Abstract: Robotic debridement apparatuses, related systems, and methods of using the same are disclosed herein. The robotic debridement apparatuses are configured to facilitate debridement of tissue from a body region. For example, the robotic debridement apparatuses can include one or more of at least one debriding tool configured to debride tissue, at least one debris disposal device configured to capture substances in the body region. The systems disclosed herein can include a plurality of robotic debridement apparatuses. The systems disclosed herein can include a dressing associated with the plurality of robotic debridement apparatuses. The dressing can be associated with the robotic debridement apparatuses in a manner that facilitates operations of the robotic debridement apparatuses.

Abstract: Robotic debridement apparatuses, related systems, and methods of using the same are disclosed herein. The robotic debridement apparatuses are configured to facilitate debridement of tissue from a wound region. For example, the robotic debridement apparatuses can include one or more of at least one debriding tool configured to debride tissue, at least one tissue disposal tool configured to dispose of substances in the wound region, to the wound region. The systems disclosed herein can include a plurality of robotic debridement apparatuses. The systems disclosed herein can include a dressing associated with the plurality of robotic debridement apparatuses. The dressing can be associated with the robotic debridement apparatuses in a manner that facilitates operations of the robotic debridement apparatuses.

Abstract: Robotic debridement apparatuses, related systems, and methods of using the same are disclosed herein. The robotic debridement apparatuses are configured to facilitate debridement of tissue from a body region. For example, the robotic debridement apparatuses can include one or more of at least one debriding tool configured to debride tissue or at least one debris disposal tool configured to capture substances in the body region. The robotic debridement apparatuses disclosed herein can also include at least one locomotive mechanism. The systems disclosed herein can include a plurality of robotic debridement apparatuses. The systems disclosed herein can include a dressing associated with the plurality of robotic debridement apparatuses. The dressing can be associated with the robotic debridement apparatuses in a manner that facilitates operations of the robotic debridement apparatuses.

Abstract: Embodiments include devices and methods configured to fractionally resect skin and/or fat. Fractional resection is applied as a stand-alone procedure in anatomical areas that are off-limits to conventional plastic surgery due to the poor tradeoff between the visibility of the incisional scar and amount of enhancement obtained. Fractional resection is also applied as an adjunct to established plastic surgery procedures such as liposuction, and is employed to significantly reduce the length of incisions required for a particular application. The shortening of incisions has application in both the aesthetic and reconstructive realms of plastic surgery.

Abstract: A treatment device includes: a probe including a treatment portion that performs treatment to a treatment target portion by transmission of ultrasonic vibration; a first sheath having a first edge and enclosing a periphery of the probe; a second sheath having a second edge and enclosing a periphery of the first sheath; a suction path including a suction opening between the first edge and the second edge and provided between the first sheath and the second sheath; and a connection part communicating with the suction path and connected to a suction source.

Abstract: An apparatus includes a shaft assembly and an end effector. The shaft assembly includes a first tube, a second tube, and a distally projecting tongue. The second tube is coaxially disposed within the first tube. One of the first tube or the second tube is configured to translate relative to the other of the first tube or the second tube. The tongue is fixed to either the first tube or the second tube. The end effector includes an ultrasonic blade and a clamp arm. The clamp arm is pivotally coupled to the tongue. The clamp arm is configured to pivot toward and away from the ultrasonic blade in response to relative translation between the first and second tubes. The tongue is configured to flex relative to the first tube and the second tube in response to the clamp arm grasping tissue.

Abstract: A surgical instrument includes: a clamp section main body which is movable between a close position that is close to a vibration transmission member and an away position that is away from the vibration transmission member; a pressure pad provided on the clamp section main body and provided on a position that is close to the vibration transmission member, the pressure pad being brought into contact with the vibration transmission member when the clamp section main body is in the close position; and a pressing member which is configured to press the vibration transmission member in association with the clamp section main body coming close to the close position, and is configured to decrease pressure of contact between the pressure pad and the vibration transmission member.

Abstract: A surgical scalpel including a handle with a proximal end and a distal end and which is hollow defines a notch that encases a blade. The scalpel alternatively may include two blades, wherein the blade which is used to perform the initial is retracted during the remainder of the procedure.

