Abstract: A single-use instrument tip may include a transitory element, a blank, a hypodermic tube, and a fixation mechanism. The blank may be disposed in the hypodermic tube and the transitory element. A reusable handle may include a handle base, a threaded rod, an instrument tip housing, and an actuation handle. The actuation handle may be manufactured to have one or more properties derived from data collected from a particular surgeon. The actuation handle may include one or more actuation limbs. The threaded rod may be disposed in the handle base, the actuation handle, and the instrument tip housing. The fixation mechanism may be configured to temporarily fix a portion of the single-use instrument tip in the instrument housing. A compression of at least on actuation limb may be configured to extend the hypodermic tube relative to the blank.

Abstract: In a biopsy needle having a hollow tubular outer needle, an inner needle that is disposed in a hollow portion of the outer needle so as to be movable in the tube axis direction relative to the outer needle, and a recessed sample collection portion that is cut inward from a circumferential surface of the inner needle, an outer groove extending in the tube axis direction of the outer needle is provided on at least the distal end side and the rear end side of the sample collection portion in the inner needle, and a light guide member is disposed in the outer groove. At least a part of the light guide member is fixed by fillers filled in the outer groove.

Abstract: A minimally invasive surgery system including a robot, a cannula assembly and a computer system. The robot has at least one movable robot arm and the cannula assembly is detachably mounted to the robot arm. The cannula assembly includes a cannula and a pattern generating member. The cannula has a distal end and a proximal end with a flange portion and an elongate cannula shaft portion extending from the proximal end to the distal end and an access port through the elongate cannula shaft portion. The pattern generating member includes a pattern light source and a projector temporarily or permanently fixed to the cannula shaft portion. The pattern light source is operatively connected to the projector for projecting a light pattern. The computer system is configured for in real time receiving image data representing light pattern reflections from a surgical surface and for determining a real-time spatial position of the cannula assembly relative to the surgical surface.

Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

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 device and method for improving fertility among couples after intercourse is disclosed. The device and method uses an intravaginal device that collects ejaculate from the vaginal canal after intercourse and presents it to the os of the cervix. The device also serves to contain ejaculate near the cervical os to increase the chances of successful fertilization.

Abstract: The present application relates to a treatment head (30) for performing a microdermabrasion procedure on a subject's skin (40). The treatment head (30) has a skin contact surface (32) which is positionable against the subject's skin (40) and at least one vacuum aperture (50) at the skin contact surface (32). The at least one vacuum aperture (50) defines a path (52) at which a vacuum is generatable. The at least one vacuum aperture (50) has an abrasive edge (56) defined by a juncture of the vacuum aperture and the skin contact surface. The abrasive edge is configured to act on the subject's skin (40). The present application also relates to a skin care device (10) for performing a microdermabrasion procedure on a subject's skin (40).

Abstract: A method of inserting a spinal stabilization system into a patient generally comprises inserting a first positioning tool through a first location on a patient's skin and along a path generally toward a first vertebral anchor, coupling an end of the first positioning tool to the first vertebral anchor, positioning at least a portion of a delivery device over a connecting element, and inserting the delivery device and the connecting element through the patient's skin at the first location and along at least a portion of the first positioning tool. The first positioning tool is configured to facilitate directing the delivery device and connecting element generally toward a second vertebral anchor within the patient's body.

Abstract: A clamp assembly for orthopedic use having a housing that includes a top surface, a recess, a distal base and a bottom surface, the recess defining a longitudinal axis and extending through the housing from the top surface through the distal base and toward the bottom surface, and at least two through slots, each one of being disposed at a bottom or a side a surface of the housing. The assembly including a securement assembly positionable within the recess in a co-axial relationship to a mating surface on the recess, and a band sized for travel along a predetermined path defined in part by the through slots in the housing, wherein at least one of the through slots is a starting point for travel of the band along the predetermined path.

