Abstract: Disclosed is a surgical instrument that includes a rotatable shaft having an articulation section and an ultrasonic waveguide disposed within the shaft. The ultrasonic waveguide is configured to articulate at the articulation section. The ultrasonic waveguide is disposed within the shaft. A rotatable clamp arm is located distal of the articulation section of the rotatable shaft. The rotatable clamp arm is configured to rotate independently of the rotatable shaft distal of the articulation section.

Abstract: An energy surgical instrument includes a first grasping piece, a second grasping piece which is allowed to grasp a blood vessel, an energy application unit provided in at least one of the first grasping piece and the second grasping piece, which applies treatment energy to the blood vessel grasped, a setting unit which sets information regarding a wall thickness of the blood vessel, and a grasping force adjustment unit which adjusts a grasping force to a first grasping force when the wall thickness set by the setting unit is larger than a predetermined thickness and adjusting the grasping force to a second grasping force, which is larger than the first grasping force, when the wall thickness set by the setting unit is equal to or smaller than the predetermined thickness.

Abstract: A medical device and a treatment method are disclosed, which can improve safety by reducing damage to a biological tissue while an object inside a biological lumen can be cut. A medical device is disclosed for cutting an object inside a biological lumen includes a rotatable drive shaft, and a rotary structure that interlocks with a distal side of the drive shaft so as to be rotated by the drive shaft. The rotary structure has a cutting portion for cutting the object, and a non-cutting portion capable of smoothly coming into contact with a biological tissue. The non-cutting portion is located in a maximum outer diameter portion of the rotary structure.

Abstract: An apparatus and method are provided for accessing and/or removing material from a body lumen. The apparatus includes a tubular sheath including a shaft having a proximal end and an expandable distal end that is expandable between a collapsed configuration and an expanded, tapered configuration. A treatment member can be introduced into the body lumen through the tubular sheath. The treatment member includes one or more expandable members to interact with the material to be removed from the body lumen.

Abstract: A catheter device for crossing occlusions includes an elongate catheter shaft, a rotatable tip configured to rotate relative to the elongate catheter shaft, a drive shaft, and an OCT imaging sensor. The rotatable tip includes a housing coupled with the elongate catheter shaft and cutting wedges extendable from the housing. The drive shaft has a central lumen extending therethrough and extends within the elongate catheter shaft. The drive shaft is coupled with the wedges and is configured to rotate the rotatable tip. The OCT sensor includes an optical fiber coupled with the rotatable tip and configured to rotate therewith. The elongate catheter shaft is configured to move axially over the drive shaft to extend and retract the wedges from the housing while maintaining a fixed position of the imaging sensor relative to the cutting wedges.

Abstract: This document describes rotational atherectomy devices and systems for removing or reducing stenotic lesions in blood vessels by rotating an abrasive element within the vessel to partially or completely remove the stenotic lesion material.

Abstract: In some embodiments a PEG feeding device includes a tube sized to bridge a channel between a stomach and an outer abdominal surface; an internal bolster, and an external bolster. Optionally the bolsters are connected to the tube. The internal bolster may be sized to resist movement out of the stomach through the stoma. The external bolster may be sized to resist movement into the stoma from the outer abdominal surface. The external bolster may include an underside which extends from the tube in a radial direction between the external bolster and the outer abdominal surface. The underside of the outer bolster may contact the outer abdominal surface at a distance from an external opening of the stoma. Optionally the distance between the internal bolster and the external bolster is adjustable. Optionally an angle between one or both of the bolsters and the tube is adjustable.

Abstract: An introducer sheath includes a tubular body configured to be percutaneously inserted into a body lumen and a hub that is connected to a proximal portion of the tubular body, wherein the tubular body contains a polyamide resin having a structural unit derived from a cyclic aliphatic hydrocarbon, and a wall thickness/inner diameter ratio of the tubular body is 1/14 or less, and a kink radius/outer diameter ratio of the tubular body is less than 10.

Abstract: A surgical obturator that includes an elongated shaft defining a longitudinal axis and an obturator member disposed adjacent a distal end of the elongated shaft. The obturator member may include a proximal section being convex along a majority of its length. It may also include a central section disposed adjacent the proximal section, the central section including a first pair of surfaces disposed relative to each other on radially opposite sides of the central section, and a second set of surfaces disposed between the first pair of surfaces and further being disposed relative to each other on radially opposite sides of the central section, at least a portion of a length of each one of the first pair of surfaces being concave, and at least a portion of a length of each one of the second pair of surfaces being convex. The obturator member may also include a guiding nub disposed distally of the central section and including a rounded distal-most portion.