Abstract: The present technology is directed generally to devices, systems, and methods for capturing and cutting fibrous and trabeculated structures (such as synechiae) in vessel lumens. In one embodiment, the present technology includes an intraluminal tissue modifying system configured to capture the fibrous structures, put the fibrous structures in tension, and controllably cut through the fibrous structures without applying appreciable additional force to the vessel wall. The system may include an expandable capture device and a cutting device.

Abstract: A device suitable for removing material from a living being is provided, featuring at least an aspiration pump, powered by a motor. The aspiration pump and any optional infusate pump preferably feature a helical pumping mechanism, and operate at a high rate of rotation, thereby ensuring adequate pumping performance and flexibility. The helical pumping mechanism may be a helical coiled wire about a central core tube. The helical coil wire, whether together with, or independent of, the core tube, may be rotated to cause a pumping action. Additionally, a narrow crossing profile is maintained, ensuring that the device may reach more tortuous regions of the vasculature. In one embodiment, the system comprises a wire-guided mono-rail catheter with a working head mounted on a flexible portion of the catheter that can laterally displace away from the guide wire to facilitate thrombus removal.

Abstract: A puncture assistance system provides information on a collapse state of a blood vessel to be punctured, caused by pressing action of an ultrasonic probe, when ultrasonic images of the blood vessel are acquired. A puncture assistance system 10 includes: vascular diameter detecting means 18 for detecting a vascular diameter during acquisition of the ultrasonic images from an ultrasonic diagnostic device 11; puncture assistance information generating means 12 for generating puncture assistance information for determination of whether or not puncture is allowed to be performed based on a collapse state of a blood vessel B caused by pressing action of an ultrasonic probe 15 against skin S by comparing a current vascular diameter detected by the vascular diameter detecting means 18 with a standard vascular diameter stored in advance; and a monitor 19 that presents the puncture assistance information.

Abstract: This document relates to the apparatus and methods used in the minimally invasive creation of arteriovenous fistula (AVF). In particular, the invention relates to the creation of an AVF using catheters and an alignment methodology that is based upon detection of asymmetric electric fields. The invention finds particular application in vascular access (VA) in the hemodialysis (HD) population.

Abstract: Devices and methods for the treatment of chronic total occlusions are provided. One disclosed embodiment comprises a method of facilitating treatment via a vascular wall defining a vascular lumen containing an occlusion therein. The method includes inserting an intramural crossing device into the vascular lumen, positioning at least the distal tip of the crossing device in the vascular wall, advancing an orienting device over the crossing device such that an orienting element of the orienting device resides in the vascular wall, inserting a reentry device, and re-entering the true vascular lumen.

Abstract: The shaft-type instrument (1) has a shaft part (2), fixedly connected at one end to a shaft grip (3), and a sliding part (4). The sliding part (4) is displaceably mounted relative to the shaft part (2) and is, at one end, in operative connection with a pretensioned handgrip (5) such that by actuating the handgrip (5), the sliding part (4) is displaceable counter to the pretension. A respective lever arm (7, 7?) is articulated at two spaced apart shaft articulation points (6, 6?) on the shaft part (2) or shaft grip (3). The handgrip (5) has a coupling section (8) which connects the lever arms (7, 7?) and coupling joints (9, 9?) to one another such that same can pivot in the same direction. The coupling joints are spaced apart and a grip section (10) extends transverse to the coupling section (8) and to the shaft part (2).

Abstract: A neuromonitoring needle electrode placement gun which includes a housing, at least a first needle electrode and housing assembly, an elongated channel dimensioned and configured for accommodating axial movement of the at least a first needle electrode and housing assembly within the channel and for directing movement of the at least a first needle electrode and housing assembly and a pusher dimensioned and configured for engaging the at least a first needle electrode and housing assembly and for axially displacing the at least a first needle electrode and housing assembly.

Abstract: A method is provided for puncturing a fossa ovalis of a heart, the method including inserting a catheter into a right atrium of the heart, and advancing a distal portion of the catheter toward an interatrial septum of the heart. A flexible longitudinal member is slid through openings disposed at the distal portion of the catheter, such that the flexible longitudinal member is made to loop around a portion of an inside perimeter of the fossa ovalis. While the flexible longitudinal member is looped around the portion of the inside perimeter of the fossa ovalis, a hole is punctured in the fossa ovalis at a puncturing point.

