Abstract: A method comprises providing an articulation tool including an articulation mechanism comprising a proximal link and a distal link, end effector, elongated shaft, rotating member, and an articulation lock comprising a first lock configured to prevent pivoting of the elongated shaft about a yaw axis, a second lock configured to prevent pivoting about a pitch axis, and an actuator to actuate both locks simultaneously. The method further comprises driving movement of the proximal link which causes corresponding movement of the distal link, adjusting the actuator between an unlocked configuration and a locked configuration in which the links and end effector are held in a fixed orientation with respect to the elongated shaft, and driving rotation of the rotating member which causes rotation of the elongated shaft while the links and end effector are held in the fixed orientation and rotation of the end effector about the end effector longitudinal axis.

Abstract: A tool comprises an articulation mechanism comprising a pair of links. The pair of links include a proximal link on a proximal portion of the tool and a distal link on a distal portion of the tool. Movement of the proximal link causes corresponding relative movement of the distal link. The tool further includes an end effector coupled to the distal link, an elongated shaft extending along a longitudinal axis between the proximal and distal links, and a rotating member operably coupled to the shaft. The tool further includes an articulation lock adjustable between a locked configuration in which the proximal link, the distal link, and the end effector are held la a fixed orientation with respect to the shaft while the rotating member is operable to rotate the shaft about the longitudinal axis and an unlocked configuration in which the end effector is movable with respect to the shaft.

Abstract: A tool comprises an articulation mechanism comprising a pair of links. The pair of links include a proximal link on a proximal portion of the tool and a distal link on a distal portion of the tool. Movement of the proximal link causes corresponding relative movement of the distal link. The tool further includes an end effector coupled to the distal link, an elongated shaft extending along a longitudinal axis between the proximal and distal links, and a rotating member operably coupled to the shaft. The tool further includes an articulation lock adjustable between a locked configuration in which the proximal link, the distal link, and the end effector are held in a fixed orientation with respect to the shaft while the rotating member is operable to rotate the shaft about the longitudinal axis and an unlocked configuration in which the end effector is movable with respect to the shaft.

Abstract: A tool comprises an articulation mechanism comprising a pair of links. The pair of links include a proximal link on a proximal portion of the tool and a distal link on a distal portion of the tool. Movement of the proximal link causes corresponding relative movement of the distal link. The tool further includes an end effector coupled to the distal link, an elongated shaft extending along a longitudinal axis between the proximal and distal links, and a rotating member operably coupled to the shaft. The tool further includes an articulation lock adjustable between a locked configuration in which the proximal link, the distal link, and the end effector are held la a fixed orientation with respect to the shaft while the rotating member is operable to rotate the shaft about the longitudinal axis and an unlocked configuration in which the end effector is movable with respect to the shaft.

Abstract: An articulating tool includes proximal, central and distal portions, an articulation mechanism, and first and second articulation locks. The articulation mechanism includes a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool. The first articulation lock has an engaged position and a disengaged position. When in the engaged position, the first articulation lock impedes movement of the proximal link relative to the central portion about a yaw axis, and corresponding relative movement of the distal link. The second articulation lock also has an engaged position and a disengaged position. When in the engaged position, the second articulation lock impedes movement of the proximal link relative to the central portion about a pitch axis, and corresponding relative movement of the distal link.

Abstract: An articulating tool includes proximal, central and distal portions, an articulation mechanism, and first and second articulation locks. The articulation mechanism includes a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool. The first articulation lock has an engaged position and a disengaged position. When in the engaged position, the first articulation lock impedes movement of the proximal link relative to the central portion about a yaw axis, and corresponding relative movement of the distal link. The second articulation lock also has an engaged position and a disengaged position. When in the engaged position, the second articulation lock impedes movement of the proximal link relative to the central portion about a pitch axis, and corresponding relative movement of the distal link.

Abstract: Devices and methods for ablating a selected tissue volume, such as for ablating tumor, are disclosed. In certain embodiments, the ablation devices include a low-conductivity, tissue-piercing tip, an adjustment mechanism for selectively adjusting the length of an exposed portion of the electrode, for producing ablation volumes of desired geometry. In other embodiment, the methods allow the adjustment of the length of the exposed electrode portion be carried out by moving an insulative sleeve along the electrode.