Abstract: Disclosed herein is a medical device. The medical device includes outer, middle, and inner tubular members. The outer tubular member has a proximal end and a distal end. The middle tubular member has a proximal end and a distal end. The middle tubular member is configured to be received within the outer tubular member and capable of being rotatable relative to the outer tubular member. The inner tubular member is configured to be received within the middle tubular member and capable of reciprocating and also capable of being rotatable relative to the middle tubular member. The inner tubular member is configured to reciprocate and rotate while the middle tubular member and the outer tubular member are configured to be stationary. The middle tubular member is configured to be rotatable relative to the outer tubular member while the inner tubular member is configured to be stationary.

Abstract: A surgical kit for the repair of a nail bed includes implantable nail plate guides adapted to guide the regrowth of a fingernail over a nail bed, drapes, a suture needle with absorbable suture, a suture needle with non-absorbable suture, wound dressings, and all instruments required to perform the procedure. The instruments preferably include an elevator, a needle driver, a clamp, a tweezers, and a scissors. The kit also includes anesthesia, a syringe, and needles for loading and then administering the anesthesia to the finger. The kit may include a tourniquet, antiseptic, and an antiinfective. Therefore, the kit assembles together several nail plate guides, the instruments for implanting a selected one of the nail plate guides onto the nail bed over a patient, the pre-implantation surgical preparation materials, and the post-implantation wound care materials.

Abstract: Disclosed herein are external fixation frames for correcting bone deformities. The external fixation frames include a top fixation ring and a bottom fixation ring coupled to one another by at least two struts. A half ring is coupled to bottom fixation ring. The bottom fixation ring is u-shaped. One or more rocker members may be coupled to the bottom fixation ring. The half ring may be hingedly coupled to the bottom fixation ring such that it can rotate with respect to the bottom fixation ring from a first position to a second position.

Abstract: Scoliosis can be treated by systems for anterior vertebral body tethering described herein. In some embodiments, installation tools of a system for anterior vertebral body tethering can be used to sequentially tension segments of a tether between adjacent vertebral screws in a controllable and user-friendly manner.

Abstract: A bone anchor having a rod housing including a base that has an internal groove oriented at an angle oblique to the longitudinal axis of the base, a capture ring situated within the groove and oriented at an angle oblique to the longitudinal axis, and a bone fastener extending into the rod housing and including a fastener head situated within the base and having a surface that mates with the capture surface of the capture ring to maintain a connection between the bone fastener and the rod housing.

Abstract: Provided are a bone fixation screw apparatus and a fastening method thereof. More particularly, provided are a bone fixation screw apparatus and a fastening method thereof including a bone screw which is inserted to a lower side of a receiving portion and has a spherical head formed at a proximal end, a collect chuck which is inserted to an upper side of the receiving portion to be connected with the spherical head of the bone screw inside the receiving portion, and a rod which is seated on an upper side of the collet chuck and fixed through a fixing screw fastened to the receiving portion, in which the bone screw and the collet chuck are introduced to the receiving portion in opposite directions to each other. Therefore, it is possible to firmly and easily fasten the bone screw and the collet chunk and prevent the bone screw from being easily separated by external force.

Abstract: A method for fusing a spinal sacroiliac joint and a surgical kit. The kit includes a bone-void filler, stabilization device or implant, a guide pin, a joint locator, a set of dilation tubes, a reamer, a novel directional cannula, a novel tapping cap, a novel drill guide, a drill bit, and a novel implant positioner. The method includes the steps of locating the sacroiliac joint, retracting the soft tissue exposing the graft site, removing any bone obstructions and preparing a relatively smooth graft site horizontal to the immediate sacroiliac joint, creating a cavity in the ilium and sacrum to a predetermined depth that spans the sacroiliac joint, inserting a novel stabilization implant into the cavity, and seating the implant within the cavity at a predetermined depth.

