Abstract: A robotic system can include a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

Abstract: Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

Abstract: A stabilizer system for supporting a medical device includes a platform and a stabilizer body positioned on the platform and being slidably translatable about the platform. The platform includes a translation actuator configured to engage with a receiving member of the stabilizer body. Actuation of the translation actuator passes a force to the receiving member of the stabilizer body and causes the stabilizer body to translate relative to the platform. The stabilizer body includes a base and one or more support wings extending from the base to support a medical device. A straddle actuator is coupled to a support wing and is configured to engage with the medical device. Actuation of the straddle actuator passes a force to the medical device and causes at least a portion of the medical device to translate relative to the stabilizer body.

Abstract: Methods, devices, and systems are provided for performing endovascular repair of atrioventricular and other cardiac valves in the heart. A delivery device for staged deployment of an implantable device to a target area. The delivery device includes a deployment handle and one or more lock lines extending from the deployment handle through the catheter to the implantable device, the one or more lock lines being configured to engage with the implantable device to allow locking of the implantable device.

Abstract: Methods, devices, and systems are provided for performing endovascular repair of atrioventricular and other cardiac valves in the heart. A delivery device for staged deployment of an implantable device to a target area. The delivery device includes a deployment handle and one or more lock lines extending from the deployment handle through the catheter to the implantable device, the one or more lock lines being configured to engage with the implantable device to allow locking of the implantable device.

Abstract: A medical instrument can include alignment and attachment mechanisms for aligning and attaching the medical instrument to another device, such as an adapter on an instrument drive mechanism. For example, a medical system can include a medical instrument having an instrument handle and an elongated body. The system can include an alignment mechanism configured to provide rotational alignment between the medical instrument and an adapter. The system can also include an attachment mechanism configured to secure the medical instrument to the adapter. The attachment mechanism can include at least three locking elements positioned circumferentially about the axis.

Abstract: Systems and methods for adjusting remote center distances in medical procedures are provided. In one aspect, a robotic medical system includes a first robotic arm including a first instrument driver, wherein the first instrument driver is configured to manipulate a first tool that passes through a first cannula, and a second robotic arm including a second instrument driver, wherein the second instrument driver is configured to manipulate a second tool that passes through a second cannula. The first tool is configured to rotate about a first remote center of motion and the second tool is configured to rotate about a second remote center of motion. A first remote center distance between the first robotic arm and the first remote center of motion is different from a second remote center distance between the second robotic arm and the second remote center of motion.

Abstract: A medical instrument can include alignment and attachment mechanisms for aligning and attaching the medical instrument to another device, such as an adapter on an instrument drive mechanism. For example, a medical system can include a medical instrument having an instrument handle and an elongated body. The system can include an alignment mechanism configured to provide rotational alignment between the medical instrument and an adapter. The system can also include an attachment mechanism configured to secure the medical instrument to the adapter. The attachment mechanism can include at least three locking elements positioned circumferentially about the axis.

Abstract: Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

Abstract: A medical instrument can include alignment and attachment mechanisms for aligning and attaching the medical instrument to another device, such as an adapter on an instrument drive mechanism. For example, a medical system can include a medical instrument having an instrument handle and an elongated body. The system can include an alignment mechanism configured to provide rotational alignment between the medical instrument and an adapter. The system can also include an attachment mechanism configured to secure the medical instrument to the adapter. The attachment mechanism can include at least three locking elements positioned circumferentially about the axis.

Abstract: A robotically-enabled medical system can include a multifunction end effector. The multifunction end effector can be configured to perform at least two functions. The two functions can be rotationally offset with respect to one another. The rotational offset can allow the robotically-enabled system to operate the multifunction end effector in a plurality of modes. At least some of the modes can preclude access to one or more functions of the end effector.

Abstract: A device for connecting together two opposing leaflets of a valve in a patient's heart, comprising: a first clip having a generally U-shape, comprising a first prong and a second prong, and a first bridge connecting the first prong to the second prong; a second clip having a generally U-shape, comprising a third prong and a fourth prong, and a second bridge connecting the third prong to the fourth prong; a third clip having a generally U-shape, comprising a fifth prong and a sixth prong, and a third bridge connecting the fifth prong to the sixth prong, wherein the third prong has a first elongate axis and the fifth prong has a second elongate axis and the third prong and the fifth prong are positioned to extend adjacent to and parallel with the first prong, and are configured to rotate about the first elongate axis and the fifth elongate axis respectively.

Abstract: Methods, devices, and systems are provided for performing endovascular repair of atrioventricular and other cardiac valves in the heart. A delivery device for staged deployment of an implantable device to a target area. The delivery device includes a deployment handle and one or more lock lines extending from the deployment handle through the catheter to the implantable device, the one or more lock lines being configured to engage with the implantable device to allow locking of the implantable device.

Abstract: A stabilizer system for supporting a medical device includes a platform and a stabilizer body positioned on the platform and being slidably translatable about the platform. The platform includes a translation actuator configured to engage with a receiving member of the stabilizer body. Actuation of the translation actuator passes a force to the receiving member of the stabilizer body and causes the stabilizer body to translate relative to the platform. The stabilizer body includes a base and one or more support wings extending from the base to support a medical device. A straddle actuator is coupled to a support wing and is configured to engage with the medical device. Actuation of the straddle actuator passes a force to the medical device and causes at least a portion of the medical device to translate relative to the stabilizer body.

Abstract: A device for connecting together two opposing leaflets of a valve in a patient's heart, comprising: a first clip having a generally U-shape, comprising a first prong and a second prong, and a first bridge connecting the first prong to the second prong; a second clip having a generally U-shape, comprising a third prong and a fourth prong, and a second bridge connecting the third prong to the fourth prong; a third clip having a generally U-shape, comprising a fifth prong and a sixth prong, and a third bridge connecting the fifth prong to the sixth prong, wherein the third prong has a first elongate axis and the fifth prong has a second elongate axis and the third prong and the fifth prong are positioned to extend adjacent to and parallel with the first prong, and are configured to rotate about the first elongate axis and the fifth elongate axis respectively.

Abstract: Methods, devices, and systems are provided for performing endovascular repair of atrioventricular and other cardiac valves in the heart. A delivery device for delivering an implantable device to a target area includes a fluid management system for directing fluid and delivery device components to the target area. The delivery device includes a grip line assembly configured to control a gripper in the implantable device for grasping tissue at the target area. The delivery device includes a lock line assembly configured to control a locking mechanism in the implantable device to lock the implantable device in a desired orientation. The delivery device includes a deployment handle configured to provide staged deployment of the implantable device. A delivery assembly includes a housing and a delivery device partially housed within the housing and being adjustable using one-handed operation.

Abstract: A stabilizer system for supporting a medical device includes a platform and a stabilizer body positioned on the platform and being slidably translatable about the platform. The platform includes a translation actuator configured to engage with a receiving member of the stabilizer body. Actuation of the translation actuator passes a force to the receiving member of the stabilizer body and causes the stabilizer body to translate relative to the platform. The stabilizer body includes a base and one or more support wings extending from the base to support a medical device. A straddle actuator is coupled to a support wing and is configured to engage with the medical device. Actuation of the straddle actuator passes a force to the medical device and causes at least a portion of the medical device to translate relative to the stabilizer body.