Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, and an actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy incision to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.

Abstract: Various exemplary systems, devices, and methods for robotic bi-polar instruments are provided. In general, a surgical tool can include an elongate shaft, an end effector, a wrist that couples the end effector to the shaft at a distal end of the shaft, and a tool housing coupled to a proximal end of the shaft that is configured to control the operation various features associated with the end effector and to operatively couple to a robotic surgical system.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, and an actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy incision to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, and an actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy incision to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.

Abstract: Various exemplary systems, devices, and methods for robotic bi-polar instruments are provided. In general, a surgical tool can include an elongate shaft, an end effector, a wrist that couples the end effector to the shaft at a distal end of the shaft, and a tool housing coupled to a proximal end of the shaft that is configured to control the operation various features associated with the end effector and to operatively couple to a robotic surgical system.

Abstract: Various exemplary systems, devices, and methods for articulating electrosurgical tools are provided. In general, a surgical tool can be configured to articulate in two planes by selectively pivoting at first and second joints of the surgical tool. The surgical tool can include a plurality of cables configured to facilitate the articulation. Each of the cables can be configured to flex or bend at the first and second joints and can be configured to be selectively actuated to cause the pivoting at the first and second joints. The surgical tool can be configured to releasably couple to a robotic surgical system configured to control a variety of movements and actions associated with the surgical tool, such as the pivoting at the first and second joints.

Abstract: Some embodiments of the present invention include a suture anchor with both knotless and knotted suture attachment capabilities, as well as methods for loading the suture in knotless and knotted configurations. Some embodiments of the present invention include a suture anchor with an inner implant body with a spreader that slides in relation to an outer expandable collar, such that pushing the expandable collar distally with an inserter causes the spreader to expand the collar against the surrounding bone to secure the suture anchor in place. Such embodiments may also include a detachment or breakaway feature between the inserter and the suture anchor to permit separation after anchor deployment. Some embodiments of the present invention include methods for deploying such suture anchors and expanding the expandable collars and/or detaching the inserter tools. Embodiments of the present invention may be used in various orthopedic applications such as, for example, shoulder repair.

Abstract: Various exemplary systems, devices, and methods for robotic bi-polar instruments are provided. In general, a surgical tool can include an elongate shaft, an end effector, a wrist that couples the end effector to the shaft at a distal end of the shaft, and a tool housing coupled to a proximal end of the shaft that is configured to control the operation various features associated with the end effector and to operatively couple to a robotic surgical system.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, an actuation assembly, and a detection/visualization system. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis. The cannula may be inserted through a sclerotomy incision and advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer. The detection/visualization system is operable to detect or visualize penetration of the choroid of a patient's eye and provide feedback to the operator and/or automatic control of the apparatus based on penetration of the choroid.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, and an actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy incision to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, and an actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy incision to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.

Abstract: An apparatus for delivering therapeutic agent to an eye includes a body, a cannula, a hollow needle, and an actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy incision to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, and an automated actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.

Abstract: Various exemplary systems, devices, and methods for articulating electrosurgical tools are provided. In general, a surgical tool can be configured to articulate in two planes by selectively pivoting at first and second joints of the surgical tool. The surgical tool can include a plurality of cables configured to facilitate the articulation. Each of the cables can be configured to flex or bend at the first and second joints and can be configured to be selectively actuated to cause the pivoting at the first and second joints. The surgical tool can be configured to releasably couple to a robotic surgical system configured to control a variety of movements and actions associated with the surgical tool, such as the pivoting at the first and second joints.

Abstract: Various exemplary systems, devices, and methods for robotic bi-polar instruments are provided. In general, a surgical tool can include an elongate shaft, an end effector, a wrist that couples the end effector to the shaft at a distal end of the shaft, and a tool housing coupled to a proximal end of the shaft that is configured to control the operation various features associated with the end effector and to operatively couple to a robotic surgical system.

Abstract: Some embodiments of the present invention include a suture anchor with both knotless and knotted suture attachment capabilities, as well as methods for loading the suture in knotless and knotted configurations. Some embodiments of the present invention include a suture anchor with an inner implant body with a spreader that slides in relation to an outer expandable collar, such that pushing the expandable collar distally with an inserter causes the spreader to expand the collar against the surrounding bone to secure the suture anchor in place. Such embodiments may also include a detachment or breakaway feature between the inserter and the suture anchor to permit separation after anchor deployment. Some embodiments of the present invention include methods for deploying such suture anchors and expanding the expandable collars and/or detaching the inserter tools. Embodiments of the present invention may be used in various orthopedic applications such as, for example, shoulder repair.

Abstract: Some embodiments of the present invention include a suture anchor with both knotless and knotted suture attachment capabilities, as well as methods for loading the suture in knotless and knotted configurations. Some embodiments of the present invention include a suture anchor with an inner implant body with a spreader that slides in relation to an outer expandable collar, such that pushing the expandable collar distally with an inserter causes the spreader to expand the collar against the surrounding bone to secure the suture anchor in place. Such embodiments may also include a detachment or breakaway feature between the inserter and the suture anchor to permit separation after anchor deployment. Some embodiments of the present invention include methods for deploying such suture anchors and expanding the expandable collars and/or detaching the inserter tools. Embodiments of the present invention may be used in various orthopedic applications such as, for example, shoulder repair.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, an actuation assembly, and a detection/visualization system. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis. The cannula may be inserted through a sclerotomy incision and advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer. The detection/visualization system is operable to detect or visualize penetration of the choroid of a patient's eye and provide feedback to the operator and/or automatic control of the apparatus based on penetration of the choroid.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, and an automated actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.

Abstract: An apparatus for delivering therapeutic agent to an eye comprises a body, a cannula, a hollow needle, and an actuation assembly. The cannula extends distally from the body and is sized and configured to be insertable between a choroid and a sclera of a patient's eye. The actuation assembly is operable to actuate the needle relative to the cannula to thereby drive a distal portion of the needle along an exit axis that is obliquely oriented relative to the longitudinal axis of the cannula. The cannula may be inserted through a sclerotomy incision to position a distal end of the cannula at a posterior region of the eye, between the choroid and sclera. The needle may be advanced through the choroid to deliver the therapeutic agent adjacent to the potential space between the neurosensory retina and the retinal pigment epithelium layer, adjacent to the area of geographic atrophy.