Abstract: An articulating tool includes proximal, central and distal portions, an articulation mechanism, and first and second articulation locks. The articulation mechanism includes a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool. The first articulation lock has an engaged position and a disengaged position. When in the engaged position, the first articulation lock impedes movement of the proximal link relative to the central portion about a yaw axis, and corresponding relative movement of the distal link. The second articulation lock also has an engaged position and a disengaged position. When in the engaged position, the second articulation lock impedes movement of the proximal link relative to the central portion about a pitch axis, and corresponding relative movement of the distal link.

Abstract: Devices, systems, and methods for suturing of body lumens allow the suturing of vascular puncture sites located at the distal end of a percutaneous tissue tract. An elongated articulated foot near a distal end of a shaft is inserted through the penetration and actuated so that the foot extends along the lumenal axis. The foot carries suturing attachment cuffs, and needles are advanced from the shaft through the vessel wall outside of the penetration and into engagement with the needle cuffs after the foot has been drawn proximally up against the endothelial surface of the blood vessel. The cross-section of the shaft within the tissue tract can be minimized by laterally deflecting the needles as they leave the shaft, while tapered depressions within the foot can guide the advancing needles into engagement with the cuffs. The cuffs lockingly engage the needles and can be withdrawn proximally along the needle paths and through the tissue tract so as to form a loop of suture across the puncture.

Abstract: Devices, systems, and methods for suturing of body lumens allow the suturing of vascular puncture sites located at the distal end of a percutaneous tissue tract. An elongated articulated foot near a distal end of a shaft is inserted through the penetration and actuated so that the foot extends along the lumenal axis. The foot carries suturing attachment cuffs, and needles are advanced from the shaft through the vessel wall outside of the penetration and into engagement with the needle cuffs after the foot has been drawn proximally up against the endothelial surface of the blood vessel. The cross-section of the shaft within the tissue tract can be minimized by laterally deflecting the needles as they leave the shaft, while tapered depressions within the foot can guide the advancing needles into engagement with the cuffs. The cuffs lockingly engage the needles and can be withdrawn proximally along the needle paths and through the tissue tract so as to form a loop of suture across the puncture.

Abstract: Devices, systems, and methods for suturing of body lumens allow the suturing of vascular puncture sites located at the distal end of a percutaneous tissue tract. An elongated articulated foot near a distal end of a shaft is inserted through the penetration and actuated so that the foot extends along the lumenal axis. The foot carries suturing attachment cuffs, and needles are advanced from the shaft through the vessel wall outside of the penetration and into engagement with the needle cuffs after the foot has been drawn proximally up against the endothelial surface of the blood vessel. The cross-section of the shaft within the tissue tract can be minimized by laterally deflecting the needles as they leave the shaft, while tapered depressions within the foot can guide the advancing needles into engagement with the cuffs. The cuffs lockingly engage the needles and can be withdrawn proximally along the needle paths and through the tissue tract so as to form a loop of suture across the puncture.

Abstract: Devices, systems, and methods for suturing of body lumens allow the suturing of vascular puncture sites located at the distal end of a percutaneous tissue tract. An elongated articulated foot near a distal end of a shaft is inserted through the penetration and actuated so that the foot extends along the lumenal axis. The foot carries suturing attachment cuffs, and needles are advanced from the shaft through the vessel wall outside of the penetration and into engagement with the needle cuffs after the foot has been drawn proximally up against the endothelial surface of the blood vessel. The cross-section of the shaft within the tissue tract can be minimized by laterally deflecting the needles as they leave the shaft, while tapered depressions within the foot can guide the advancing needles into engagement with the cuffs. The cuffs lockingly engage the needles and can be withdrawn proximally along the needle paths and through the tissue tract so as to form a loop of suture across the puncture.

Abstract: Devices, systems, and methods for suturing of body lumens allow the suturing of vascular puncture sites located at the distal end of a percutaneous tissue tract. An elongated articulated foot near a distal end of a shaft is inserted through the penetration and actuated so that the foot extends along the lumenal axis. The foot carries suturing attachment cuffs, and needles are advanced from the shaft through the vessel wall outside of the penetration and into engagement with the needle cuffs after the foot has been drawn proximally up against the endothelial surface of the blood vessel. The cross-section of the shaft within the tissue tract can be minimized by laterally deflecting the needles as they leave the shaft, while tapered depressions within the foot can guide the advancing needles into engagement with the cuffs. The cuffs lockingly engage the needles and can be withdrawn proximally along the needle paths and through the tissue tract so as to form a loop of suture across the puncture.