Abstract: Bone anchor assemblies and related instrumentation are disclosed herein. In some embodiments, a modular bone anchor assembly allows for a bone anchor to be driven into bone and a head or receiver member to be attached thereto at some later point in time. The bone anchor can have a smaller footprint than the complete assembly, which can improve visualization and anatomical spatial awareness during insertion of the bone anchor and during other surgical steps performed prior to attaching the head or receiver member to the bone anchor. A variety of modular head types are disclosed, as are various instruments for driving a bone anchor, attaching a head to a bone anchor, removing a head from a bone anchor, and making a unilateral attachment to a head of a bone anchor assembly. Drive interfaces for driving a bone anchor are disclosed, as are features that allow a bone anchor to act as a fixation point for soft tissue retraction, disc space distraction, derotation, and the like.

Abstract: A polyaxial bone anchoring device includes: an anchoring element having a shaft for anchoring in a bone and a head, the head having a spherically-shaped outer surface portion; a receiving part configured to be pivotably connected to the head, the receiving part having a top end and a bottom end, a longitudinal axis extending through the top end and the bottom end, a channel transverse to the longitudinal axis for receiving a rod, and an accommodation space for accommodating the head, the accommodation space having a lower opening at the bottom end, a sleeve-like insert piece configured to be positioned around a portion of the head and to pivot in the receiving part, the insert piece having a spherically-shaped outer surface portion, wherein a lower edge of the insert piece extends past the lower opening in a direction away from the receiving part when the insert piece is seated in the receiving part in a position in which a central axis of the insert piece is coaxial with the longitudinal axis, and wherein th

Abstract: Disclosed herein are a spinal fixation assembly and method to provide adequate rigidity and support for a vertebral column without requiring additional pedicle screws and spinal rods. The spinal fixation assembly includes a spinal rod loop with multiple sides configured to be attached to a vertebral body with two or more pedicle screws. Each pedicle screw is adapted to fit at various locations along the spinal rod loop.

Abstract: A spinal cross-connector comprises an elongated member, a first connector and a second connector. The first connector and the second connector are configured to receive spinal rods and adaptable to directly attach with pedicle screws. The first connector includes a first collet head, a first clamp and a first locking means. The second connector includes a second collet head, a second clamp and a second locking mans. The first locking means is configured to tighten over a first collet head and engage with the first connector. Similarly, the second locking means is configured to tighten over a second collet head and engage with the second connector. The engagement of the first locking means with the first connector and the second locking means with the second connector locks the spinal cross-connector.

Abstract: Bone anchor assemblies and related instrumentation are disclosed herein. In some embodiments, a modular bone anchor assembly allows for a bone anchor to be driven into bone and a head or receiver member to be attached thereto at some later point in time. The bone anchor can have a smaller footprint than the complete assembly, which can improve visualization and anatomical spatial awareness during insertion of the bone anchor and during other surgical steps performed prior to attaching the head or receiver member to the bone anchor. A variety of modular head types are disclosed, as are various instruments for driving a bone anchor, attaching a head to a bone anchor, removing a head from a bone anchor, and making a unilateral attachment to a head of a bone anchor assembly. Drive interfaces for driving a bone anchor are disclosed, as are features that allow a bone anchor to act as a fixation point for soft tissue retraction, disc space distraction, derotation, and the like.

Abstract: Bone anchor assemblies and related instrumentation are disclosed herein. In some embodiments, a modular bone anchor assembly allows for a bone anchor to be driven into bone and a head or receiver member to be attached thereto at some later point in time. The bone anchor can have a smaller footprint than the complete assembly, which can improve visualization and anatomical spatial awareness during insertion of the bone anchor and during other surgical steps performed prior to attaching the head or receiver member to the bone anchor. A variety of modular head types are disclosed, as are various instruments for driving a bone anchor, attaching a head to a bone anchor, removing a head from a bone anchor, and making a unilateral attachment to a head of a bone anchor assembly. Drive interfaces for driving a bone anchor are disclosed, as are features that allow a bone anchor to act as a fixation point for soft tissue retraction, disc space distraction, derotation, and the like.

Abstract: Assemblies for securing fractured bone are provided. The assembly includes a first fixation element, a second fixation element, and an adjustable flexible member construct. The first fixation element having a male or a female sleeve is secured within a first portion of the fractured bone. The second fixation element having the other of the male or female sleeve telescopically received within the one of the male or female sleeve is secured within a second portion of the fractured bone. The adjustable flexible member construct extends between the first and second fixation elements and has at least one adjustable loop coupled to the first fixation element and the second fixation element and a pair of adjusting ends extending through an opening in the first fixation element. The pair of adjusting ends can be pulled to reduce a diameter of the adjustable loop and to compress fragments of the fractured bone.