Abstract: An intrauterine balloon catheter for inhibiting formation of intrauterine adhesions in a mammalian uterus comprising balloon and a sheath, wherein the balloon is at least partially attached to the inner surface of the sheath and wherein the balloon and sheath, when the balloon is inflated, conform to the size and shape of the uterus and contact the wall of the uterus. The catheter further comprises a pressure control lock, clipping unit and one or more therapeutic agents which are therapeutically effective in inhibiting intrauterine adhesion formation.

Abstract: A subaxillary traction device having an elongated body portion with a first end and a second end, at least one receptacle member disposed on the first end defining a cavity to receive a fingertip, a handle opening disposed adjacent or near the first end and a handle opening disposed adjacent or near the second end, the handle openings being of sufficient size to receive at least one finger there through, whereby the body portion is positionable under the posterior axilla of a fetus experiencing shoulder dystocia such that traction may be applied allowing delivery of the posterior arm affecting the safe delivery of the baby.

Abstract: The present technology relates generally to ring fixators and associated systems and methods. In some embodiments, for example, a ring fixator assembly comprises a ring configured to surround a fractured bone, a retention device disposed at a first position on the ring, and a tensioner clamp disposed at a second position on the ring. A wire extends between the retention device and the tensioner clamp. The tensioner clamp includes a first screw configured to secure the wire in position with respect to the tensioner clamp and a second screw configured to apply additional tension to the wire.

Abstract: The present invention relates to stable fixation of spine segments, allowing for fusion in, e.g., skeletally mature patients. More particularly, the invention relates to a bone fixation device that can be affixed to vertebrae of a spine to provide reduction (or enlargement) capabilities and allow for fixation in the treatment of various conditions, including, e.g., spondyloslisthesis, degenerative disc disease, fracture, dislocation, spinal tumor, failed previous fusion, and the like, in the spine. The invention also relates to a method for delivering and implanting the bone fixation device.

Abstract: Systems and methods for a guide assembly for introducing a bone anchor to an operative target site. The guide includes an outer sleeve and an inner sleeve. The outer sleeve has a distal anchor engaging end, a proximal end, and a central passage extending from the distal end to the proximal end. The inner sleeve may be situated in the central passage of the outer sleeve. The inner sleeve is movable being between a first position and a second position. The first position permits insertion of the bone anchor in the central passage. The second position releasably fixes the bone anchor to the guide assembly.

Abstract: An improved scaffold assembly for supporting any plurality of vertebrae, each of which including an inter-vertebral disc and articular processes. A plurality of combination socket anchors and insertable bone screws with enlarged heads are affixed to varied surface locations of at least one vertebral bone. In combination with the socket anchors, a rod extends between selected anchors for providing support between successive vertebrae. The socket anchors include crimping tabs to assist in engaging the rods thereto. The rods are further constructed of a bendable material which, upon being reconfigured, provide customized and scalable support for variations in vertebral orientation. The interiors of the socket anchors exhibit concave surfaces to permit angularly adjustability of the screws during affixation thereof.

Abstract: A polyaxial bone screw assembly includes a threaded shank body having an upper portion, a receiver member or head, a retaining and articulating structure, and a pressure insert disposed between the shank upper portion and a rod. The receiver has a U-shaped cradle defining a channel for receiving a spinal fixation rod and a receiver cavity. The retaining and articulating structure attaches to the shank and rotates with the shank in the cavity during positioning. The pressure insert presses upon the shank upper portion and not the retaining and articulating structure.

Abstract: A polyaxial bone screw assembly includes a threaded shank body having an upper portion, a receiver member or head, a retaining and articulating structure, and a pressure insert disposed between the shank upper portion and a rod. The receiver has a U-shaped cradle defining a channel for receiving a spinal fixation rod and a receiver cavity. The retaining and articulating structure attaches to the shank and rotates with the shank in the cavity during positioning. The pressure insert presses upon the shank upper portion and not the retaining and articulating structure.

