Abstract: An apparatus includes a generator including a control module that is operably coupled to a power module. The power module is configured to produce an electronic signal to be received by an ultrasonic energy delivery assembly. The ultrasonic energy delivery assembly is characterized by a natural frequency, and the electronic signal is characterized by a frequency. The control module is configured to send a control signal to the power module to randomly vary the frequency of the electronic signal within a range defined at least in part by the natural frequency.

Abstract: A cardiac ablation method including the following steps: inserting a treatment catheter into an atrium of a heart, the treatment catheter including an ultrasound emitter; positioning the ultrasound emitter to face heart tissue within the left atrium outside of a pulmonary vein; emitting ultrasound energy from the ultrasound emitter while rotating the ultrasound emitter about a rotation axis; and ablating heart tissue with the ultrasound energy to form a lesion outside of a pulmonary vein.

Abstract: A rotational atherectomy system is disclosed, comprising: an elongated, flexible spin-to-open drive shaft having a distal end for insertion into a vasculature of a patient and having a proximal end opposite the distal end remaining outside the vasculature of the patient; a concentric or eccentric abrasive element, preferably a solid crown, attached to the drive shaft proximate the distal end of the drive shaft; an electric motor rotatably coupled to the proximal end of the drive shaft, the electric motor being capable of rotating the drive shaft in a spin-to-open direction; and control electronics for monitoring and controlling the rotation of the electric motor. When an obstruction at the distal end is detected by the applied torque and/or current reaching a predetermined maximum allowed level and with the drive shaft opened to a maximum allowed outer diameter, power to the motor is eliminated.

Abstract: Disclosed herein are devices and methods for removing tissue. In one aspect, a device for removing tissue includes a hollow elongate member having an outer wall and a lumen, a selectively deployable tissue-cutting element extending from the hollow elongate member, and an actuation member extending through the lumen and coupled to the hollow elongate member at a location that is distal to the tissue-cutting element. Movement of the actuation member can cause the tissue-cutting element to move from the insertion configuration where the tissue-cutting element is not deployed to a tissue-cutting configuration where the tissue-cutting element is deployed such that it is radially extended relative to the insertion configuration.

Abstract: The invention provides a rotational atherectomy device having a flexible, elongated, rotatable drive shaft with a system of eccentric abrading heads attached thereto. The eccentric enlarged abrading heads may have centers of mass spaced radially from the rotational axis of the drive shaft, wherein adjacent eccentric abrading heads, and centers of mass thereof, are rotationally separated from each other on the drive shaft.

Abstract: Described herein are atherectomy catheters, systems and methods that include a distal tip region that may be moved laterally so that its long axis is parallel with the long axis of the main catheter body axis. Displacing the distal tip region laterally out of the main catheter body axis exposes an annular blade and opens a passageway for cut tissue to enter a storage region within the catheter. The annular blade may be internally coupled to a drive shaft that rotates the blade, and thus the exposed blade edge may have the same crossing profile (OD) as the rest of the distal end region of the catheter. Also described herein are gear-driven atherectomy devices that may use a cable drive shaft to actuate the annular blade. Both push-to-cut and pull-to-cut variations are described, as are methods for cutting tissue and systems including these atherectomy catheters.

Abstract: This invention generally relates to a medical device assembly for facilitating a sealed working channel into a pressurized body cavity, and methods of use thereof, In certain embodiments, devices of the invention include a hollow body that is splittable along its length and being configured to move between an open configuration for operably coupling with a surgical instrument and a closed configuration, in which in the closed configuration, the device provides a seal that prevents gas leakage from an incision site of a body cavity while the instrument is in the body cavity.

Abstract: An operator can release a looped portion of a tethering member, which terminates a distal section thereof, from being secured within a locking lumen of a delivery catheter shaft, and then move the distal section out of engagement with an attachment feature of an implantable medical device to untether the device from the catheter. The tethering member extends within another lumen of the shaft, which may be part of a catheter assembly that further includes a locking member extending within the locking lumen and having a distal tip located in proximity to an aperture of the shaft. To tether the device to the catheter, the operator can engage the tethering member distal section with the device attachment feature, and then pass the looped portion thereof through the aperture and into the locking lumen, where the locking member distal tip can be passed through the looped portion to secure it.