Abstract: A minimally invasive tissue incision system for creating joint capsulotomies and releasing/incising various tendon and fibrous band structures. The system contains a penetrating needle which is retractable so as to expose a cutting element, and which may be used as a penetrating needle to pierce the skin and other soft tissue structures. The cutting element provided within the penetrating needle may be used to incise subsequent tissue structures after the initial penetration. The system facilitates such procedures by providing the cutting element with the confines of the needle which provides safe introduction of the cutting element directly to the site via the needle.

Abstract: A method and system for performing bone fusion and/or securing one or more bones, such as adjacent vertebra, are disclosed. The screws include a threaded tip connected to a main shaft and a threaded outer sleeve that rotates relative to the outer shaft until locked down. Independent rotation of the threaded outer sleeve relative to the threaded distal tip allows compression or distraction to modify the gap between the vertebral bodies. The screws are passed from the inferior to superior vertebra or superior to inferior, for example, through a trans-pedicular route to avoid neurological compromise. At the same time, the path of screw insertion is oriented to reach superior or inferior vertebra. An intervertebral cage of the system is configured for lateral expansion from a nearly straight configuration to form a large footprint in the disc space. The screws and cage may be combined for improved fixation with minimal invasiveness.

Abstract: The present invention relates to a bone screw comprising a screw body comprising a proximal end, a distal end, a longitudinal axis and a thread along all or a portion of said screw body; a screw head; a through bore extending coaxially through said screw head and through said screw body from the proximal end up to the distal end; at least three blind channels angularly-disposed around the bore; each of said channels being configured to receive a perforated catheter or a needle; a plurality of radially-disposed fenestrations; wherein each of said channels is connected to an exterior of said screw body through at least one fenestration; and flexible directing means secured to the screw head. The present invention also relates to a system comprising such bone screw, to a method of delivering a substance to an intervertebral disc using the system according to the invention and to a method of treating vertebral tumor using the system according to the invention.

Abstract: The present disclosure relates generally to the field of cryoablation. In particular, the present disclosure relates to cryoablation systems (e.g., cryospray systems, cryogenic ablation, cryosurgery systems etc.) that prevent or significantly inhibit cryospray gases from accumulating and progression distally beyond a specific region within a body lumen.

Abstract: Electrosurgical apparatuses having bent tip applicators are provided. In one implementation, an electrosurgical apparatus includes an insulating outer tube having a longitudinal axis, a proximal end, and a distal end. An outer tube distal housing has its proximal end coupled to the distal end of the insulating outer tube. A distal end of the outer tube distal housing extends from the insulating outer tube at an acute angle relative to the longitudinal axis. The exemplary electrosurgical apparatus further includes an electrically conducting tube disposed within the insulating outer tube and moveable along the longitudinal axis of the insulating outer tube. An electrode is coupled to a distal end of the electrically conducting tube. The exemplary electrosurgical apparatus may include a knob coupled to the insulating outer tube to effect rotation of the outer tube distal housing in 360 degrees of rotation.

Abstract: An electrosurgical apparatus with a retractable blade for use in cold plasma applications, electrosurgical cutting and mechanical cutting is provided. The electrosurgical apparatus employs a tip of the retractable blade as a sharp conductive point to generate a plasma beam or discharge. When the blade is retracted within the electrosurgical apparatus, it is electrically energized while an inert gas flows over it, producing a cold plasma discharge. In the de-energized state, the blade is advanced and used as a traditional, mechanical surgical blade.

Abstract: A machine holds a plurality of RF beam generators which all point at a particular location. A patient with a target volume of tissue to be treated by heat is held immobile such that the target is located at the point all the RF beams traverse. The RF beams traverse that point and the resultant generated heat treats the target. No two or more RF beams traverse any other location in the patient's body. Since each individual RF beam is too weak to cause damage, the non-targeted tissues of the patient are unharmed.