Abstract: Disclosed is a surgical alignment and distraction frame and associated methods of use that facilitates correction of a sagittal imbalance. The alignment and distraction frame works in conjunction with pedicle screw installation guide assemblies to impart the desired correction. The alignment frame can be utilized to ensure the pedicle screw housings are aligned (to facilitate rod coupling) in concert with the completion of a correction maneuver.

Abstract: Systems and methods for treating conditions and diseases of the spine are disclosed herein. A device includes a balloon catheter comprising at least one inner lumen incorporated within an elongated shaft; a distal end having an inner balloon positioned inside and completely surrounded by an outer balloon; and a proximal end having an adapter for passage of at least one of an inflation fluid or a medical instrument; and an optical fiber comprising an outer diameter sized to pass through the inner lumen of the elongated shaft; a nonlinear light-emitting portion of a given length, wherein a portion of a cladding material from the nonlinear light-emitting portion has been removed so that light energy may be emitted along the length of the nonlinear light-emitting portion; and a linear elongated portion for guiding light towards the nonlinear light-emitting portion.

Abstract: A condylar fracture fixation system for use with an intramedullary nail includes a longitudinally extending rod having first and second ends, each end having outwardly extending threads or ridges. The rod extends along a first longitudinal axis which extends in a medial-lateral direction in use. A first and second nut is provided each nut having first and second ends. The second end of each nut having an opening formed by a plurality of resilient legs for respectively receiving the first and second ends of the rod. The second end of the first and second nuts include ridges or threads extending into the opening in each nut. The inwardly extending ridges of nuts respectively engaging the outwardly extending threads or ridges of the rod. A flexible washer is connected to the first end of each nut.

Abstract: A cannulated screw includes: a body portion that comprises a screw thread formed by protruding along an outer surface and has a through-hole at a center of the body portion; and a head portion that has one side surface combined to one end of the body portion, another side surface formed in a curved surface in which a center portion has a concave shape, and a connection hole communicating with the through-hole at a center of the head portion.

Abstract: A bone screw configured to be screwed into a bone having: an exterior casing; a head having a head interior surface; a tip configured to be driven into the bone; a shaft extending between the head and the tip, the shaft having exterior threads; a magnet; an interior cavity within the bone screw configured to house the magnet; a cap having: a top end having a recess configured to receive a means for driving the bone screw into the bone; and a bottom end having cap threads; the head being configured to receive the cap by having interior threads on the head interior surface; wherein an association of the cap threads with the interior threads causes the cap to be sealed to the head, and thus causes the magnet to be encased within the bone screw with no portion of the magnet exposed outside of the exterior casing.

Abstract: A device for providing a patient with a cryotherapy process that is directed to the ablation of a lesion on the patient, includes: (a) a piping assembly adapted to create a spray of carbon dioxide snow, (b) a snow horn having a pressure relief means and a boundary wall, (c) a tubular applicator with ends between which extends an interior wall that has an interior diameter that increases in value between these ends, (d) an applicator tip with a metal portion and adapted to allow it to connect to the applicator's distal end, and (e) a push rod having a distal end with a base to which is attached an anchor.

Abstract: A method of removing undesirable cells and killing cells surrounding a cavity caused by the removal of the undesirable cells includes the step of inserting a probe through an incision made in the skin of a patient. The method further includes the steps of removing undesirable cells using the probe and using image-guided technology and inserting a balloon into the cavity formed by the removal of the undesirable cells. Still further, the method includes the steps of conforming the balloon to a shape of the cavity and providing sufficient fluid to fill the cavity based on the volume and reaching a temperature in the fluid to achieve a temperature in the tissue surrounding the cavity that kills cells surrounding the cavity.

Abstract: Apparatus, consisting of a power supply having a first electrical connection to a relatively high voltage source and connectable to ablation circuitry in a catheter via a second electrical connection. There are rechargeable first and second subsidiary power sources in the power supply. The apparatus also has a control unit, and a first switch alternately connecting the ablation circuitry to the first and second subsidiary power sources responsively to control signals from the control unit. The apparatus also has a second switch alternately connecting one of the first and second subsidiary power sources to the high voltage source for recharging thereof responsively to the control signals while the one of the first and second subsidiary power sources is disconnected from the ablation circuitry and another of the first and second subsidiary power sources is connected to the ablation circuitry by the first switch.

