Abstract: An imaging catheter assembly is provided. The imaging catheter assembly includes an interposer including a multi-layered substrate structure, wherein the multi-layered substrate structure includes a first plurality of conductive contact pads coupled to a second plurality of conductive contact pads via a plurality of conductive lines; an imaging component coupled to the interposer via the first plurality of conductive contact pads; and an electrical cable coupled to the interposer via the second plurality of conductive contact pads and in communication with the imaging component.

Abstract: An ultrasound imaging system includes an ultrasound probe, a filter, a first neural network and a processor. The ultrasound probe generates a target ultrasound image and a plurality of first reference ultrasound images by a plurality of first scanning parameters. The filter filters the target ultrasound image to generate a first filtered ultrasound image. The first neural network filters the target ultrasound image according to the first reference ultrasound images to generate a second filtered ultrasound image. The processor combines the first filtered ultrasound image and the second filtered ultrasound image to form a compound ultrasound image.

Abstract: A system includes an ultrasound probe comprising an ultrasound transducer, a first motor configured to rotate the ultrasound transducer around a horizontal axis to scan a plane, and a second motor configured to rotate the ultrasound transducer around a vertical axis to move to a different plane. The system further includes a controller unit configured to select a number of scan planes for an interlacing scan to scan a volume of an area of interest in a patient's body using the ultrasound probe; select an interlacing factor for the interlacing scan; divide the scan planes into groups of scan planes based on the interlacing factor; and perform the interlacing scan by controlling the first motor and the second motor, wherein the first motor moves in a first direction for at least some of the scan planes and in a second direction for other ones of the scan planes.

Abstract: An exemplary system includes a first ultrasonic transducer assembly configured to deliver high intensity focused ultrasonic (HIFU) energy to a point of interest within a subject, and a second ultrasonic transducer assembly configured to perform imaging of the subject. In another embodiment, a housing is configured to receive an ultrasound probe. The housing may include a cooling circuit and power supply for the ultrasound probe.

Abstract: Aspects of the technology described herein relate to collection and display of ultrasound images using an explaining model. A first ultrasound image may be determined to be in a first class and a second ultrasound image that is in a second class may be generated based on the first ultrasound image. The second ultrasound image may be generated by an explaining model. A classification model may classify the first and second ultrasound images in the first and second classes, respectively. Generating the second ultrasound image may include changing one or more portions of the first ultrasound image. The explaining model may also generate a transformed version of the first ultrasound image and a mask image, and the second ultrasound image may be a composite image of the first ultrasound image and the transformed version of the first ultrasound image. The mask image may determine how to generate the composite image.

Abstract: Ultrasound image devices, systems, and methods are provided. In one embodiment, an ultrasound imaging system includes an interface coupled to an ultrasound imaging component and configured to receive a plurality of image data frames representative of a target tissue; and a processing component in communication with the interface and configured to determine a delay profile for the ultrasound imaging component in relation to the target tissue based on the plurality of image data frames; and determine a phase aberration correction configuration for a sequence of one or more shear wave pulses based on the delay profile, the sequence of one or more shear wave pulses associated with the ultrasound imaging component and a stiffness measure of the target tissue.

Abstract: An ultrasound observation device includes a processor configured to execute: generating an ultrasound image; setting at least two regions of interest on the ultrasound image; calculating feature value on each of the set regions based on the ultrasound signal; calculating a representative value on each of the set regions based on the calculated feature value of each of the set regions; selecting at least one representative value from the representatives values of the set regions; selecting the feature value having a predetermined relationship with the selected representatives value from the feature value used for calculating the selected representatives value; setting the selected feature value as a threshold; setting, as a display specification, a color pattern of the feature value to be displayed on a display based on the set threshold; and generating feature-value image data in which the feature value is colored with the set display specification.

Abstract: Systems, devices, and methods are provided to provide medical imaging and measurement of features with a lumen of a patient. An intraluminal imaging system may be configured to receive imaging data from an imaging device positioned within the lumen and identify and measure features within the imaging data, such as lesions and stents. The measurements may be used to generate a lesion score and/or an expansion score. The lumen score, expansion score, and associated measurements may be displayed to a user to assist in further imaging procedures or treatment options for the patient.