Abstract: A medical device energy source may comprise an energy supply, a power interface, a computing device, a networking interface, and a data interface. The power interface and the data interface may communicate with a medical device and the networking interface may communicate with a data server. The energy source may receive an identifier code from the medical device and receive medical device identity codes from the data server. The energy source may receive additional medical device information from the data server. The energy source may compare the identifier code with each of the identity codes and control the function of the energy supply based on the comparison of the identifier code with the identity codes. The energy source may also maintain usage records of the medical device. A medical device system may include the medical device energy source, the medical device, and the data server.

Abstract: Controlling conductive fluid flow during an electrosurgical procedure. At least some of the example embodiments are methods including: flowing conductive fluid from a source lumen to a suction lumen of an electrosurgical wand, the flowing with the electrosurgical wand in a first orientation; sensing a change in orientation of the electrosurgical wand to a second orientation different than the first orientation; and changing a control parameter associated with the conductive fluid flow, the changing responsive to the change in orientation of the electrosurgical wand.

Abstract: An ultrapolar electrosurgery blade and an ultrapolar electrosurgery pencil. The ultrapolar electrosurgery blade has a non-conductive planar member with opposing planar sides, a cutting end, and an opposite non-cutting end, first active and return electrodes located on one opposing planar side, and second active and return electrodes located on the other opposing planar side.

Abstract: An ultrapolar telescopic electrosurgery pencil/handpiece with or without smoke evacuation that is capable of cutting with a sharp non-conductive cutting end of an electrosurgery blade and cutting and coagulating with activation of active and return contacts both contained on each side of the electrosurgery blade.

Abstract: A tissue clip including an electrode assembly having first and second electrodes with an insulator disposed therebetween. The electrodes are configured to connect to opposite potentials of an energy source. The electrodes and insulator are deformable to shape the tissue clip to include upper and lower legs with a twisted central portion defined therebetween. The upper leg includes an outer facing portion having one end of the first electrode removably coupled to a first jaw of a forceps and an inner facing portion including an end of the second electrode configured to grasp tissue. The lower leg includes an outer facing portion having an opposite end of the second electrode removably coupled to a second jaw and an inner facing portion that includes the opposite end of the first electrode and is configured to grasp tissue.

Abstract: A circuit for generating a radio-frequency signal for a surgical device is disclosed. The circuit has a voltage regulator that supplies direct current (DC) voltage, a first MOSFET, a second MOSFET, and a MOSFET driver. The MOSFET driver receives the DC voltage supplied from the voltage regulator and has a local oscillator. The local oscillator switches the first MOSFET and the second MOSFET on and off at a frequency generated by the local oscillator. The circuit further includes a transformer connected to the first and second MOSFETs, having a center tap and a main voltage applied at the center tap, and providing an alternating current (AC) output.

Abstract: Apparatus and methods described include a pump, which includes a piston, a diaphragm coupled to the piston and defining a wall of a fluid chamber, and a snail cam. The snail cam is configured to, by rotating, alternatingly (i) pump fluid from the fluid chamber, and (ii) draw fluid into the fluid chamber, by driving the piston to move the diaphragm. Other embodiments are also described.

Abstract: The invention relates to a medical device for treating a vein, including component parts thereof, wherein said device comprises a vein stretching member; a vein stretching member for use with said device; a kit of parts comprising said device and one or more vein stretching member and a method for treating a vein comprising use of said device.

Abstract: The present invention relates to an electrosurgical system including an electrosurgical device to be delivered to a wound site to provide chronic wound treatment. The device can be used during a wound care procedure to provide targeted energy at a wound site for reducing the accumulation of biofilm present and removing necrotic tissue and debris so as to promote, stimulate, and stabilize the wound healing process. The device can further be used during a surgical procedure, such as preparation for an orthopedic implant, in which the device is configured to selectively coagulate one or more pockets prepared within bone tissue for holding an implant so as to prevent or stop fluid accumulation (e.g., blood from vessel(s)) as a result of the implant preparation.

Abstract: One aspect relates to an ablation electrode for high-frequency ablation in medical technology, whereby the ablation electrode includes a gold alloy. One aspect relates to a catheter tip for use with a catheter device, including an ablation electrode, as well as a catheter device for high-frequency ablation, including a catheter tip, as well as the use of an ablation electrode, a catheter tip or a catheter device for high-frequency ablation; as well as a process for production of an ablation electrode.