Abstract: A catheter extraction tool has a head that can be placed in position to significantly surround a diameter of a catheter. The head is shaped to have a low enough profile above the catheter to allow the head to be slid down the catheter and into a subdermal region in which the catheter is subdermal with respect to a patient. The head of the catheter extraction tool is expanded sufficiently to slide the head over a catheter cuff located in the subdermal region. After the head of the catheter extraction tool slides over the catheter cuff, the head is contracted to engage the catheter so that a user can pull the catheter out of the patient using the catheter extraction tool.

Abstract: Methods and devices for separating an implanted object, such as a pacemaker lead, from tissue surrounding such object in a patient's vasculature system. Specifically, the surgical device includes a handle, an elongate sheath and a circular cutting blade that extends from the distal end of the sheath upon actuating the handle. The circular cutting blade is configured to engage the tissue surrounding an implanted lead and cut such tissue in a coring fashion as the surgical device translates along the length of the lead, thereby allowing the lead, as well as any tissue remaining attached to the lead, to enter the device's elongate shaft. The surgical device has a barrel cam cylinder in the handle assembly that imparts rotation of the blade and a separate cam mechanism in the tip of outer sheath assembly that imparts and controls the extension and retraction of the blade.

Abstract: This invention relates generally to a medical device, and more specifically, to a vaginal surgical apparatus. In one embodiment, an apparatus includes, but is not limited to, an elongated handle portion; a vaginal manipulator probe that is at least partly insertable into a vagina, the vaginal manipulator probe extending from the elongated handle portion and including an arcuate end portion, the arcuate end portion including an aperture for accommodating a cervix; and a disk that is movable along at least a portion of a length of the vaginal manipulator probe, the disk including a locking mechanism to releasably secure the disk in position to limit vaginal insertion depth of the vaginal manipulator probe.

Abstract: This invention relates generally to a medical device, and more specifically, to a vaginal surgical apparatus. In one embodiment, an apparatus includes an elongated handle portion having a first end and a second end; a vaginal manipulator probe that is at least partly insertable into a vagina, the vaginal manipulator probe extending from the elongated handle portion and including an arcuate end portion that is curved away from a longitudinal axis of the vaginal manipulator probe to a tip, the arcuate end portion including a channel that has a diameter that accommodates a cervix therewithin, the tip defined by distention that increases a cross-sectional height between a bottom surface and a top surface of the vaginal manipulator probe; and a disk that is movable along at least a portion of a length of the vaginal manipulator probe.

Abstract: A system for applying a treatment to a defect in one bone of two bones forming a joint that comprises a bladder for delivering a reduced pressure to the defect and for providing a positive pressure as bracing between the two bones of the joint is disclosed. A method for applying such treatment is also disclosed. A bladder for applying such treatment that comprises a reduced-pressure chamber and a bracing chamber is also disclosed.

Abstract: A Kirschner wire fixation structure, including: at least two joint elements, each having a plurality of through-hole passages extending in different directions; and at least one connection rod; wherein the plurality of through-hole passages of the at least two joint elements are for at least two Kirschner wires and the at least one connection rod to fit through respectively, the at least two Kirschner wires are for inserting into at least one bone, and the at least one connection rod is for connecting with the at least two joint elements to form a fixation structure outside the at least one bone to stabilize and hold the at least two Kirschner wires in place.

Abstract: Growing rod systems and methods for correcting spinal deformities include at least one growing rod assembly and at least one fluid delivery assembly. Each growing rod assembly includes a fluid actuator that is operable to extend first and second rod segments in opposite directions along the spine. The fluid actuator can be provided by, for example, a piston-cylinder actuator. Each fluid delivery assembly includes a fluid pump operably connectable to a fluid line, which in turn is connected to the fluid actuator. In one embodiment, the fluid actuator is of a linear design. In another embodiment, two linear or curvilinear fluid actuators are provided back-to-back and connected by a connecting rod that mounts to the mid-spine and is contourable. In another embodiment, the fluid actuator is of a curvilinear design to generally conform the normal spine. And in another embodiment, the fluid actuator includes a fluid-over-fluid shock absorber.

Abstract: The disclosure discloses methods, devices, systems and kits for repairing, replacing and/or augmenting natural facet joint surfaces and/or facet capsules. An implantable facet joint device of one embodiment comprises a cephalad facet joint element and a caudal facet joint element. The cephalad facet joint element includes a member adapted to engage a first vertebra, and an artificial cephalad bearing member. The caudal facet joint element includes a connector adapted for fixation to a second vertebra at a fixation point and an artificial caudal bearing member adapted to engage the cephalad bearing member. The artificial caudal bearing member is adapted for a location lateral to the fixation point.

