Abstract: A control unit for a medical instrument is provided. The control unit includes a housing having a curved top surface capable of accommodating a hand of the user, the housing being attachable to the medical instrument. The control unit further includes a first interface engageable by a purlicue of the hand for controlling a first function of the medical instrument and a second interface engageable by one or more fingers of the hand for operating at least a second function of the medical instrument.

Abstract: A surgical instrument apparatus for removably receiving an end effector coupled to an elongate control link for actuating the end effector to perform surgical operations is disclosed. The apparatus includes an actuator housing and an elongate shaft extending from the actuator housing and having a bore for receiving the control link. The apparatus also includes an actuator mounted within the actuator housing and includes a clamp aperture disposed to receive the control link while the clamp aperture is being urged into an undamped state by an opening force, the clamp aperture being operably configured to move between the undamped state and a clamped state in response to the opening force being released, the aperture in the clamped state being operable to restrain the control link within the actuator for movement in a longitudinal direction substantially aligned with the elongate shaft.

Abstract: A blade loader is provided herein. The blade loader includes a housing defining a cavity and an insertion opening at one end portion of the cavity. The cavity is configured to accept a blade therein. The housing includes first and second sections. First and second sidewalls extend from the respective first and second sections. The first sidewall is disposed outside the second sidewall. A support extends from the housing and into the cavity configured to interact with an aperture defined by the blade. A rib structure extends into the cavity and defines a channel and a press portion. The press portion is configured to contact a portion of the blade.

Abstract: A device (100) is presented for excision of a heart valve comprising a first (120) and second (140) clamping element in mutual sliding relation, each having an annular clamping surface (122, 142) which annular clamping surfaces (122, 142) mutually co-operate to form an annular clamping region (166) configured for clamping a heart valve annularly, and a slidable cutting element (160) slidable and rotatable with respect to the annular clamping region (166) configured to circularly excise the heart valve, wherein the slidable cutting element (160) is displaceable within an annulus of the annular clamping zone region (166).

Abstract: A device and method for clot disruption in deep venous thrombosis is disclosed herein. The present technology is directed toward a device for clot maceration that includes a longitudinal member, in the form of a catheter, containing radially arrayed elements which, when positioned within a clot, are moved longitudinally, bidirectionally, and rotated in order to disrupt and macerate the surrounding clot. This allows the fragmented clot to be easily removed through a separate device; alternatively this renders the clot significantly more amenable to treatment with fibrinolytic agents given the markedly enhanced surface area of the fragmented clot. The radially arrayed elements may have a variety of forms, with a preferred embodiment containing bristles shaped specifically to engage vein valves in such a way as to cause no damage to them, while simultaneously prompting the clearance of clot from the valve sinuses.

Abstract: A miniature motorized cutter is provided to remove an occlusion or thrombus in the vein or artery of a patient. The miniature motorized cutter has a cutting device operated by a piezoelectric motor. The piezoelectric motor is wirelessly powered by electrical induction from outside of the body. The miniature motorized cutter has a positional orienting structure that has two poles of opposite charges. A strong magnet outside of the body can be used to orient the cutter by applying attractive and repulsive forces to the two poles of the positional orienting structure.

Abstract: A needle guide holder, which is used for a fixing medical puncture needle and a ultrasonic probe, comprises a holder body (1a, 1b) and a fixing device (2a, 2b) used in cooperation with the holder body (1a, 1b). The fixing device (2a, 2b) is mounted onto the holder body (1a, 1b) and provided with a weakening portion (23a, 23b). The needle guide holder is designed to be disposable, thereby avoiding the possibility of cross-infection caused by using the same needle guide holder on different patients. The needle guide holder can be used on one and same patient to perform a number of treatments just through the replacement of a sliding frame and without replacing the fixing device and a fixing frame. In a treatment process, the puncture needle is left in the body for a subsequent treatment, while the needle guide holder and the ultrasonic probe can be removed from the human body.