Abstract: Devices, systems, and methods for suturing of body lumens allow the suturing of vascular puncture sites located at the distal end of a percutaneous tissue tract. An elongated articulated foot near a distal end of a shaft is inserted through the penetration and actuated so that the foot extends along the lumenal axis. The foot carries suturing attachment cuffs, and needles are advanced from the shaft through the vessel wall outside of the penetration and into engagement with the needle cuffs after the foot has been drawn proximally up against the endothelial surface of the blood vessel. The cross-section of the shaft within the tissue tract can be minimized by laterally deflecting the needles as they leave the shaft, while tapered depressions within the foot can guide the advancing needles into engagement with the cuffs. The cuffs lockingly engage the needles and can be withdrawn proximally along the needle paths and through the tissue tract so as to form a loop of suture across the puncture.

Abstract: An articulating tool is provided with an articulation lock. The tool includes proximal, central and distal portions, an articulation mechanism, and first and second articulation locks. The central portion of the tool is pivotably coupled to the proximal portion and the distal portion is pivotably coupled to the central portion. The articulation mechanism is configured to manipulate an angular orientation of the distal portion relative to the central portion. The articulation mechanism includes a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool. The articulation mechanism is adapted such that movement of the proximal link causes corresponding relative movement of the distal link. The first articulation lock has an engaged position and a disengaged position.

Abstract: Devices and methods for ablating a selected tissue volume, such as for ablating tumor, are disclosed. In certain embodiments, the ablation devices include a low-conductivity, tissue-piercing tip, an adjustment mechanism for selectively adjusting the length of an exposed portion of the electrode, for producing ablation volumes of desired geometry. In other embodiment, the methods allow the adjustment of the length of the exposed electrode portion be carried out by moving an insulative sleeve along the electrode.

Abstract: Systems for suturing a tissue layer having two sides with a suture be releasably retaining at least a portion of the suture in a stationary position on one side of the tissue layer. The portion of the suture is retrieved through the tissue layer from the opposite side whereby the suture is drawn from one side to the opposite side. Systems for suturing the wall of a tubular graft having two sides is also provided using a suture by releasably retaining at least a portion of the suture on one side of the wall. the portion of the length of suture is retrieved through the wall of the graft to the opposite side of the wall.

Abstract: Systems for suturing a tissue layer having two sides with a suture be releasably retaining at least a portion of the suture in a stationary position on one side of the tissue layer. The portion of the suture is retrieved through the tissue layer from the opposite side whereby the suture is drawn from one side to the opposite side. Systems for suturing the wall of a tubular graft having two sides is also provided using a suture by releasably retaining at least a portion of the suture on one side of the wall. the portion of the length of suture is retrieved through the wall of the graft to the opposite side of the wall.

Abstract: Devices, systems, and methods for suturing of body lumens allow the suturing of vascular puncture sites located at the distal end of a percutaneous tissue tract. An elongated articulated foot near a distal end of a shaft is inserted through the penetration and actuated so that the foot extends along the lumenal axis. The foot carries suturing attachment cuffs, and needles are advanced from the shaft through the vessel wall outside of the penetration and into engagement with the needle cuffs after the foot has been drawn proximally up against the endothelial surface of the blood vessel. The cross-section of the shaft within the tissue tract can be minimized by laterally deflecting the needles as they leave the shaft, while tapered depressions within the foot can guide the advancing needles into engagement with the cuffs. The cuffs lockingly engage the needles and can be withdrawn proximally along the needle paths and through the tissue tract so as to form a loop of suture across the puncture.

Abstract: Systems for suturing a tissue layer having two sides with a suture be releasably retaining at least a portion of the suture in a stationary position on one side of the tissue layer. The portion of the suture is retrieved through the tissue layer from the opposite side whereby the suture is drawn from one side to the opposite side. Systems for suturing the wall of a tubular graft having two sides is also provided using a suture by releasably retaining at least a portion of the suture on one side of the wall. the portion of the length of suture is retrieved through the wall of the graft to the opposite side of the wall.