Abstract: A device for placement between two adjacent spinous processes of a spinal column to treat a spinal condition, and a method for performing a procedure on a spine of a patient, are provided. The device may include a first member, a second member mounted onto the first member, and a locking plug configured to restrict movement of the second member relative to the first member. The method may include positioning a portion of a first member between two adjacent spinous processes of the spine, advancing a second member along a length of the first member, and restricting the second member from moving relative to the first member.

Abstract: An apparatus for inserting implants in a bone comprising a frame having a cartridge receiving chamber and a barrel. A cartridge defining a plurality of chambers is positioned in the cartridge receiving chamber so the chambers are selectively alignable with a longitudinal passage of the barrel. At least one instrument is positioned in one of the chambers, and a plurality of implants is positioned in the other chambers. A drive assembly is engageable with the instrument and the implants. The drive assembly is slidably and rotatably disposed in the frame and is moveable between a retracted position, an engaging position wherein the distal end of the drive assembly is positioned to engage the selected one of the instrument and the implants, and an extended position wherein the drive assembly extends through the chamber to transport the selected one of the instrument or the implant from the chamber to the distal end of the barrel.

Abstract: A device and method for treating a bone includes a bone plate including first and second portions joined to one another via a connecting portion, a rigidity of the connecting portion being less than rigidities of each of the first and second portions in combination with a first sensor mounted on the first portion measuring strain on the first portion and a second sensor mounted on the second portion measuring strain on the second portion.

Abstract: Certain embodiments of the invention provide plates for treating periarticular fractures or other non-full body weight bearing applications that combine polyaxial fixation with a low profile and enhanced contouring that more closely conforms to bone. Such plates can be designed to achieve buttressing effect and/or to be used in a reinforcement mode. Other features can be combined with these. Such plates can be created for use on bone sites such as on a tibia, fibula, metatarsal, calcaneous, other foot bone, humerus, radius, ulna, spinal, maxillofacial, as well as sites on other bones.

Abstract: A system for securing bones together across a joint includes a transfixation screw and a plate. The plate includes an elongate spine having a transfixation screw hole disposed along the spine. The transfixation screw hole includes an inner surface configured to direct the transfixation screw through the transfixation screw hole such that the transfixation screw extends alongside the bridge portion at a trajectory configured to pass through a first position on the first bone and a second position on the second bone once the plate is placed across the joint. The transfixation screw includes a head configured to abut the inner surface of the transfixation screw hole and a shaft configured to contiguously extend through the first bone, across the joint, and into the second bone.

Abstract: A fixation device is disclosed including an elongate body extending from a distal end to a proximal end. The distal end defines a blind hole having a diameter and extending to a depth from a distal tip. The diameter of the blind hole is sufficient to receive a k-wire therein.

Abstract: A surgical instrument system includes a surgical instrument, a power supply, and an accessory. The surgical instrument has a first induction device positioned therein. The power supply is electrically coupled to the first induction device. The accessory is selectively operably couplable to the surgical instrument. The accessory includes a second induction device that is inductively coupled with the first induction device when the accessory is operably coupled to the surgical instrument such that the power supply provides power to the accessory.

Abstract: A system is provided. The system includes an electrosurgical generator configured to measure, collect and record data pertaining to a characteristic of tissue as the tissue is being electrosurgically treated. A tuner configured to couple to the electrosurgical generator includes a tuning circuit providing a load having a variable complex impedance for the electrosurgical generator when the electrosurgical generator is connected thereto. A controller including stored data pertaining to impedance values is in operable communication with the electrosurgical generator for retrieving the recorded data pertaining to the characteristic of tissue. The controller is in operable communication with the tuner for varying a complex impedance of the load. The controller configured to compare the recorded data pertaining to the at least one characteristic of tissue with the stored data pertaining to the plurality of impedance values and to adjust the tuner to one of the plurality of impedance values.