Abstract: One embodiment is directed to a device for forming a tract, comprising an anchor assembly wherein at least a distal tip of the flexible distal portion is configured to be placed within a lumen of a blood vessel through a first passage created across the wall with a sharpened member at a first angle relative to a lumen longitudinal axis defined by the lumen of the blood vessel in the region adjacent the first passage; and wherein upon applying a force to the anchor assembly to position an adjacent portion of the blood vessel wall into a desired contact configuration relative to the anchor assembly, the needle is operatively coupled to the anchor assembly such that it may be advanced across the wall of the blood vessel and into contact with a saddle-shaped needle receiving structure, thereby creating an expandable tract between overlapping tissue portions of the vessel wall.

Abstract: An access apparatus includes an access housing, an access member extending from the access housing, a fluid connector mounted to the access housing and a control valve mounted to the fluid connector. The control valve is positionable relative to the fluid connector between a first position corresponding to a desufflation operative state permitting rapid desufflation of the underlying body cavity, a second position corresponding to an insufflation operative state permitting insufflation fluid flow into the access member and into the underlying body cavity, and a third position corresponding to a closed operative state.

Abstract: Expandable access sheaths and methods for use thereof are disclosed. The access sheath may have an expandable element and flexible membrane. The access sheath may be configured to move between a non-expanded configuration and an expanded configuration. The access sheath may be biased towards the non-expanded configuration.

Abstract: A burr cap assembly is at least partially inserted into a burr hole within the cranium of a patient. The burr cap assembly enables a elongate member to be inserted through the burr cap assembly to access a brain of the patient. A shifting member of the burr cap assembly may be configured to enable the elongate member to move with shifting fluid and matter of the brain. The shifting member of the burr cap assembly may be configured to move within a cavity defined by the burr cap assembly. The shifting member may be configured to move in a direction that is substantially perpendicular to a longitudinal axis of the distal portion of the elongate member. The shifting member may at least partially retain the elongate member, so as the shifting brain applies forces upon the elongate member, the elongate member and the shifting member may move within the cavity.

Abstract: An injection needle for an endoscope includes: an outer and inner sheath; a needle tube; a stopper; an engaging contact portion integrally formed of the same material as the outer sheath, protrudes to an inner side in a radial direction relative to an inner circumferential surface of the outer sheath; and an operating member. A movable range of the operating member in a straight state is made up of a first range and a second range. A length of the second range is greater than a value of a difference between an inner diameter of the outer sheath and an outer diameter of the inner sheath, and a thickness of the engaging contact portion in the direction of the longitudinal axis is greater than a thickness of the inner sheath in a radial direction and a thickness of the outer sheath in the radial direction.

Abstract: A postpartum balloon system includes a flexible elongate catheter, an inflatable balloon, and a suction member attached to the distal end of the catheter. The system can be delivered into the uterus, where suction is applied to the suction member to anchor the balloon to the internal wall of the uterus. The catheter may include drainage ports both proximal and distal from the balloon. The system may include a stiffening stylet inserted into the drainage lumen of the catheter for aiding in delivery of the balloon. The stiffening stylet can be removed after placement of the balloon. The stiffening stylet can include side passageways that match the drainage ports and a lumen that allows for drainage through the stylet, as well as for administering drugs or other compounds through the drainage ports while the balloon is in place.

Abstract: The present invention discloses a device for stabilization of bone segment and an extending assembly thereof. The device comprises a screw assembly, two supporting members and two extending members. The screw assembly comprises a receiver and an anchoring member. The receiver has a retainer and two opposite arms extending along the longitudinal axis of the device from the positions adjacent to the retainer. The anchoring member is connected to the retainer. The supporting members are connected to the arms respectively and extend along the longitudinal axis. Each one of the extending members has a through hole respectively. The extending members are connected to the arms with the supporting members passing through the through holes respectively.

Abstract: A pedicle screw and pedicle screw assembly for use in supporting a spinal rod, the pedicle screw including a threaded shank, a screw head, and a screw neck connecting the threaded shank and the screw head. The screw head can include an arcuate upper surface to engage a lower surface of a modular head. A pair of arcuate channels positioned on either side of the screw head can receive a bottom flange portion of the modular head therein so as to secure the modular head to the pedicle screw. An upper surface of the modular head can define a rod recess for receiving the spinal rod. The relative configuration of the screw head and the modular head can be arranged so that once engaged, the modular head is freely slidable along the arcuate upper surface of the screw head, but the screw head and the modular head remain coupled.

