surround the central inflatable distractor. The perimeter balloon and the central inflatable distractor are simultaneously expanded such that as the central inflatable distractor expands the perimeter balloon surrounds the central inflatable distractor and such that the central inflatable distractor and the perimeter balloon, when expanded, contribute to forcing adjacent vertebral endplates apart.

Abstract: A spray device includes a first spray tip having a first fluid pathway defining a first flow area, and a second spray tip includes a second fluid pathway that defines a second flow area that is larger than the first flow area of the first spray tip. The first and second spray tips are side-by-side and spaced from one another at a distal end of the spray device. When a first fluid having a volumetric flow rate is introduced into the first spray tip and a second fluid having the same volumetric flow rate is introduced into the second spray tip, the first fluid will flow through the first fluid pathway at a greater velocity than the second fluid will flow through the second fluid pathway.

Abstract: A method of adjusting a switch of a device, wherein the method comprises using a biasing force-adjusting element to adjust a magnitude of a biasing force that is imparted to a switching element of the switch by a biasing element that is disposed about the switching element. The biasing force places the switching element in one of a first position and a second position, wherein the first position corresponds to a first electrical state and the second position corresponds to a second electrical state.

Abstract: An apparatus comprises a sleeve, a seal, and an anchor assembly. The sleeve is flexible and non-permeable and is configured to fit in a duodenum. The seal is positioned at the proximal end of the sleeve and is configured to seal the proximal end of the sleeve against the stomach mucosa, the pylorus, or the duodenum mucosa. The anchor assembly comprises a pair of atraumatic anchor ends and a resilient member positioned between the anchor ends. At least a portion of the resilient member extends along at least a portion of the length of the sleeve. The resilient member is configured to bias the anchor ends generally toward each other, to thereby substantially anchor the sleeve in the duodenum. The sleeve is configured to prevent chyme from contacting the mucosa of the duodenum; and to prevent enzymes excreted in the duodenum from mixing with chyme in the duodenum.

Abstract: An end effector for a surgical tool includes a first jaw that defines an aperture, a second jaw rotatably coupled to the first jaw, and a spacer pin received within the aperture and protruding from an upper surface of the first jaw. The spacer pin is adjustable within the aperture to define a jaw gap between the first and second jaws when the second jaw is moved to a closed position and engages the spacer pin, and the spacer pin is secured within the aperture to set the jaw gap.

Abstract: An end effector includes a distal clevis, an axle mounted to the distal clevis, a first jaw holder and corresponding first jaw member rotatably mounted to the axle, and a second jaw holder and corresponding second jaw member rotatably mounted to the axle. A sleeve axle has a first end, a second end, and a central passageway that extends between the first and second ends. The axle is received within the central passageway and the sleeve axle is rotatable relative to the axle.

Abstract: An articulable wrist for an end effector includes a first linkage rotatably coupled to a second linkage at a first articulation joint, a flexible member extending at least partially through a central channel cooperatively defined by the first and second linkages, and a first pair of roller supports arranged at the first articulation joint and laterally offset from each other, each roller support extending parallel to a first pivot axis extending through the first articulation joint. A drive cable extends through a first axially-extending conduit defined in the flexible member and through a gap defined between the first pair of roller supports. The drive cable is supported at the first articulation joint by the first pair of roller supports during articulation and the first pair of roller supports prevents a centerline of the drive cable from moving past the first pivot axis during actuation of the end effector.

Abstract: A suture needle having a bendable region includes an elongated body having a proximal section, a distal section, and a bendable region located between the proximal and distal sections. The bendable region has a reduced cross-section and/or is made of a superelastic material that is more flexible than the proximal and distal sections of the elongated body for enabling the suture needle to transform from a first configuration having a larger dimension to a second configuration having a smaller dimension. When in the first configuration, the suture needle is larger than an inner diameter of an elongated conduit of a trocar. In order to pass the suture needle through the elongated conduit of the trocar, the elongated body is bent at the bendable region so that the suture needle is smaller than the inner diameter of the elongated conduit of the trocar.

Abstract: A surgical visualization system may include particle trend analysis. The surgical visualization system may include a field programable gate array (FPGA) that is configured to transform sensor information of backscattered laser light into real-time information of particle movement (e.g., blood cells) in a portion of a surgical field. The system may communicate the real-time information to a processor that is remote to the FPGA for aggregation and analysis. The surgical visualization system may display both a metric representing a present state of moving particles and an aggregated state of the moving particles. The system may display both the rate of particle movement and the acceleration for use by the surgeon.

Abstract: Novel, lubricious coatings for medical devices are disclosed. The coatings provide improved lubricity and durability, and are readily applied in coating processes. The present invention is also directed to a novel platinum catalyst for use in such coatings. The catalyst provides for rapid curing, while inhibiting cross-linking at ambient temperatures, thereby improving the production pot life of the coatings.

Abstract: A non-hazardous cleaning solution/process has been developed to remove oxide residues from the surface of blackened needles. Low concentrations of citric acid solution are mixed with blackened needles and treated in an ultrasonic tank for short period of time (<5 minutes). The oxide residues are substantially removed. Quite surprisingly and unexpectedly, the penetration performance of the cleaned needles are greatly improved by up to 50% over other tested cleaning solutions.

Abstract: A robotic surgical tool includes a tool driver, and a drive housing inductively coupled to the tool driver when mounted to the tool driver and generating a magnetic field, the drive housing including one or more component parts made of or including a magnetically responsive material.

Abstract: A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft, and a wrist that interposes the end effector and the distal end. The wrist including a proximal clevis included at the distal end, a pair of pivot discs rotatably coupled to the proximal clevis and providing a centerline extending through a center of each pivot disc, a distal wrist axle extending through the pair of pivot discs and along a pivot axis that is eccentric to the centerline, a distal plurality of pulleys mounted to the distal wrist axle, and a proximal plurality of pulleys mounted to the proximal clevis at a proximal wrist axle and offset from the distal plurality of pulleys. Rotation of the pair of pivot discs moves the distal wrist axle and thereby adjusts a distance between the proximal and distal pluralities of pulleys.