Abstract: Systems and methods utilizing RF energy to treat a patient's skin (e.g., dermis and hypodermis) or other target tissue including at a depth below a tissue surface (e.g., skin surface, mucosal surfaces of the vagina or esophagus) are provided herein. In various aspects, the methods and systems described herein can provide a RF-based treatment in which the deposition of RF energy can be selectively controlled to help ensure heating uniformity during one or more of body sculpting treatment (lipolysis), skin tightening treatment (laxity improvement), cellulite treatment, vaginal laxity or rejuvenation treatment, urinary incontinence treatment, fecal incontinence treatment, all by way of non-limiting examples. In various aspects, the systems can comprise one or more sources of RF energy (e.g., a RF generator), a treatment applicator comprising one or more electrode arrays configured to be disposed in contact with a tissue surface, and a return electrode (e.g., a neutral pad) to the tissue surface.

Abstract: An arthroscopy system includes both a motorized handpiece and a detachable probe. The motorized handpiece includes a rotating driver which is configured to engage a rotatable drive coupling within a hub of the probe. The probe has a shaft with an articulating distal region, and the rotatable drive coupling is configured to convert the rotary motion of the rotating driver to an articulating motion within the articulating region of the probe.

Abstract: Methods and devices for treating nasal airways are provided. Such devices and methods may improve airflow through an internal and/or external nasal valve, and comprise the use of mechanical re-shaping, energy application and other treatments to modify the shape, structure, and/or air flow characteristics of an internal nasal valve, an external nasal valve or other nasal airways.

Abstract: A surgical instrument includes a female branch defining in a coupling area a hollow volume including inwardly facing inner coupling surfaces and including a male branch which can be pivoted relative to the female branch at least partly inside the hollow volume about a pivot axis, the male branch defining in the coupling area a guide portion having outwardly facing outer coupling surfaces in which outer coupling recesses are arranged, wherein on the inner coupling surfaces, inner coupling recesses are arranged which extend relative to a longitudinal axis of the surgical instrument in a direction other than that of the outer coupling recesses.

Abstract: An electrosurgical system is disclosed. The system includes an electrosurgical generator adapted to supply electrosurgical power and an electrosurgical device coupled to the electrosurgical generator. The electrosurgical device includes a transformer and one or more active electrodes coupled thereto, wherein the transformer is adapted to step down the voltage of the power supplied by the electrosurgical generator.

Abstract: The present invention is directed to an endoscopic implant cutting and/or fragmenting apparatus of the bipolar type, operating on direct current, comprising an endoscope instrument having at least two opposing electrodes at its distal instrument head forming a cutting gap inbetween for receiving an electrically conductive implant or implant section to generate punctiform physical contact with the implant, and a DC-impulse generator having or connected to a control device adapted to generate a direct current in a pulsed way being controlled by the control device such that in a first phase of physical contact, the current pulse is adjusted preferably by controlling the current value at the electrodes to induce electric energy into the implant material being sufficient to melt the implant material exclusively in the area of the contact portion and in a second phase of physical noncontact, the current pulse is adjusted preferably by controlling the voltage value at the electrodes to generate an electric arc betwe

Abstract: An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft. The end effector includes a pair of jaws that are operable to deliver RF energy to tissue that is clamped between the jaws. The cutting member is operable to sever tissue that is clamped between the jaws. The shaft extends between the body and the end effector. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. Some versions include a rotation section that is distal to the articulation section. The rotation section is operable to rotate the end effector relative to the articulation section.

Abstract: A sheath adapted for use with a catheter is disclosed comprising an electrical lead having a proximal end and a distal end and a lumen extending from the proximal end to the distal end, the electrical lead including a tubular member of non-conductive material. At least a first set of electrical conductors and a second set of electrical conductors extend from the proximal end to the distal end laid on the non-conductive tubular member, and an outer layer of non-conductive material is applied over the electrical conductors to cover the conductors. One or more electrodes are disposed on a distal portion of the sheath. Each electrode is in electrical communication with at least one of the electrical conductors through the outer layer. The first set of electrical conductors is helically wrapped around the lumen and the second set of electrical conductors is helically wrapped around the first set of electrical conductors.

Abstract: A catheter configured to deliver therapeutic energy to a tissue can include can include an elongate shaft extending along a shaft longitudinal axis and comprising a shaft proximal end and a shaft distal end. The catheter can include a flexible tip assembly comprising a tip assembly outer surface, wherein the flexible tip assembly is connected to the shaft distal end and is configured to deliver therapeutic energy to the tissue, and wherein the flexible tip assembly further includes. The flexible tip assembly can include an insulative layer comprising an insulative layer outer surface, wherein the insulative layer is disposed on the tip assembly outer surface and a mapping electrode disposed on the insulative layer outer surface.