Abstract: A multi-level intersegmental stabilization implant for a facet joint of a first vertebra includes a lower retainer module having a transfacetal fastener and an upper retainer module having a second fastener configured for fastening through the pedicle of an upper vertebra. The lower and upper retainer modules are connected by an elongated carrier element dimensioned such as to span across at least two vertebrae. The transfacetal fastener is configured as a screw having a head and a shaft ending with a tip, the shaft being provided with a thread at least in a region near its tip such that it engages exclusively the lower section of the facet joint, wherein a washer is provided co-operatively connected with the transfacetal fastener, the washer being configured for bearing on an outer surface of the upper section of the facet joint.

Abstract: An implantable spacer for placement between adjacent spinous processes in a spinal motion segment is provided. The spacer includes a body defining a longitudinal axis and passageway. A first arm and a second arm are connected to the body. Each arm has a pair of extensions and a saddle defining a U-shaped configuration for seating a spinous process therein. Each arm has a proximal caming surface and is capable of rotation with respect to the body. An actuator assembly is disposed inside the passageway and connected to the body. When advanced, a threaded shaft of the actuator assembly contacts the caming surfaces of arms to rotate them from an undeployed configuration to a deployed configuration. In the deployed configuration, the distracted adjacent spinous processes are seated in the U-shaped portion of the arms.

Abstract: Modular surgical instruments and related methods are disclosed herein, e.g., for performing rod reduction, derotation, and/or set screw insertion during spinal surgery. An exemplary system can include an instrument body configured to couple to a bone anchor assembly to provide a modular platform for carrying out various steps of a surgical procedure. For example, the instrument body can receive a reduction instrument therethrough for reducing a spinal rod into the bone anchor assembly. A derotation instrument can be attached to the reduction instrument for performing derotation maneuvers or applying other manipulation forces. A modular driver or handle adapter can be attached to the reduction instrument and/or to the derotation instrument to facilitate rod reduction. Any of the instrument body, the reduction instrument, and the derotation instrument can include a working channel therethrough.

Abstract: A medical implant (1) designed to enable bony fusion between a first bone (20) and a second bone (21), said implant being in the form of an elongate part comprising, extending along the longitudinal axis of the part, a head (2) and a body (3) spaced apart from each other by a connection zone (4) connecting the head (2) to the body (3), said head (2) being suitable for being inserted into the first bone (20), said body (3) being suitable for being inserted into the second bone (21), said body (3) being a hollow body that is slotted longitudinally along at least a portion of its length in order to define at least three elastically deformable longitudinal tabs (5) by means of which said body (3) is suitable for being inserted into the second bone (21). Each longitudinal tab (5) of the body (3) is an arcuate tab (5) that presents an outer face (6), i.e.

Abstract: An intramedullary pin includes a main body having a proximal boundary and a distal boundary; a curved extension having a degree of curvature of at least 1°, the curved extension being in direct contact with the distal boundary; a distal cap having a cylindrical portion and a rounded portion, the cylindrical portion being in direct contact with the curved extension; a grip element having at least one contour, the grip element being in direct contact with the proximal boundary; and a proximal cap having a flat surface, the proximal cap being in direct contact with the grip element. Also disclosed is a clamp that includes a handle, two blades, a pivot, and a plurality of grasping elements including a notch, at least one protrusion, and a groove, where one or more grasping elements have a contour that is structurally complementary to the grip element in the intramedullary pin. A method of immobilizing a bone fracture using the intramedullary pin and/or clamp is also disclosed.

Abstract: A bone plate includes: a band-shaped body section that is fixed along a longitudinal direction of the tibia; a transverse section that is fixed along a direction intersecting the longitudinal direction of the tibia; a joining section for joining the body section and the transverse section; and screw holes. The body section, the joining section, and the transverse section have a curved surface shape, a first plane on which the axial line of a screw hole in the joining section is disposed and a second plane on which the axial line of a screw hole in the body section is disposed are substantially parallel to each other, the angles between a straight line connecting a longitudinal direction upper-end portion and lower-end portion of the bone plate and the first plane and the second plane are predetermined angles, and an axial line and an axial line are at twisted positions.