Abstract: An electrosurgical system includes an energy applicator adapted to direct energy to tissue, an electrosurgical power generating source, and a surface-contact detection device. The surface-contact detection device is operably associated with the energy applicator. The surface-contact detection device is communicatively-coupled to the electrosurgical power generating source. The surface-contact detection device includes at least one optical transmitter to generate optical signals, a lens member configured to reflect optical signals generated by the optical transmitter when the lens member is disposed in contact with tissue, and at least one optical receiver to receive optical signals reflected by the lens member. The electrosurgical power generating source is adapted to transmit energy to the energy applicator when it is determined that the lens member is disposed in contact with tissue.

Abstract: A device for compressing a renal artery prior to delivery of radiofrequency ablative energy to the renal nerves. The device includes a stent structure with a focal region that expands outwards to place the RF electrodes located on the stent structure in close proximity to the renal nerves. A covering is applied to the stent structure to prevent intimal hyperplasia.

Abstract: An electrosurgical instrument with smoke evacuation, having an electrode, a suction lumen, and a plurality of slots connected to suction lumen, in which the slots may be longer than they are wide and wider than they are thick. The electrosurgical instrument may have the slots arranged longitudinally about its central axis, and the suction lumen may be wider than the slot widths.

Abstract: Various forms are directed to systems and methods for dissection and coagulation of tissue. A surgical instrument includes an end effector configured to dissect and seal tissue at a distal end thereof, and a selector switch having a plurality of surgical modes. A generator is electrically coupled to the surgical instrument and is configured to deliver energy to the end effector. Each surgical mode of the selector switch corresponds to an algorithm for controlling the power delivered from the generator to the end effector, and each algorithm corresponding to the plurality of surgical modes is configured to allow a user to control the power output level of the generator.

Abstract: An energy surgical instrument includes a first grasping piece, a second grasping piece which is allowed to grasp a blood vessel, an energy application unit provided in at least one of the first grasping piece and the second grasping piece, which applies treatment energy to the blood vessel grasped, a setting unit which sets information regarding a wall thickness of the blood vessel, and a grasping force adjustment unit which adjusts a grasping force to a first grasping force when the wall thickness set by the setting unit is larger than a predetermined thickness and adjusting the grasping force to a second grasping force, which is smaller than the first grasping force, when the wall thickness set by the setting unit is equal to or smaller than the predetermined thickness.

Abstract: An electrosurgical medical device that includes a jaw assembly. The jaw assembly includes a first jaw body and a cutting member; and a second jaw body. During a first use state, the medical device is configured to pass a therapy current supplied by a power source between the first jaw body and the second jaw body to electrosurgically effect an anatomical feature. During a second use state, an anatomical feature is electrosurgically effected by contacting the anatomical feature with a medial edge of the cutting member while a second therapy current from the power source is passed between the cutting member and the first jaw body and/or the second jaw body.

Abstract: An electrode assembly is provided. The electrode assembly includes a proximal end that is adapted to connect to an electrosurgical instrument including a housing defining a longitudinal axis therethrough and an electrosurgical energy source. A distal end includes a cutting electrode having a loop configuration configured to cut tissue. The distal end includes a return electrode operably disposed adjacent the cutting electrode. A dielectric shield is operably disposed between the cutting electrode and return electrode. The dielectric shield extending distally past the cutting electrode to hinder current flow to the return electrode when the dielectric shield, cutting electrode and return electrode are submersed in a conductive solution and the cutting electrode is energized, thereby concentrating current density at the cutting electrode.

Abstract: An endoscopic forceps is provided and includes a housing having a shaft that extends therefrom. An end effector assembly is operatively connected to a distal end of the shaft and includes a pair of pivotably coupled first and second jaw members. The jaw members are movable relative to one another. A drive mechanism includes a driving structure. A link assembly includes two or more links that are operably coupled to each other and the drive structure. The two or more links are operably coupled to respective ones of the first and second jaw members.

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: A method includes, receiving from a calibration probe multiple data points acquired in an organ of a patient, each data point including (i) a respective position of the calibration probe, and (ii) a respective set of electrical values indicative of respective impedances between the position and multiple electrodes attached externally to the patient. A mapping between sets of the electrical values and respective positions in the organ is constructed, by performing for each received data point: if the mapping already contains one or more existing data points in a predefined vicinity of the data point, the one or more existing data points are adjusted responsively to the received data point, and if the predefined vicinity does not contain any existing data points, the received data point is added to the mapping. A position of a medical probe is subsequently tracked in the organ using the mapping.

