Abstract: A system generally includes a surgical manipulator configured to control motion of a surgical tool, and a clamping apparatus having a mounting location configured to support the surgical manipulator and couple to a mounting structure. The clamping apparatus may include a body, a first jaw coupled to the body and configured to engage a first portion of the mounting structure, and a second jaw coupled to the body and configured to engage a second portion of the mounting structure. At least one of the first jaw and the second jaw may be movably coupled to the body and configured to move along a non-linear path to clamp mounting structures of different sizes. A lever may be pivotably coupled to the body and may be movable between a unclamped position and a clamped position. Alternatively, a motor may be operable to attach the clamping apparatus to the mounting structure.

Abstract: Apparatuses, systems, and methods are disclosed for providing controlled delivery of energy treatment to a tissue site. The systems, apparatuses, and methods may include designs with features for efficiently deploying and adjusting electrodes at a tissue site for treatment and for facilitating retraction of the electrodes back into a housing after completion of treatment for removal. The systems, apparatuses, and methods may further include an expansion member for radially expanding the flexible substrate to aid in positioning the electrodes adjacent the tissue to facilitate treatment.

Abstract: Apparatuses, systems, and methods are disclosed for providing controlled delivery of energy treatment to a tissue site. The systems, apparatuses, and methods may include medical instrument designs with features for retaining a flexible substrate with an electrode array in position against an expandable member during delivery to the tissue site, treatment, and retraction from the tissue site. The medical instrument further includes features for retaining the flexible substrate in a compact, stowed configuration during delivery and for retracting the flexible substrate post-deployment to facilitate retraction of the medical instrument after completion of treatment.

Abstract: A grounded virtual portal to interface with a robotic medical system is provided. The system can include an input controller coupled to a first structure via a plurality of linkages. The first structure can be mechanically coupled to a base structure. The input controller can control an object of a medical environment. A head mounted display can be coupled to a second structure extending the base structure. The head mounted display can be configured to render an extended reality environment corresponding to the medical environment. A processor can establish a grounded reference frame for the input controller to be maintained in the extended reality environment rendered via the head mounted display, and configure, based on the plurality of linkages and the grounded reference frame, a force scaler function for bidirectional force delivery between the input controller and the object of the medical environment.

Abstract: Techniques for controlling an end effector include a first engagement member coupled to a first actuator, a second engagement member coupled to a second actuator; and a control unit. The control unit is configured to engage the first engagement member with a third engagement member of an instrument, where movement of the third engagement member causes a movement of a degree of freedom (DOF) of an end effector in a first direction; engage the second engagement member with a fourth engagement member of the instrument, where movement of the fourth engagement member causes a movement of the DOF in a second direction opposite the first direction; actuate the DOF in the first direction to a first detectable position; actuate the DOF in the second direction to a second detectable position; and actuate the DOF to a third position between the first and second detectable positions.

Abstract: A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.

Abstract: A force transmission mechanism includes a chassis that supports a rotatable arm, which includes a slot. A rotatable lever is supported by the chassis. A protrusion at an end of the lever engages the slot. A sliding drive element is supported by the chassis. A proximal termination of the drive element engages a second end of the lever. The chassis may support an elongate tube with an end effector fixed to the tube. The drive element may extend through the elongate tube. The elongate tube may rotate relative to the chassis. The drive element may rotate in unison with the elongate tube with the proximal termination rotating relative to the fork. The drive element may be a tube that provides a fluid passage to the end effector. The lever may be a bell crank with arms at a right angle.

Abstract: A floating optical fiber connector interface generally includes a retention bracket, a translating socket slidingly associated with the retention bracket, and a biasing element positioned between the retention bracket and the translating socket. A tab portion may permit translation of the translating socket with respect to the retention bracket, and an aperture configured to receive a carriage optical fiber connector. The translating socket may translate with respect to the retention bracket within a plane and may further translate in the insertion direction, and the biasing element may resist translation of the translating socket. An alignment plate may be configured to align an instrument interface for connection to a carriage, including a telescoping standoff operable to position the plate at a first position in which the plate is spaced apart from the carriage and to position the plate at a second position in which the plate is adjacent to the carriage.