Abstract: A renal denervation feedback method is described that performs a baseline measurement of renal nerve plexus electrical activity at a renal vessel; denervates at least some tissue proximate the renal vessel after performing the baseline measurement; performs a post-denervation measurement of renal nerve plexus electrical activity at the renal vessel, after the denervating; and assesses denervation of the renal vessel based on a comparison of the baseline measurement and the post-denervation measurement of renal nerve plexus electrical activity at the renal vessel.

Abstract: A method and system capable of identifying ectopic foci, rotors, or conduction pathways involved in reentrant arrhythmias within cardiac tissue, and then treating identified ectopic foci, rotors, and/or pathways with either lethal or sub-lethal temperatures. The system includes a medical device having one or more mapping elements and one or more treatment elements, and a computer programmable to identify ectopic foci and rotors based at least in part on signals received from the one or more mapping elements at one or more locations.

Abstract: Methods and systems are disclosed herein for improved safer planning support during interventional procedures for inserting stents into a hollow organ of a patient by a guide device. One method includes: providing or recording a three-dimensional image data set of the hollow organ in a first position; segmentation or providing a segmentation of the three-dimensional image data set; providing or recording a two-dimensional image of the guide device introduced into the hollow organ; overlaying the three-dimensional image data set with the two-dimensional image; determining at least one corrected position of one or more section(s) of the hollow organ respectively using the overlaying of the three-dimensional image data set with the two-dimensional image; and determining the respective deformation energy of the hollow organ in the section(s) for the case of removal of the guide device using the previously determined corrected position compared to the first position.

Abstract: A robotic device for performing intracranial procedures, comprising a baseplate for mounting on the subject's skull and a rotatable base element rotating on the baseplate. The rotatable base element has a central opening through which a cannulated needle can protrude such that it can rotate around an axis perpendicular to the baseplate. This cannulated needle is robotically controlled to provide motion into and out of the subject's skull. A flexible needle is disposed coaxially within the cannulated needle, and it is controlled to move into and out of a non-axial aperture in the distal part of the cannulated needle. Coordinated control of the insertion motion of the cannulated and flexible needles, and rotation of the combined cannulated/flexible needle assembly enables access to be obtained to a volume of a region of the brain having lateral dimensions substantially larger than the width of the cannulated needle.

Abstract: A medical device deployment system includes a main body (101) and a guidewire (103) capable of being passed through the main body and including a lumen. An optical shape sensing (OSS) system (104) is configured to pass through the lumen in the guidewire. The OSS system is configured to measure shape, position or orientation of an endograft (102) relative to a blood vessel for placement of the endograft.

Abstract: The present disclosure provides a navigation method and system which does not require a remotely located tracking system, or additional targets or other devices to be installed on the patient or object being tracked. The system uses one flexible component in physical contact with the patient/object and measures relative position as a function of forces that are generated by the flexing component as it is bent. The system translates forces into navigational commands for a robot, other manipulator, or for human manual navigation. A method for transforming a pre-planned motion pathway into a sequence of forces for this mode of navigation is also described. This system is also applicable in the field of manufacturing robotics, where the locations of objects or assemblies may not be precisely known or constant. The method and system disclosed herein can be used to maintain known position of an object/assembly or to navigate movement of a robot relative to an object/assembly as in the case of machining.

Abstract: A calibration device is provided having a body with an exterior surface configured for placement about a tool such that the body rotates about a tool axis. One or more fiducial marker is positioned on the exterior surface and in communication with a tracking system. A fixed fiducial marker array is provided that is also in communication with the tracking system. A calibration tool defines the tool axis relative to the fiducial marker array. A surgical system is also provided with a tracking module that calculates a center point of the rotation or a normal vector to the circular path to define a tool axis orientation. A method of using the surgical system and defining a tool axis relative to a fiducial marker array is provided. A system for defining a robot link orientation or tracking a tool a medical procedure and a fiducial marker array are provided.