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: A catheter and method for the treatment of a patient having atrial flutter or other arrhythmia comprises an elongated catheter body having an outer wall, proximal and distal ends, and at least one lumen extending therethrough. Further it has a distal tip section comprising a flexible tubing having a proximal end and a distal end and a plurality of lumens extending therethrough. The proximal end of the tip section is fixedly attached to the distal end of the catheter body. The tip section further comprises a nitinol tube having slots formed therein which causes the distal tip section to deflect using the same puller-wire action used to cause the deflectable catheter to deflect at a point proximal to the distal tip section.

Abstract: A microwave energy delivery and measurement system, including a microwave energy source configured to delivery microwave energy to a microwave energy delivery device, a measurement system configured to measure at least one parameter of the microwave energy delivery device and a switching network configured to electrically isolate the microwave energy source and the measurement system. The measurement system is configured to actively measure in real time at least one parameter related to the microwave energy delivery device.

Abstract: A device for directing energy to a target volume of tissue includes an inner conductor having a length and an outer conductor coaxially surrounding the inner conductor along the length. The outer conductor has a proximal portion and a distal portion. The distal portion of the outer conductor is provided with a number of apertures N defined therein for radiating energy, where N is an integer greater than 1, each aperture having a size and extending at an angle relative to a longitudinal axis of the outer conductor. At least one of the size and the angle of each aperture is varied in relation to the other apertures N?1 such that the energy radiated along the distal portion is substantially uniform.

Abstract: The invention relates to a dermatological treatment device (1) including a laser head (2) capable of shooting a laser beam (3) towards a target region (4) of the skin (5) of a patient, a pyrometer (6) capable of measuring the temperature (T) of the skin (5) in said target region (4), a timer (7) capable of measuring the duration (D) of the laser shot, and a control means (8) capable of selectively activating or deactivating a laser shot, the control means (8) being configured to deactivate the laser shot when the duration (D) of the shot reaches a duration threshold in seconds (Sd) as determined by a linear function in the form Sd=(To?T)/C, where T is the measured temperature (T) of the skin, To is a target temperature, and C is an average heating coefficient of the skin.

Abstract: A surgical implant planning computer is connectable to a fluoroscopy imager, a marker tracking camera, and a robot having a robot base coupled to a robot arm that is movable by motors relative to the robot base. Operations include performing a registration setup mode that determines occurrence of a first condition indicating the marker tracking camera can observe to track reflective markers that are on a fluoroscopy registration fixture of the fluoroscopy imager, and determines occurrence of a second condition indicating the marker tracking camera can observe to track dynamic reference base markers attached to the robot arm and/or an end-effector connected to the robot arm. While both of the first and second conditions occur, operations are allowed to be performed to obtain a first intra-operative fluoroscopic image of a patient along a first plane and to obtain a second intra-operative fluoroscopic image of the patient along a second plane that is orthogonal to the first plane.

Abstract: Methods and systems are provided for robotic assisted surgery. A robotic system includes a localizer, a surgical robotic manipulator, an end effector configured to be removably coupled to the manipulator, and a controller. The controller is configured to receive signals from the localizer, determine a final position of a cavity creation tool used to penetrate a portion of a patient's anatomy based on the signals received from the localizer, and determine an implant insertion path for an implant to be inserted into a final implant position within the portion of the patient's anatomy, wherein the final implant position corresponds to the final position of the cavity creation tool. The controller is also configured to move the end effector with the implant coupled thereto such that the implant moves along the implant insertion path, and terminate the movement of the end effector when the implant reaches the final implant position.

Abstract: A medical navigation system is provided for detecting movement of a subject, the system having an optical tracking system including a camera, a display, and a controller electrically coupled to the optical tracking system and the display. The controller has a processor coupled to a memory and is configured to receive a data signal from the optical tracking system and recognize and continuously monitor optical tracking markers on the subject within a field of view of the camera, and provide an alert on the display when movement of the optical tracking markers on the subject falls within predefined parameters.