Abstract: Spinal fixation system connectors comprising spring cage elements. In some embodiments, an engagement member, such as a bone screw, may be configured to be coupled with and received within a connector body. A spring cage structure may also be configured to be coupled with the connector body. The spring cage structure may comprise a spring configured to be positioned in a relaxed configuration and a flexed configuration, such that the spring defines an opening having a first size in the relaxed configuration and a second, larger size in the flexed configuration to allow the opening to receive and engage a head of the engagement member within the connector body.

Abstract: A spinal stabilization system may be formed in a patient. In some embodiments, a minimally invasive procedure may be used to form a spinal stabilization system in a patient Bone fastener assemblies may be coupled to vertebrae Each bone fastener assembly may include a bone fastener and a collar. The collar may be rotated and/or angulated relative to the bone fastener. Detachable members may be coupled to the collar to allow for formation of the spinal stabilization system through a small skin incision. The detachable members may allow for alignment of the collars to facilitate insertion of an elongated member in the collars. An elongated member may be positioned in the collars and a closure member may be used to secure the elongated member to the collars.

Abstract: A method of implanting a spinal implant device. The method includes removing a portion of a superior spinolaminar junction and an inferior spinolaminar junction. The method includes removing a portion of each facet joint. The method includes providing the spinal implant device including a fusion cage having a superior saddle portion, an inferior saddle portion and opposing cage ends. The method includes positioning the fusion cage between spinous processes with the superior saddle portion receiving the superior spinolaminar junction where the portion of the superior spinolaminar junction having been removed, the inferior saddle portion receiving the inferior spinolaminar junction, and opposing cage ends respectively contacting the opposing facet joints.

Abstract: Interspinous/inter-laminar spinal spacers are configured to be placed between bony structures of adjacent vertebrae. In one form, a spinal spacer includes a body including a first plate having a first wing configured to engage a first vertebra and a second wing configured to engage a second vertebra, and a post extending from the first plate to define a longitudinal axis, the post having a bullet nose; a second plate slidably coupled to the post of the body, the second plate including a first wing configured to engage the first vertebra; and a second wing configured to engage the second vertebra; wherein the second plate defines a first bore configured to receive the post, and wherein the bullet nose is designed to pierce through an interspinous ligament between the first vertebra and the second the vertebra so that the interspinous ligament can hold the implant in place.

Abstract: A surgical instrument includes a cannulated body extending along an axis and having a first working end spaced along the axis from a second working end. The surgical instrument may be used with a fenestrated screw assembly, a delivery unit, and an alignment guide wire. The first working end of the surgical instrument is configured to transmit a force to a delivery unit in a direction about the axis and the second working end is configured to transmit a force to a delivery unit in a direction generally transverse to the axis. The first working end may be used to rotate the delivery unit to thereby removably attach the delivery unit to the fenestrated screw assembly. The surgical instrument may be repositioned to engage the second working end with the proximal end of the delivery unit to maintain the rotational position of the delivery unit.

Abstract: A novel interlocking intramedullary rod assembly which allows the surgeon to (i) secure a first bone fragment of a fractured bone (e.g., a distal bone fragment) to the interlocking intramedullary rod assembly in a fixed position, (ii) secure a second bone fragment of the fractured bone (e.g., a proximal bone fragment) to the interlocking intramedullary rod assembly in an adjustable manner, and (iii) thereafter selectively pivot the second bone fragment (e.g., the proximal bone fragment) relative to the first bone fragment (e.g., the distal bone fragment) so as to secure the two bone fragments in position relative to one another with the desired orientation.

Abstract: The invention relates to a bone plate assembly for use in orthopedic or trauma surgery. The bone plate assembly includes a plate member having a top side and a bottom side at least one passage extending from the top side to the bottom side; wherein the at least one passage includes a first bore with a first end open towards the top side and a second end, a seat portion configured to receive the head of the bone anchor; and wherein the first bore comprises a first central axis and the seat portion comprises a second central axis, and wherein the first central axis and the second central axis intersect each other within the passage; and a second bore open towards the bottom side.

Abstract: An instrument includes a bearing member, and an actuator spaced from the bearing member in a proximal direction. The instrument includes, or can be attached to, an elongate member that extends from a location of the actuator toward the bearing member. The elongate member can attach to or extend from a portion of an implant, wherein the location is spaced from the bearing member a distance in the proximal direction. The actuator includes a flexible portion that is spaced from the elongate member in a direction perpendicular to the proximal direction, such that, when a force is applied to the flexible portion of the actuator, the flexible portion of the actuator deforms so as to increase the distance between the location and the bearing member.