Abstract: A pectus carinatum sternal pull-back device is provided that includes an implantable subcutaneous chest bar, where a size, a curve, a length and a width of the implantable later chest bar are customized according to predetermined sternum and rib cage dimensions of a pectus carinatum patient, where the customized implantable subcutaneous chest bar includes through holes at the ends of the customized implantable subcutaneous chest bar, and at least a pair of securing straps, where the securing strap includes a channeled head element at a first securing strap end, a semi-ribbed strap, and a curved solid insertion element at a second end, where the channeled head element includes a barb for receiving and locking the semi-ribbed strap, where the securing strap is configured for insertion through the through holes of the implantable subcutaneous chest bar.

Abstract: A bone anchor includes an anchor member including a first material, and having a tubular section extending along a longitudinal axis, a region configured to expand radially outwards from the longitudinal axis, and a bone engagement structure projecting from at least a portion of the expandable region of the tubular section, and a core member including a second material, and configured for insertion into and connection to the anchor member. When the core member is in the anchor member and is actuated relative to the anchor member, the tubular section is adjustable between a first position where the expandable region of the tubular member has a first length and a first maximum diameter, to a second position where the expandable region of the tubular member has a length shorter than the first length and a maximum diameter greater than the first maximum diameter.

Abstract: The present invention relates to a medical device for freeing an implant from the bone of a patient to which the implant adheres to and to an implant for insertion into a bone of a patient, designed such that the implant is more homogenously heatable or coolable in a controlled way. Also provided is a method of removing an implant from a bone of a patient and a computer readable storage medium having recorded thereon a database structure.

Abstract: A system is provided for inserting and securing, through a suprapatellar region of a leg, a nail into a medullary canal of a bone. The system can include a flexible sleeve configured to be partially inserted in the leg. The flexible sleeve can define a leading end and a trailing end spaced apart from the leading end along a first axis. The flexible sleeve can define a first cannulation that extends along the first axis between the leading and trailing ends. The first cannulation can be sized to receive therethrough at least the intramedullary nail. The system can further include a retaining member configured support at least a portion of the flexible sleeve. The retaining member can be configured to position the flexible sleeve through the suprapatellar region of the leg such that the flexible sleeve leading end is aligned with the proximal end of the bone. The intramedullary nail can be insertable through the flexible sleeve and into the medullary canal.

Abstract: According to some embodiments, a method of treating a subject having diabetes or symptoms associated with diabetes is provided. The method includes delivering a neuromodulation catheter within a vessel (e.g., hepatic artery) having surrounding nerves that innervate the liver (e.g., sympathetic nerves of the hepatic plexus). The method may also include modulating (e.g., disrupting, ablating, stimulating) the nerves by mechanical compression, energy delivery, or fluid delivery.

Abstract: A Radio Frequency (RF) ablation system includes a signal generator, control circuitry, a plurality of non-linear amplifiers, and a processor. The signal generator is configured to generate an RF signal having a given frequency. The control circuitry is configured to set phases and amplitudes of a plurality of replicas of the RF signal generated by the signal generator. The plurality of non-linear amplifiers is configured to amplify the plurality of replicas of the RF signal, and to drive a respective plurality of ablation electrodes in a patient body with the amplified replicas. The processor is configured to receive a return signal, including a superposition of the replicas sensed by a patch electrode attached to the patient body, and to adaptively adjust the phases and amplitudes of the replicas in response to the return signal, by controlling the control circuitry.

Abstract: A monopolar electrosurgical instrument and electrosurgical system for treating biological tissue by a plasma. The instrument includes a tubular line for conducting a gas to the treatment location, wherein the line consists of electrically insulating material and has a distal opening for the exit of the gas in the direction of the tissue to be treated, and an electrode arranged in the region of the distal opening in the line, wherein the electrode is connectable to an electrosurgical generator to ignite a plasma discharge in the gas. Improving the ignition behavior, the inner surface of the line has an enhanced electrical conductivity in the distal opening. Furthermore, a method for producing an electrosurgical instrument for providing a line made of nonconductive material, an electrode, and enhancing the conductivity of an inner surface of the line in the region of the opening, for enhancing the conductivity in the line.