Abstract: A method for re-registration between a robotic coordinate system and an image data set is provided. The inventive re-registration method includes the steps of providing an image data set that has been registered within a robotic coordinate system based on an initial bone position; locating a first conserved point and a line segment that is fixed relative to the initial bone position prior to any detectable change in bone position from the initial bone position; relocating the first conserved point and at least a portion of the line segment after bone motion may have occurred to determine the locational change in the first conserved point and the line segment; and re-registering the image data set within the robotic coordinate system based on the determined locational changes. A system for performing this method is also provided.

Abstract: An automated medical system and method for using the automated medical system. The automated medical system may comprise a robot support system. The robot support system may comprise a robot body. The robot support system may further comprise a selective compliance articulated robot arm coupled to the robot body and operable to position a tool at a selected position in a surgical procedure. The robot support system may further comprise an activation assembly operable to transmit a move signal to the selective compliance articulated robot arm allowing an operator to move the selective compliance articulated robot arm. The automated medical system may further comprise a camera tracking system and an automated imaging system.

Abstract: A surgical implant planning computer for intra-operative CT workflow, pre-operative CT imaging workflow, and fluoroscopic imaging workflow. A network interface is connectable to a CT image scanner and a robot surgical platform having a robot base coupled to a robot arm that is movable by motors. A CT image of a bone is received from the CT image scanner and displayed. A user's selection is received of a surgical screw from among a set of defined surgical screws. A graphical screw representing the selected surgical screw is displayed as an overlay on the CT image of the bone. Angular orientation and location of the displayed graphical screw relative to the bone in the CT image is controlled responsive to receipt of user inputs. An indication of the selected surgical screw and an angular orientation and a location of the displayed graphical screw are stored in a surgical plan data structure.

Abstract: An instrument includes a chassis having a side adapted to be removably mated with a surgical robotic manipulator arm, a transport shaft coupled to the chassis, a valve including a valve channel and a movable valve member, a first robotic actuation piece, and a manual button. An auxiliary channel is defined in the chassis. A cavity extends through the transport shaft and intersects the auxiliary channel, which together define an instrument axis. The valve channel intersects the auxiliary channel. The movable valve member translates across the valve channel along a valve member axis. The robotic actuation piece is coupled to translate the movable valve member along the valve member axis and rotates about an actuation piece axis perpendicular to the valve member axis. The manual button is coupled to translate the movable valve member along the valve member axis and translates parallel to the valve member axis.

Abstract: A method of operating a robotic system to efficiently remove material from a workpiece based on a density distribution of the material of the workpiece. The density distribution of the material of the workpiece is determined from a three-dimensional representation and evaluated by classifying the plurality of points or voxels into a first density classification and a second density classification. A navigation computer generates a first tool path and a second tool path for the tool based on the evaluated density distribution. The first tool path is associated with the first density classification, and the second tool path is associated with the second density classification. The position of the tool relative to the workpiece is tracked with a navigation computer and controlled with a manipulator controller based on the generated tool path to remove material along the first tool path, and remove material along the second tool path.

Abstract: An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.

Abstract: Disclosed herein a haptic handling system for tele-robotic surgery. The haptic handling system may include a main body, a fine-tuning roll mechanism, and a grasp control mechanism. The main body may include a first hollow cylindrical section and a second hollow cylindrical section. The fine-tuning roll mechanism may include a knob, a roller coupled to the knob, and a roll encoder coupled to the roller. The grasp control mechanism may include a slider comprising an internal slider and an external slider, a lead screw coupled to the slider, and a grasp encoder coupled to the lead screw. The haptic handling system may further include a force feedback system comprising one or more dynamometers measuring a magnitude and a direction of a couple and a force applied to a surgical tool, a roll actuator coupled to the roller, and a grasp actuator coupled to the lead screw.

Abstract: A sheath for a surgical instrument may include a sleeve having a distal end and proximal end, and a retention mechanism at a proximal end portion of the sleeve. The retention mechanism may comprise a sleeve attachment portion configured to be attached to the sleeve at the proximal end portion, and a locking collar extending from the sleeve attachment portion, wherein the locking collar is configured to receive a connector portion of a surgical instrument. The locking collar further may include a locking feature movable between a first configuration, in which the sheath is moveable relative to the surgical instrument, and a second configuration, in which the locking feature is configured to engage with the connector portion to retain the sheath in position on the surgical instrument.