Abstract: A medical device having a force transmission mechanism that includes a chassis having a pivotal support that defines a first axis. An axle is supported by the pivotal support and is free to rotate around the first axis of rotation. The axle defines a second axis of rotation perpendicular to the first axis of rotation. A first control arm is coupled to a first end of the axle and is free to rotate around the second axis of rotation. A second control arm is coupled to an opposite second end of the axle and is free to rotate around the second axis of rotation independently of the first control arm. A distal component is coupled to an elongate tube that is coupled to the chassis. Four drive elements coupled to the control arms control motion of the distal component. In one implementation, the medical device is a teleoperated surgical instrument.

Abstract: A force transmission mechanism includes a chassis that supports a rotatable arm, which includes a slot. A rotatable lever is supported by the chassis. A protrusion at an end of the lever engages the slot. A sliding drive element is supported by the chassis. A proximal termination of the drive element engages a second end of the lever. The chassis may support an elongate tube with an end effector fixed to the tube. The drive element may extend through the elongate tube. The elongate tube may rotate relative to the chassis. The drive element may rotate in unison with the elongate tube with the proximal termination rotating relative to the fork. The drive element may be a tube that provides a fluid passage to the end effector. The lever may be a bell crank with arms at a right angle.

Abstract: A medical device having a force transmission mechanism that includes a chassis having a pivotal support that defines a first axis. An axle is supported by the pivotal support and is free to rotate around the first axis of rotation. The axle defines a second axis of rotation perpendicular to the first axis of rotation. A first control arm is coupled to a first end of the axle and is free to rotate around the second axis of rotation. A second control arm is coupled to an opposite second end of the axle and is free to rotate around the second axis of rotation independently of the first control arm. A distal component is coupled to an elongate tube that is coupled to the chassis. Four drive elements coupled to the control arms control motion of the distal component. In one implementation, the medical device is a teleoperated surgical instrument.

Abstract: Components for an endoscopic vessel harvesting system suitable for harvesting target vessels such as the saphenous vein or radial artery for cardiac artery bypass graft surgery. The main components of such systems include a vessel dissector and a vessel harvester, both of which work in conjunction with a separately provided endoscope. The vessel dissector is an elongated cannula having a blunt tip for separating layers of facial around vessels. The tip may be movable, and is typically transparent to permit viewing forward of the tip using the endoscope. Internal features of the tip may reduce glare back to the endoscope. Several devices improve visibility through the tip by reducing interference from tissue or fluid on the tip. The vessel harvester also has an elongated cannula for receiving the endoscope. Several tools within the harvester permit manipulation, severing, and sealing of vessels forward of the distal end.

Abstract: A manipulator for articulating a surgical instrument may comprise an instrument holder configured to couple with the surgical instrument and to pivot about a remote center of motion. The manipulator may comprise a linkage assembly coupled to the instrument holder and configured to constrain rotational motion of the instrument holder to pivot about the remote center of motion. The linkage assembly may comprise a first, second, and third linkage arms. The second linkage arm may be rotatably coupled to the first linkage arm with a proximal end of the first linkage arm and a proximal end of the second linkage arm coupled at a proximal pivot joint. A third linkage arm may be translationally coupled to the second linkage arm. Movement of the second linkage arm and the third linkage arm may cause a distal end of the third linkage arm to trace an arc around the remote center of motion.

Abstract: A system includes a manipulator assembly and a shroud that defines a sterile volume. The manipulator assembly includes a sterile link or a non-sterile link covered by an external sterile cover, and the link is received into and withdrawn from the shroud's sterile volume. The outside of the shroud may be non-sterile while the shroud maintains its interior sterile volume, so that the link or external sterile cover remains sterile as it moves within the shroud's sterile volume. The shroud may then extend into a non-sterile field in a surgical environment, and the link or external sterile cover remains sterile as the link is moved from the non-sterile field into a sterile field for surgery. The shroud may be movable, it may mechanically support the manipulator assembly, and it may be coupled to a surgical table or to a unit separate from a surgical table.