Abstract: Methods for treating tissue with irreversible electroporation and immunotherapy are described. The methods include placing a probe in tissue within a human body, wherein the probe has at least a first electrode, applying a plurality of electrical pulses through the first electrode and a second electrode, causing irreversible electroporation (IRE) of the tissue within a target ablation zone, and administering one or more exogenous agents into the tissue within the target ablation zone or to the human, thereby stimulating or otherwise modulating an immune system response within the body.

Abstract: The disclosure relates to a medical instrument for minimally invasive tissue ablation by means of an HF electrode, with a hollow shaft, wherein the HF electrode is electrically insulated from the hollow shaft, is arranged at a distal end of the latter and, in order to ablate tissue, protrudes axially beyond the hollow shaft at least in part. The angle orientation of the HF electrode relative to the hollow shaft is adjustable in a controlled manner to a working position in which the HF electrode, protrudes radially beyond an outer circumference of the hollow shaft in order to ablate tissue. In the working position, by means of suitable adjustment of the shaft and of the HF electrode, a position can always be found in which the distal end of the HF electrode sufficiently reaches or touches tissue portions that are to be ablated in the region of the bladder neck.

Abstract: Electrosurgical probes for treating tissue, and surgical procedures that make use of such probes. Such a probe includes a working element having a core member, a sheath secured to the working element, and a conductor disposed in a first internal longitudinal channel of the core member and having an active electrode coupled thereto. The sheath has a passage in which the core member is disposed, and the passage has an opening at a distal end of the sheath. The conductor is reciprocable within the sheath and adapted to carry a radio frequency current to and from the active electrode, which extends from the opening at the distal end of the sheath. An irrigation channel is defined by a second internal longitudinal channel of the core member. The electrosurgical probe is marked as disposable and not for reuse in a medical procedure performed on more than one patient.

Abstract: A screening method for identifying a target nerve to ablate in the treatment of inflammatory lung disease including chronic obstructive pulmonary disease and asthma. The method includes advancing a tool along the airway and into the vicinity of the candidate nerve. The candidate nerve is temporarily blocked or paralyzed. The patient is monitored for an adverse reaction during the step of temporarily blocking. If an adverse reaction is not observed, the candidate nerve is identified as the target nerve. In embodiments, the method further includes the step of ablating the target nerve.

Abstract: According to various embodiments, systems, devices and methods for modulating targeted nerve fibers (e.g., hepatic neuromodulation) or other tissue are provided. The systems may be configured to access tortuous anatomy of or adjacent hepatic vasculature. The systems may be configured to target nerves surrounding (e.g., within adventitia of or within perivascular space of) an artery or other blood vessel, such as the common hepatic artery.

Abstract: Systems, devices, and methods for electroporation ablation therapy are disclosed, with the device including a set of splines coupled to a catheter for medical ablation therapy. Each spline of the set of splines may include a set of electrodes formed on that spline. The set of splines may be configured for translation to transition between a first configuration and a second configuration.

Abstract: An electrosurgical instrument for use in minimally invasive surgical techniques that provides a small scale localized microwave field capable of precisely ablating tissue, e.g. in the lungs, through suitable selection of geometry and material for a radiating distal tip thereof. The instrument may be used with a bronchoscope having a power delivery structure formed within the instrument cord thereof. A vision system may be incorporated into the energy delivery structure. The instrument comprise a coaxial cable for conveying microwave energy to a radiating tip portion that comprises a dielectric tip and a distal conductive portion that extends longitudinally therein. The dielectric tip has a dielectric constant greater than a dielectric material within the coaxial cable. The distal end of the device is designed to facilitate efficient microwave energy delivery into lung tumour tissue to achieve a localized volume of ablation.

