Abstract: An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist.

Abstract: A device according to one exemplary embodiment is a compact, light-weight handheld device that includes a needle and suture assembly, a mechanism for gripping and releasing the needle and suture assembly (a “needle transfer mechanism” or “needle shuttle mechanism”), safely capturing the needle assembly upon exit from the patient's tissue, and returning the needle to position such that the process of delivering additional sutures to the patient can be repeated. The device of the present invention accommodates the right or left-handed user, rests comfortably in the user's hand, allows sufficient visualization of the procedure site, and permits the user to either control penetration depth of the needle or default to a device-determined depth. The present device permits the user to utilize a wrist-rotation (pivoting) suture delivery technique that is familiar to a user based on experience with other surgical techniques.

Abstract: A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.

Abstract: A suturing device of the present invention is in the form a compact, light-weight handheld device that includes a needle and suture assembly, a mechanism for gripping and releasing the needle/suture (a “needle transfer mechanism” or “needle shuttle mechanism”), safely capturing the needle/suture upon exit from the patient's tissue, and returning the needle to a position such that the process of delivering additional sutures to the patient can be repeated. A safety shield mechanism ensures the user is protected from the needle at all times. The device of the present invention accommodates the right or left-handed user, rests comfortably in the user's hand, allows sufficient visualization of the procedure site, and permits the user to either control penetration depth of the needle or default to a device-determined depth. The present device permits the user to utilize a wrist-rotation (pivoting) suture delivery technique.

Abstract: A suturing device of the present invention is in the form a compact, light-weight handheld device that includes a needle and suture assembly, a mechanism for gripping and releasing the needle/suture (a “needle transfer mechanism” or “needle shuttle mechanism”), safely capturing the needle/suture upon exit from the patient's tissue, and returning the needle to a position such that the process of delivering additional sutures to the patient can be repeated. A safety shield mechanism ensures the user is protected from the needle at all times. The device of the present invention accommodates the right or left-handed user, rests comfortably in the user's hand, allows sufficient visualization of the procedure site, and permits the user to either control penetration depth of the needle or default to a device-determined depth. The present device permits the user to utilize a wrist-rotation (pivoting) suture delivery technique.

Abstract: An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A surgical tool includes a tool shaft, and end effector and a wrist that couples the end effector to the tool shaft. The tool includes a drive mechanism configured to effect movement of one or both of the wrist and the end effector in yaw and pitch via independent actuation of four independent cable ends of two or more independent cables that extend between the drive mechanism and the wrist.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A device according to one exemplary embodiment is a compact, light-weight handheld device that includes a needle and suture assembly, a mechanism for gripping and releasing the needle and suture assembly (a “needle transfer mechanism” or “needle shuttle mechanism”), safely capturing the needle assembly upon exit from the patient's tissue, and returning the needle to position such that the process of delivering additional sutures to the patient can be repeated. The device of the present invention accommodates the right or left-handed user, rests comfortably in the user's hand, allows sufficient visualization of the procedure site, and permits the user to either control penetration depth of the needle or default to a device-determined depth. The present device permits the user to utilize a wrist-rotation (pivoting) suture delivery technique that is familiar to a user based on experience with other surgical techniques.

Abstract: A suturing device of the present invention is in the form a compact, light-weight handheld device that includes a needle and suture assembly, a mechanism for gripping and releasing the needle/suture (a “needle transfer mechanism” or “needle shuttle mechanism”), safely capturing the needle/suture upon exit from the patient's tissue, and returning the needle to a position such that the process of delivering additional sutures to the patient can be repeated. A safety shield mechanism ensures the user is protected from the needle at all times. The device of the present invention accommodates the right or left-handed user, rests comfortably in the user's hand, allows sufficient visualization of the procedure site, and permits the user to either control penetration depth of the needle or default to a device-determined depth. The present device permits the user to utilize a wrist-rotation (pivoting) suture delivery technique.

Abstract: A fused loop of an elongated material, such as a surgical suture, and apparatus for making the loop. Portions of one or more segments to be joined together are fused in a welding process to form a welded joint. The shear area of the fused portion of the joint determines the strength of the joint and is thus preferably relatively large. Various configurations for the welding apparatus facilitate the creation of relatively large fused portions of the joint by maximizing contact between at least one of the welding members of the apparatus and at least one of the segments to be joined.

Abstract: Devices and methods for activating a therapeutic composition, delivering a therapeutic composition to a specific region or tissue in a body, and containing a therapeutic composition within a body cavity are disclosed herein. In one embodiment, a therapeutic capsule is shown having an outer element defining an interior chamber and including a matrix disposed therein and wherein the interior chamber is elongated along a chamber axis.

Abstract: An improved gastric bypass prosthetic (GBP) device and an improved GBP fixation device, as well as a GBP kit for the surgical treatment of obesity. In one form, a gastric bypass prosthetic (GBP) device of the invention includes a optional flexible tube extending along a central axis from a proximal end to a distal end, and having a tubular tissue fixation portion at or near said proximal end. The tissue fixation portion extends along the central axis between a proximal end and a distal end of the tissue fixation portion, and has an annular outer surface between the proximal end and the distal end of the tissue fixation portion.

Abstract: An implant and method for the repair of a tendon or a ligament along at least one load direction. The implant includes at least one first anchor portion and at least one tension member oriented along a load direction. The first anchor portion preferably has a larger surface area of engagement with the tendon or ligament to spread loads across more tissue. The tension member is preferably secured to the first anchor portion with an overlapping attachment. Tension on the tension member is preferably adjustable by the surgeon.

Abstract: A device (10) for treatment of obesity of a patient comprises an annular element (12) having a relatively large outer boundary and a relatively small inner boundary, and an elongated flexible tube (14) extending from the relatively small inner boundary of the annular element to a distal end. The relatively large outer boundary is adapted to be attached to an inner wall of a stomach (100) of a patient, such that the annular element divides the stomach (100) into two chambers, an esophagus-end chamber close to an esophagus of the patient, and a pylorus-end chamber close to a pylorus of the patient. The invention also provides a method for treatment of obesity of a patient which includes inserting an annular element having a relatively large outer boundary and a relatively small inner boundary into a stomach of the patient, and attaching the relatively large outer boundary of the annular element to an inner circumference of the stomach of the patient.

Abstract: A welding apparatus that includes a first member having a first suture-contacting surface, a second member having a second suture-contacting surface, and a device for moving the first member relative to the second member to define a gap between the respective suture-contacting surfaces. The first member is capable of vibrating and delivering mechanical energy at ultrasonic frequencies. The second member is stationary relative to the first member. A fixture element is adapted to receive and maintain two or more segments of a material to be welded in a predetermined alignment in the gap between the first and second surfaces of the first and second members during a welding operation. According to another aspect of the invention, an ultrasonic welding apparatus includes first and second members with patterned first and second suture-contacting surfaces. The patterned surfaces can be complementary or non-complementary and the surface patterns on each member may vary in either a periodic or a non-periodic manner.

Abstract: A method of forming an elastic cloth structure comprising fibers of synthetic, organic, relatively elastomeric polymer and fibers of a synthetic, organic, elongatable, but relatively nonelastic polymer. The relatively elastomeric fibers and the elongatable but relatively nonelastic fibers are forwarded for well dispersed random lay down of an unbonded web with random fiber crossings on a porous forming surface. Some of the fiber crossings are then bonded to provide a coherent bonded cloth web and the web is stretched to elongate some of the fibers in at least one direction. The web is then released so that retraction by the relatively elastomeric fibers provides looping and bunching of the elongated relatively nonelastic fibers to thereby provide a low modulus of elasticity in the direction in which the web was worked.