Abstract: A bone screw and a method for manufacturing the same includes a screw thread configuration having one or more grooves cut into a leading face of the thread, a trailing face of the thread, and/or the shaft between the threads. Other implementations include the incorporation of facets into the one or more grooves. The implementation of the one or more grooves increases the surface are of the orthopedic screw and functions to increase in anchoring the bone screw within the bone once inserted therein, and thereby reduce the possibility for the screw backing out after insertion.

Abstract: A slap hammer tool and associated instrumentation to engage with the slap hammer tool are disclosed herein. In some examples, a slap hammer tool including an end adapted for engagement with a quick release connector of an instrument is provided. The instrument can be adapted to receive the distal end of the slap hammer for engagement, the engagement being provided through rotation of the slap hammer relative to the instrument. Once the slap hammer and instrument are engageably coupled, the slap hammer can be used to provide force and accompanying motion away from the instrument in the direction of the slap hammer instrument. Force can be provided by the slap hammer tool to a coupled instrument, for example, to move or extract the coupled instrument from placement on a surgical area.

Abstract: An electrosurgical method and device for simultaneously cutting and coagulating tissue with an electrosurgical device having an electrode and a channel wherein said channel has a port near a proximal end of said electrode, wherein the method comprises the steps of causing an inert gas to flow through said channel and exit said port, applying high-frequency energy to said electrode while said inert gas flows through said channel, wherein said high-frequency energy applied to said electrode continuously plasmatizes inert gas exiting said port, initiating an electrical discharge from said electrode through said continuously plasmatized inert gas to said tissue, cutting tissue with said electrode, maintaining said electrical discharge from said electrode through said plasmatized inert gas while cutting tissue with said electrode to cause coagulation of said tissue simultaneously with said cutting.

Abstract: An inventive system and method for touch free operation of an ablation workstation is presented. The system can comprise a depth sensor for detecting a movement, motion software to receive the detected movement from the depth sensor, deduce a gesture based on the detected movement, and filter the gesture to accept an applicable gesture, and client software to receive the applicable gesture at a client computer in an ablation workstation for performing a task in accordance with client logic based on the applicable gesture. The system can also comprise hardware for making the detected movement an applicable gesture. The system can also comprise voice recognition providing voice input for enabling the client to perform the task based on the voice input in conjunction with the applicable gesture. The applicable gesture can be a movement authorized using facial recognition.

Abstract: A tissue ablation system comprises an ablation source, such as an RF ablation source, configured for generating a common power signal, and a power multiplexor configured for splitting the power signal into first and second power signals, substantially attenuating the second power signal relative to the first power signal to create nominal and attenuated power signals, and sequentially delivering the nominal power signal to each tissue ablation probe, while delivering the attenuated power signal to the remaining ablation probes to which the nominal power signal is currently not delivered.

Abstract: An electrosurgical probe for ablating tissue includes an elongated shaft having an axis and a distal end. An electrically insulating housing at the distal end of the shaft has a window, and an interior channel in the shaft extends through the housing to the window. The window faces laterally relative to the axis, and a moveable member with a blade-like electrode edge is disposed within the window. A motor drives the energized electrode edge axially in the window to ablate tissue.

Abstract: Methods, systems and devices for endometrial ablation. In accordance with a method, a working end of an RF ablation device is positioned in a patient uterus to contact endometrial tissue, the working end comprising a dielectric wall capable of non-expanded and expanded shapes and for conforming to an asymmetric or symmetric shape of the patient's cervix. An expandable seal is provided for sealing the cervical canal.

Abstract: An RF ablation system includes an electrode element of elongate form and a cathode pad. A control unit includes a processing unit, a power unit and, optionally, a temperature sensor and/or an impedance sensor. The control unit in one embodiment carries out RF ablation in at least two phases, the first phase at a higher energy level and a second phase, after at least partial retraction of the anode element, at a second lower phase in order to close any remaining lumen within a blood clot formed within the vessel during the first phase. Other embodiments provide for sensing retraction of the anode terminal and effecting RF ablation during and/or after the retraction process in order to create a more effective occlusion barrier.