Abstract: The present disclosure relates to a system and method for providing laser energy through a catheter towards a second end portion of the catheter. Based on a characteristic of the laser energy multiple types of ablation therapy may be implemented. A first ablation therapy is directed at the target site when the laser energy at the second end portion of the laser energy delivery system has a first characteristic. A second ablation therapy is directed at the target site when the laser energy at the second end portion of the laser energy delivery system has a second characteristic. The first ablation therapy may be an optical ablation therapy wherein the laser energy is directed at the target site as optical energy and the second ablation therapy may be a pressure wave ablation therapy wherein pressure waves are directed at the target site as pressure wave energy.

Abstract: Methods and apparatus for enhancing bronchial airways representations using vascular morphology. A representation of bronchial airways of a subject and a representation of a corresponding vascular network are obtained and may be stored in a memory. In the bronchial airways representation, termini of airways are identified where portions of the airways are not included in the representation though they are in fact continuous airways in the subject. In the vascular network representation, vessel portions corresponding to unrepresented airway portions between first and second identified airway termini are identified. An enhanced bronchial airways representation is produced that reflects an airway extending between the termini. The enhanced bronchial airways representation can be displayed on a monitor of a medical apparatus to facilitate a bronchoscopic procedure.

Abstract: Cardiac catheterization is carried out by inserting a multi-electrode probe into a heart, constructing a position map of the electrodes, and simulating a 3-dimensional surface of the heart. The method is further carried out by placing the position map in registration with an acquired image of the heart, constructing, based on the position map, a mesh that models the 3-dimensional surface of the heart, and adjusting positions of vertices of the mesh relative to mapped points in the position map to improve a registration of the mesh with the acquired image.

Abstract: A control unit for a robot system including a robot with a rigid proximal portion having a remote center of motion (RCM), a flexible distal portion, and an image acquisition device. The control unit includes a processor that receives images from the image acquisition device; generates a first deployment path to a first target position based on the images; generates a second deployment path to a second target position from the first target position based on the images; generates first guidance information for positioning the rigid proximal portion along the first deployment path; generates second guidance information for positioning the flexible distal portion along the second deployment path; and deploys the first guidance information to the rigid proximal portion for guiding the rigid proximal portion to the first target position, and deploys the second guidance information to the flexible distal portion for guiding the flexible interface distal portion to the second target position.

Abstract: The disclosure herein relate to systems, methods, and devices for developing patient-specific spinal treatments, operations, and procedures. In some embodiments, systems, methods, and devices described herein for developing patient-specific spinal treatments, operations, and procedures can comprise an iterative virtuous cycle. The iterative virtuous cycle can further comprise pre-operative, intra-operative, and post-operative techniques or processes. For example, the iterative virtuous cycle can comprise imaging analysis, case simulation, implant production, case support, data collection, machine learning, and/or predictive modeling. One or more techniques or processes of the iterative virtuous cycle can be repeated.

Abstract: A system for robotic surgery includes a surgical robot with one or more arms, where at least some of the arms in the one or more arms holds a surgical instrument. An image sensor is coupled to capture a video of a surgery performed by the surgical robot, and a display is coupled to receive an annotated video of the surgery. A processing apparatus is coupled to the surgical robot, the image sensor, and the display. The processing apparatus includes logic that when executed by the processing apparatus causes the processing apparatus to perform operations including identifying anatomical features in the video using a machine learning algorithm, and generating the annotated video. The anatomical features from the video are accentuated in the annotated video. The processing apparatus also outputs the annotated video to the display in real time.

Abstract: A coronary vein guiding system, comprising a coronary vein guiding catheter, and a flexible inner tube sheathed into the coronary vein guiding catheter sequentially comprising a coaxial section, an anti-bending section and a torsion control section; an end portion of the coaxial section being provided with a flexible head end; the coaxial section being connected with the anti-bending section at obtuse angle of 136°-140°; the anti-bending section being connected with the torsion control section at obtuse angle of 138°-142°; the coaxial section and the torsion control section being situated on a same side of the anti-bending section, and the three sections being located on a same plane; the flexible inner tube being 18-22 cm longer than the coronary vein guiding catheter; a head end of the flexible inner tube being in same direction as the coaxial section, a tail end of the flexible inner tube being provided with a screw joint.

