Abstract: Certain aspects relate to systems and techniques for robotic medical instrument system. The medical instrument system can include a pulley and a capstan. The capstan can be supported for rotation about a rotational axis and translation along the rotational axis. A cable can be wrapped around the capstan and extending from the capstan to the pulley. The capstan can be configured to translate relative to the pulley along the rotational axis as the capstan rotates about the rotational axis.

Abstract: A surgical instrument according to an embodiment may include: a housing that is to be attached to a driving unit of a robot arm and is provided with a plurality of driven members to be driven by a plurality of drive members of the driving unit; a shaft whose one end portion is connected to the housing; a plurality of end effectors; a support body that is rotatably supported by the other end portion of the shaft and rotatably supports the plurality of end effectors; and a plurality of driving elements that are respectively connected to the plurality of driven members to drive the plurality of end effectors and the support body to rotate.

Abstract: A uterine manipulator includes an elongated shaft, a colpotomy cup supported on the elongated shaft, a distal shaft extending distally from the colpotomy cup to a distal tip, and a rollable sleeve supported on the distal tip.

Abstract: A clip applier includes an end effector that is adapted to releasably engage a clip cartridge. The end effector includes spring arms that are deflectable outwardly to receive and retain the clip cartridge within the end effector. The clip applier includes an outer tube that is movable from an advanced position encompassing the end effector to prevent separation of the clip cartridge from the end effector, to a retracted position spaced proximally of the spring arms. In the retracted position, the spring arms can deflect outwardly from the clip cartridge to disengage the clip cartridge from the end effector.

Abstract: A depth limiter configured for use with a surgical cannula includes an annular base having a boss that extends about a longitudinal axis and has a boss lumen configured to receive the surgical cannula. A latch arm coupled with the annular base overlies the boss and includes an arm opening configured to align with the boss lumen to receive the surgical cannula. The latch arm is movable relative to the annular base between a release position and a lock position. In the release position the arm opening is positioned coaxially with the boss lumen such that the latch arm is configured to permit longitudinal movement of the depth limiter along the surgical cannula. In the lock position the arm opening is positioned non-coaxially with the boss lumen such that the latch arm is configured to inhibit longitudinal movement of the depth limiter along the surgical cannula.

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: Methods and devices are provided for the alleviation of pain during childbirth. Generally, the methods and devices are designed to apply pressure to the hips of a female during the labor process. These devices may be manually or automatically actuated to provide pressure to the hips of a patient and the devices may further include force limiting devices to ensure that excessive forces are not applied to the patient.

Abstract: A suture and button construct, having an oblong button defining at least a first aperture and a second aperture; a suture length, including a braid defining a lumen and having a middle section and two end sections, each extending through a button aperture and both terminating in an end. Both ends have a needle attached. Also, two shuttles are engaged to the suture length, each having a free end and a loop end, terminating in a loop. Each shuttle enters the lumen in the middle section and extend through an aperture, while in the lumen and exit on the opposite button side from the middle section, so that both shuttle loops are available outside the lumen, to pull a suture end through the lumen and a button aperture.

Abstract: A surgical instrument according to an embodiment may include: a base body including an attachment surface to be attached to the adaptor; an elongated shaft including one end connected to the base body; a treatment tool provided on a side of the other end of the shaft, elongate elements for operating the surgical tool, driven members rotatably provided on the base body and connected with end portions of the elongate elements; a holding member provided such that one end of each driven member is rotatably held by the base body and the other end of each driven member is rotatably held by the holding member; and a movable member provided movable with respect to the holding member and the base body and engageable with an adaptor. The movable member is configured, when moved with respect to the holding member and the base body, to be disengaged from the adaptor.

Abstract: For robotically operating a catheter, a medical catheter is controlled by rotation of the catheter as well as steering in one or more planes of a distal end of the catheter. To robotically rotate the catheter, a handle is rotated. The steering is performed separately using one or more knobs on the handle. The rotation of the handle complicates the robotic control of the knob. A mechanical decoupling is used so that rotation of the handle maintains the position of the knob relative to the handle. Gearing or transmission is used to avoid independent control of the knob and handle rotation. In an alternative or additional approach, the handle may be robotically controlled while also guiding the catheter shaft spaced away from the handle, allowing fine-tuned control of the catheter at the access point to the patient.