Abstract: A flexible electrode includes an internal spring with an increased spring rate and/or distal-end and proximal-end turns having increased diameters. In an embodiment, a catheter electrode comprises an electrode body defining a cavity therein, the cavity comprising a first diameter; and a spring disposed within the cavity, the spring comprising a second diameter; wherein the first diameter is equal to the second diameter.

Abstract: Various exemplary methods, systems, and devices for initializing a surgical tool are provided. In general, a surgical tool can include an end effector, an elongate shaft, and a wrist that couples the end effector to a distal end of the shaft. The wrist can be configured to facilitate movement of the end effector relative to the shaft. The surgical tool can include multiple flexible members configured to move, either individually or as a group including any plural number of the flexible members, to cause the movement of the end effector relative to the shaft by pivoting at the wrist. The movement of the end effector can include movement between an unarticulated position and an articulated position. The surgical tool can also include one or more homing members configured to be selectively actuated to force the end effector into the unarticulated position.

Abstract: A docking system for a mechanical telemaniplator is provided, optionally to be used with a mechanical telemanipulator with a master-slave configuration. The docking system is configured to allow for safe and secure immobilization of a handle or master manipulator of a mechanical telemanipulator with a master-slave configuration so as to prevent movement of a slave manipulator or instrument. While the docking element can be deployed on any mechanical telemanipulator, it can advantageously be used on a surgical platform comprising a mechanical telemanipulator with a master-slave configuration. In this context, the docking system can be used to secure the handle portion or master manipulator of the surgical platform to safely prevent undesirable movement of a slave manipulator or surgical instrument.

Abstract: A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.

Abstract: A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.

Abstract: A method for customizing an interactive control boundary includes positioning a virtual implant model relative to a virtual bone model based on a user input, and extracting reference feature information associated with the virtual implant model, wherein the reference feature information describes one of a point, a line, a plane, and a surface associated with the virtual implant model. The method further includes mapping the extracted reference feature information to the virtual model of the bone, and receiving information indicative of a positional landmark associated with the bone, then estimating an intersection between the positional landmark and the mapped reference feature and generating a virtual boundary based, at least in part, on the estimated intersection between the positional landmark and the mapped reference feature.

Abstract: A mechanical translation apparatus includes a translation stage and a translation assembly operatively connected to the translation stage so as to impart linear motions to the translation stage substantially free of rotational motions. The translation assembly includes a plurality of at least three arms pivotably connected to the translation stage at a first end of each arm of the plurality of at least three arms. The mechanical translation apparatus also includes a base assembly in which each arm of the plurality of at least three arms is also rotationally connected to the base assembly at a second end of each arm.

Abstract: A surgical assembly includes a surgical instrument and a holder. The surgical instrument includes an elongate body and an end effector. The elongate body has a proximal portion and a distal portion that defines a longitudinal axis therealong. The proximal portion is movable relative to the distal portion between a first condition and a second condition. In the first condition, the proximal portion is parallel to the longitudinal axis. In the second condition, the proximal portion is non-parallel to the longitudinal axis. The holder is configured to be coupled to the elongate body to selectively retain the proximal portion of the elongate body in the first condition.

Abstract: Disclosed is a reusable surgical instrument (1) with an articulated end-effector (3), such as a dissector, scissor or grasper, to enhance a surgeon's performance during various surgical procedures. The longitudinal axis of the instrument is defined by a shaft (2), comprising an internal structural element (2?) covered by an external tube (2?), which may be inserted through a surgical incision into the body of a patient, optionally through a trocar. The articulated end-effector (3) is mounted on the distal extremity of the shaft's internal structural element and comprises a plurality of links interconnected by a plurality of joints, whose movements are remotely actuated by the surgeon's hands. This remote actuation is accomplished via mechanical transmission (5, 6, 7), mainly composed of flexible elements, which are able to deliver motion from a set of actuation elements, placed at a proximal extremity of the shaft (2), to the instrument's articulated end-effector (3).