Abstract: A surgical instrument includes a catheter, a distal segment, a needle, and a tracking sensor. The catheter is configured to be inserted into an anatomical passageway of a patient and includes a catheter lumen. The distal segment includes a port that communicates with the catheter lumen. The needle is slidably disposed within the catheter lumen and is translatable relative to the catheter between a retracted position and an extended position. A needle distal end is configured to extend through the port when the needle is in the extended position. The tracking sensor is coupled to the needle and is configured to generate a signal corresponding to a location of the needle distal end within the patient.

Abstract: A robotic surgical system includes a robotic surgical assembly and a control assembly. The robotic surgical assembly includes a robotic actuation assembly, a processing device, and a first communication device. The robotic actuation assembly includes a robotic arm. The processing device is configured to instruct the robotic actuation assembly to perform a task based on a set of instructions. The first communication device is operable to transfer the set of instructions to the processing device. The control assembly includes a second communication device and a user input device. The second communication device is operable to communicate the set of instructions to the first communication device. The user input device assembly is configured to generate the set of instructions and send the set of instruction to the second communication device. At least a portion of the instructions are based on positioning of the user input device within three-dimensional space.

Abstract: A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.

Abstract: A system and process is provided for dynamically positioning or repositioning a robot in a surgical context based on workspace and task requirements, manipulator requirements, or user preferences to execute a surgical plan. The system and method accurately determines and indicates an optimal position for a robot with respect to a patient's anatomy before or during a surgical procedure. Optimal positions for a robot are intuitively indicated to a user, surgical procedures can illustratively include surgery to the knee joint, hip joint, spine, shoulder joint, elbow joint, ankle joint, jaw, a tumor site, joints of the hand or foot, and other appropriate surgical sites.

Abstract: A surgical robotic system comprises a manipulator assembly including a distal portion and a registration device mounted to a surgical table for establishing a spatial relationship between the manipulator assembly and the surgical table. The surgical table is separated from the manipulator assembly. The registration device includes a registration element shaped to contact with the distal portion of the manipulator assembly to define the spatial relationship between the manipulator assembly and the surgical table. The surgical robotic system also includes a control system for determining the spatial relationship between the manipulator assembly and the surgical table.

Abstract: A robotic arm configured to support and operate a surgical instrument includes a slider, first and second nuts rotatably disposed within the slider, a gear, and left-handed and right-handed lead screws. The first and second nuts each have a geared outer surface operably coupled to the gear. The left-handed lead screw extends through the slider and threadingly engages the first nut. The right-handed lead screw is disposed in parallel relation with the left-handed lead screw and extends through the slider. The right-handed lead screw threadingly engages the second nut. A rotation of the left-handed lead screw and/or the right-handed lead screw effects a rotation of the gear relative to the slider or an axial movement of the slider and the gear along the lead screws.

Abstract: A manipulator for articulating a surgical tool during surgery includes an instrument holder, a parallelogram linkage assembly, an offset extension link, a yaw joint, and a mounting base. The instrument holder is configured to couple with the surgical tool. The parallelogram linkage assembly produces motion of the instrument holder that is limited to rotation about a pitch axis that intersects a remote center of manipulation. The offset extension link has an offset extension link distal end and an offset extension link proximal end. The yaw joint is connected to the offset extension link proximal end and produces motion of the instrument holder that is limited to rotation about a yaw axis that intersects the remote center of manipulation. The offset extension link distal end is offset from the yaw axis. The mounting base is coupled with the yaw joint.

Abstract: A surgical instrument includes a force sensor apparatus that is immune to noise from arcing cautery without relying on fiber optic strain gauges, and that is autoclabable. The surgical instrument includes a housing, a shaft, the force sensor apparatus, a joint, and an end component. The force sensor apparatus includes at least one strain gauge that is enclosed in a Faraday cage. The Faraday cage includes a sensor capsule that includes one or more strain gauges, a cable shield tube connected to the sensor capsule, and an electronics enclosure connected to the cable shield tube. The sensor capsule is positioned between the joint and the shaft. The cable shield tube extends through the shaft to the electronics enclosure that is within the housing.