Abstract: The present invention relates to a medical system for shape sensing by interacting with a shape sensing element (12) configured to perform a shape sensing measurement of an interventional device (14) and by interacting with an image data generation unit (28) for generating image data (21), said medical system comprising a shape sensing console (16) in communication with said shape sensing element (12) for generating measurement signals of said shape sensing measurement, a shape reconstruction unit (18) in communication with said shape sensing console for reconstructing a shape (19) of said shape sensing element based on said generated measurement signals, a receiving unit (22) for receiving a position and/or orientation of an apparatus (26, 26?) comprising said image data generation unit (28), a coordinate transformation unit (20) for registering said reconstructed shape (19) by representing said reconstructed shape (19) in a coordinate system based on said received orientation of said apparatus (26, 26?), an

Abstract: A multi-stage dilator and cannula assembly for use in surgical procedures, including minimally invasive surgical procedures, to provide tissue dilation and opening of a portal to enable the surgeon to access and provide treatment to anatomical feature of interest.

Abstract: A method for performing a revision surgery using a robotic-assisted surgery system includes determining information related to an interface area between an implant component and a bone, and generating a planned virtual boundary associated with a portion of the interface area to be removed in a representation of the implant and the bone, based at least in part on the information related to the interface area. The method further includes tracking movement in the physical space of a cutting tool such that movement of the cutting tool is correlated with movement of a virtual tool, and providing a constraint on the cutting tool while the cutting tool removes the portion of the interface area. The constraint is based on a relationship between the virtual tool and the planned virtual boundary. The portion of the interface area is removed to remove the implant component from the bone.

Abstract: A method, system and apparatus for controlling a surgical navigation system are provided. The method 1 comprises receiving image data at a processor from a tracking system; receiving, at a processor, an identifier of a surgical instrument within a field of view of the tracking system; generating, at the processor, output data based on the identifier of the surgical instrument; and transmitting the output data to at least one output device connected to the processor, for controlling the output device.

Abstract: Devices, systems and methods for detecting a position of an object with a robot surgical system having an articulable, separable camera stand. The surgical robot system may include a robot having a robot base with a robot arm and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, other objects, or any combination thereof, may be tracked via active and/or passive tracking markers. A camera, such as an infrared camera, a bifocal camera or a stereophotogrammetric infrared camera, is mounted on a separable camera stand and is able to detect the tracking markers when in use. Using the camera, the robot determines a position of the object from the tracking markers, which may be a three-dimensional position of the object or the markers. When convenient, the camera base may be assembled into the robot base, e.g., by sliding the camera base into the robot.

Abstract: A surgical system for positioning a prosthetic component includes a robotic arm and a surgical tool having an end effector configured to be coupled to the robotic arm. The system further includes a controller programmed to generate control signals, based on a planned pose of the prosthetic component, that cause the robotic arm to allow movement of the surgical tool in at least one degree of freedom and to constrain movement of the surgical tool in other degrees of freedom, wherein the controller is programmed to generate control signals that cause the robotic arm to maintain the constraint as the prosthetic component is implanted on the anatomy.

Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

Abstract: A surgical instrument is configured for coupling with an instrument drive unit that drives an actuation of the surgical instrument and operatively supports the surgical instrument. The surgical instrument includes a housing, an elongate body extending distally from the housing, an end effector extending distally from the elongate body, and a plurality of driven members rotatably fixed and longitudinally moveable relative to the elongate body. The plurality of driven members are longitudinal moveable relative to one another. Each driven member of the plurality of drive members is coupled to a respective cable that is attached to the end effector. The plurality of driven members is configured for engagement with an instrument drive unit.

Abstract: A robotic surgical system includes a linkage, an input handle, and a processing unit. The linkage moveably supports a surgical tool relative to a base. The input handle is moveable in a plurality of directions. The processing unit is in communication with the input handle and is operatively associated with the linkage to move the surgical tool based on a scaled movement of the input handle. The scaling varies depending on whether the input handle is moved towards a center of a workspace or away from the center of the workspace. The workspace represents a movement range of the input handle.

Abstract: A stockinette (200), suitable for covering an appendage (1440) of a patient, includes one or more folds (206). The fold (206) can be in a length of material (205) disposed between an open end (204) and a closed end (203). Alternatively, the fold (880) can be in an optional cuff (860) formed by a section of material (661) near the open end (603). Folds can be present both in the length of material (205) and in the cuff (860) as well. The cuff (860) can be disposed atop the fold (206) in the length of material (205). The stockinette (200) enables one person to apply the stockinette (200) to an appendage (1440) with one continuous motion that expands the folds.