Abstract: A system generally includes a surgical manipulator configured to control motion of a surgical tool, and a clamping apparatus having a mounting location configured to support the surgical manipulator and couple to a mounting structure. The clamping apparatus may include a body, a first jaw coupled to the body and configured to engage a first portion of the mounting structure, and a second jaw coupled to the body and configured to engage a second portion of the mounting structure. At least one of the first jaw and the second jaw may be movably coupled to the body and configured to move along a non-linear path to clamp mounting structures of different sizes. A lever may be pivotably coupled to the body and may be movable between a unclamped position and a clamped position. Alternatively, a motor may be operable to attach the clamping apparatus to the mounting structure.

Abstract: A force transmission mechanism includes a chassis that supports a rotatable arm, which includes a slot. A rotatable lever is supported by the chassis. A protrusion at an end of the lever engages the slot. A sliding drive element is supported by the chassis. A proximal termination of the drive element engages a second end of the lever. The chassis may support an elongate tube with an end effector fixed to the tube. The drive element may extend through the elongate tube. The elongate tube may rotate relative to the chassis. The drive element may rotate in unison with the elongate tube with the proximal termination rotating relative to the fork. The drive element may be a tube that provides a fluid passage to the end effector. The lever may be a bell crank with arms at a right angle.

Abstract: Components for an endoscopic vessel harvesting system suitable for harvesting target vessels such as the saphenous vein or radial artery for cardiac artery bypass graft surgery. The main components of such systems include a vessel dissector and a vessel harvester, both of which work in conjunction with a separately provided endoscope. The vessel dissector is an elongated cannula having a blunt tip for separating layers of facial around vessels. The tip may be movable, and is typically transparent to permit viewing forward of the tip using the endoscope. Internal features of the tip may reduce glare back to the endoscope. Several devices improve visibility through the tip by reducing interference from tissue or fluid on the tip. The vessel harvester also has an elongated cannula for receiving the endoscope. Several tools within the harvester permit manipulation, severing, and sealing of vessels forward of the distal end.

Abstract: A vessel dissector used in conjunction with an endoscope is provided with a lumen for receiving the endoscope; a blunt dissecting tip provided on a distal end of an elongated cannula permitting tissue dissection while viewing internal body structures via an objective lens of the endoscope; and a vessel severing tool extending through at least a portion of the elongated cannula and translatable longitudinally relative to the elongated cannula, and the vessel severing tool comprises an electrode-carrying member translatable circumferentially within an arcuate slot extending through an outer surface of the vessel dissector, wherein the arcuate slot comprises an inner radius, an outer radius and a central radius, wherein the outer radius is greater than the inner radius and the central radius is located between the outer radius and the inner radius so the arcuate slot provides a uniform opening through which the electrode-carrying member can extend and retract.

Abstract: A force transmission mechanism includes a chassis that supports a rotatable arm, which includes a slot. A rotatable lever is supported by the chassis. A protrusion at an end of the lever engages the slot. A sliding drive element is supported by the chassis. A proximal termination of the drive element engages a second end of the lever. The chassis may support an elongate tube with an end effector fixed to the tube. The drive element may extend through the elongate tube. The elongate tube may rotate relative to the chassis. The drive element may rotate in unison with the elongate tube with the proximal termination rotating relative to the fork. The drive element may be a tube that provides a fluid passage to the end effector. The lever may be a bell crank with arms at a right angle.

Abstract: Components for an endoscopic vessel harvesting system suitable for harvesting target vessels such as the saphenous vein or radial artery for cardiac artery bypass graft surgery. The main components of such systems include a vessel dissector and a vessel harvester, both of which work in conjunction with a separately provided endoscope. The vessel dissector is an elongated cannula having a blunt tip for separating layers of facial around vessels. The tip may be movable, and is typically transparent to permit viewing forward of the tip using the endoscope. Internal features of the tip may reduce glare back to the endoscope. Several devices improve visibility through the tip by reducing interference from tissue or fluid on the tip. The vessel harvester also has an elongated cannula for receiving the endoscope. Several tools within the harvester permit manipulation, severing, and sealing of vessels forward of the distal end.