Abstract: A magnetically-guided catheter includes a tip positioning magnet in the distal electrode assembly configured to interact with externally applied magnetic fields for magnetically-guided movement. A magnetically-guided mapping catheter includes an electrically-conductive capsule in the form of a casing that includes a distal ablation surface and isolates the positioning magnet from bio-fluids to prevent corrosion. An open irrigation ablation catheter includes an isolated manifold that isolates the positioning magnet from contact with irrigation fluid to prevent corrosion.

Abstract: A system for controlling delivery of ablation energy by an ablation catheter to tissue in a body is provided. The system includes an electronic control unit configured to determine, responsive to a measurement signal from the ablation catheter, a value for a characteristic associated with the delivery of ablation energy to the tissue. In one embodiment, the characteristic is the degree of contact between the ablation catheter and the tissue. The unit is further configured to generate a control signal, responsive to the determined value of the characteristic, to control an amount of energy delivered from an ablation delivery element on the ablation catheter to the tissue. The amount of energy varies in response to the determined value of the characteristic when the determined value of the characteristic meets a predetermined condition relative to a threshold value for the characteristic.

Abstract: In an embodiment, an apparatus and method are described for ablating tissue in response to determining a fluorescence condition. An excitation light source may produce excitation light at a excitation wavelength of a fluorophore. A beam scanner may direct the excitation light towards a tissue location. A fluorophore may produce emission light in response to absorbing the excitation light. A camera may capture an image of the tissue location. In response to the image indicating emission light at the tissue location, an ablation light source may produce ablation light. The beam scanner may direct the ablation light towards the tissue location. Additionally or alternatively, a topography map may be generated and certain aspects of the apparatus and/or the method may be adjusted based on the topography map.

Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap.

Abstract: A first tomographic image of a three-dimensional image is displayed on a display screen, and a cursor to be operated by a user is also displayed in the displayed first tomographic image, and at least one second tomographic image intersecting the first tomographic image at a three-dimensional position in the three-dimensional image corresponding to a two-dimensional position pointed by the cursor in the first tomographic image is also displayed. A user input by a button operation giving an instruction to move the cursor is received. The cursor is moved to a two-dimensional position in one of the at least one second tomographic image corresponding to the three-dimensional position in the three-dimensional image corresponding to the two-dimensional position pointed by the cursor in the first tomographic image.

Abstract: A surgical controlling system comprising: at least one location estimating means to real-time locate the 3D spatial position of at least one surgical tool, at least one movement detection means in communication with a movement database and with the location estimating means and a controller, which controls the position of at least one surgical tool, in communication with a movement database, a control database and the movement detection means. The movement database stores the 3D spatial position of each surgical tool at the present time and at at least one previous time; a tool has moved if its present position is different from its previous position. The control database stores rules to identify a movement of a tool as either an allowed movement or a restricted movement. Examples of rules include a maximum speed rule, a virtual zoom rule, a virtual rotation of scene rule, and position of tool rule.

Abstract: Embodiments include a system for determining cardiovascular information for a patient. The system may include at least one computer system configured to receive patient-specific data regarding a geometry of the patient's heart, and create a three-dimensional model representing at least a portion of the patient's heart based on the patient-specific data. The at least one computer system may be further configured to create a physics-based model relating to a blood flow characteristic of the patient's heart and determine a fractional flow reserve within the patient's heart based on the three-dimensional model and the physics-based model.

Abstract: Systems and methods for wearable injection guides are described, which include: acquiring one or more digital images of a body region of an individual with at least one image capture device; creating a digitally rendered model of a wearable injection guide from the one or more digital images of the body region of the individual; adding one or more digitally rendered fiducials indicative of at least one treatment parameter to the digitally rendered model of the wearable injection guide; and forming the wearable injection guide from the digitally rendered model of the wearable injection guide, the formed wearable injection guide including one or more fiducials corresponding to the one or more digitally rendered fiducials on the digitally rendered model of the wearable injection guide.

Abstract: A surgical apparatus, system and methodology are provided that may be utilized to treat a plurality of medical conditions. A robotic apparatus may be utilized in the treatment of a medical condition or to assist a medical professional in a surgical procedure. Additionally, the robotic apparatus and system may be utilized during a surgical procedure to provide guidance and to narrow the margin of error. In an exemplary embodiment, a scan may first be performed on a patient to determine a plurality of surgically necessary characteristics, such as bone density, locations, and the like. A virtual treatment plan may be provided by the system. An active and/or passive robotic apparatus may be provided to assist in the surgical technique. The robotic apparatus may be an active robotic which includes surgical tools whereby the medical professional may perform the surgical technique with the assistance of the active robotic apparatus.

Abstract: The present invention relates to compensating for brain shift in catheter trajectory planning. First brain shift information is determined from an initial brain image dataset, an initial planning dataset, a patient orientation dataset, and first burr hole dataset. The brain image dataset is updated based on the first brain shift information and a trajectory of a first catheter is updated based on the updated brain image dataset. For a subsequent catheter placement, subsequent brain shift information is determined based on the updated brain image dataset, the patient orientation dataset, and a subsequent burr hole dataset. The brain image dataset is updated again based on the subsequent brain shift information. The re-updated brain image dataset is utilized to update trajectories of the subsequent catheter as well as any preceding catheters.

Abstract: A medical imaging system for illuminating tissue samples using three-dimensional structured illumination microscopy is port-based surgery is provided. The system comprises: an image sensor; a mirror device; zoom optics; a light modulator; a processor; and collimating optics configured to convey one or more images from the modulator to the mirror, the mirror configured to convey the images to the zoom optics, the zoom optics configured: to convey the image(s) from the mirror to a tissue sample; and convey one or more resulting images, formed by the image(s) illuminating the sample, back to the mirror, which conveys the resulting image(s) from the zoom optics to the image sensor, and, the processor configured to control the modulator to form the image(s), the image(s) including at least one pattern selected to interact with the sample to generate different depth information in each of resulting image(s).

Abstract: The present disclosure relates to system(s) and method(s) for assisting a surgeon to operate a surgical device. The system is configured to receive real-time spatial data corresponding to a set of movable arms of a surgical device. In one embodiment, each tag may be enabled to capture the real-time spatial data by a set of sensors deployed on each tag with precise coordinate markings. Further, the system receive reference spatial data corresponding to each of the set of movable arms pertaining to the surgical device. The system is configured to compare the real-time spatial data with the reference spatial data to generate a matching score corresponding to each movable arm. The system is configured to identify one or more movable arms, from the set of movable arms with a matching score greater than a predefined threshold score and generate an alert corresponding to the one or more movable arms.

Abstract: A wireless handheld user input device may be moved within six degrees of freedom in order to generate position data that describes the position and angular orientation of the user input device within three-dimensional space. Position data is received by a position management device and is interpreted to reduce the input data from six degrees of freedom down to a number of degrees of freedom that is supported by a surgical instrument adapted to be manipulated by a robotic surgical system. Position data is interpreted by taking raw overlap data showing the change from a baseline position to a current position and correcting it to zero out inputs for unsupported degrees of freedom that do not exceed a device or device portion specific threshold. The converted overlap data may then be used to generate new joint target positions, which may be communicated to the robotic surgical system.

Abstract: A method of jointed device movement inside a body comprising: measuring movement of at least one input object portion; mapping the measured input object portion movement to a jointed device portion movement; and moving the device portion according to mapped measured movements.

Abstract: A robotic system includes an articulated member comprising a joint and configured to be manually moved by a user to facilitate performance of a task and a controller. The controller is programmed to determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region, generate a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region, and maintain the force feedback signal until a user disengages the force feedback.

Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.

Abstract: The disclosure presents methods and systems for applying a suction force to a surface of a left atrial appendage (LAA) with a plurality of tubes. A method may include puncturing the surface of the LAA using a tissue-penetrating tip while the suction force is applied to the surface. The disclosure also presents methods and systems for inflating a first inflatable balloon within a cavity of a left atrial appendage (LAA). A method may include applying a suction force with at least one tube coupled to the first inflatable balloon to attract the first inflatable balloon to an interior surface of the LAA or to a second inflatable balloon.

Abstract: The shield for an electrosurgical suction coagulator includes a cylindrical cuff and a shielding portion. The cylindrical cuff is sized for releasably engaging a distal end of a shaft of an electrosurgical suction coagulator. The shielding portion has an arcuate cross-sectional contour and is mounted on the cylindrical cuff such that the shielding portion extends distally therefrom. The shielding portion has a radius of curvature equal to a radius of curvature of the cylindrical cuff and is positioned coaxially therewith. A plurality of shields for the electrosurgical suction coagulator may be provided in a kit, along with the electrosurgical suction coagulator. In the kit, a circumferential length of each shielding portion of each shield is unique, such that a user of the electrosurgical suction coagulator may select a desired one of the shields for a desired amount of shielding coverage.