Abstract: For clutter reduction in ultrasound elasticity imaging, the contribution of clutter to different frequency components (e.g., the transmit fundamental and the propagation generated second harmonic) is different. As a result, a difference in displacements determined at the different frequency bands is used to reduce clutter contribution to displacements used for elasticity imaging.

Abstract: Systems and methods for controlling parameters associated with ultrasound images displayed on a computing device, based on sensed motion of the computing device, are provided herein. One such system includes an ultrasound probe and a computing device coupled to the ultrasound probe and operable to receive ultrasound signals from the ultrasound probe. The computing device includes a motion sensor that senses motion of the computing device, a display that displays ultrasound images associated with the ultrasound signals received from the ultrasound probe, and an image display controller that controls at least one parameter associated with the displayed ultrasound images based on the sensed motion.

Abstract: Provided is a medical imaging apparatus including a storage configured to store training data and an optimization coefficient; at least one processor configured to identify at least one image feature value from an input medical image, and to identify a value of at least one parameter of the medical imaging apparatus, based on the at least one image feature value and the optimization coefficient, by using a neural network processor; an output interface configured to output a resultant image generated based on the value of the at least one parameter; and an input interface configured to receive a first control input of adjusting the value of the at least one parameter, wherein the at least one processor is further configured to update the optimization coefficient by performing training using the training data and the first control input.

Abstract: An ultrasound probe is provided, which includes a transmitter, a receiver and a controller. The transmitter includes a signal receiving element. The transmitter includes a plurality of signal transmitting elements; there are included angles between each of the signal transmitting elements and the signal receiving element, and the included angles are different from each other. The controller is connected to the transmitter and the receiver; the controller sequentially drives the signal transmitting elements and the signal receiving element receives the echo signal of each signal transmitting elements. The controller makes a comparison among the echo signals and selects one of the signal transmitting elements as a target signal transmitting element according to the comparison result; then, the controller generates a measurement result according to the echo signal of the target signal transmitting element.

Abstract: Ultrasound image devices, systems, and methods are provided. In one embodiment, an intraluminal ultrasound imaging system includes a patient interface module (PIM) in communication with an intraluminal imaging device comprising an ultrasound imaging component, the PIM comprising a processing component configured to detect device information associated with the intraluminal imaging device, the device information identifying an ultrasound attribute associated with the ultrasound imaging component; and determine a waveform for ultrasound wave emissions at the ultrasound imaging component based on the identified ultrasound attribute; and a trigger signal generation component in communication with the processing component and configured to generate a trigger signal based on the determined waveform to control the ultrasound wave emissions at the ultrasound imaging component.

Abstract: Disclosed embodiments include catheter assemblies, systems for sampling a targeted region of tissue, and methods of sampling a targeted region of tissue. In an illustrative, non-limiting embodiment, a catheter assembly includes: a catheter defining a lumen therein, a wall of the catheter defining an opening therein at a distal end of the catheter; and a curved flexible needle disposable in the lumen and being extendable from the opening at the distal end of the catheter at an angle that diverges from an axis of the lumen.

Abstract: Disclosed embodiments include catheter assemblies, systems for sampling a targeted region of tissue, and methods of sampling a targeted region of tissue. In an illustrative, non-limiting embodiment, a catheter assembly includes: a catheter defining a lumen therein, a wall of the catheter defining an opening therein at a distal end of the catheter; a flexible needle disposable in the lumen; and an offset mechanism configured to urge the needle to extend from the opening at the distal end of the catheter at an angle that diverges from an axis of the lumen.

Abstract: A biopsy forceps device includes a tension member and an end effector including first and second jaws movable between an open configuration, in which the jaws are separated from one another to receive target tissue therebetween, and a closed configuration, in which cutting edges of the jaws are moved toward one another to cut a portion of the target tissue. The jaws define a tissue receiving space therebetween to house the cut tissue. The jaws are pivotable relative to one another, each of the jaws including a serrated cutting edge extending therealong, the end effector further including a tension member attachment including a proximal end coupled to the tension member. The attachment is movably coupled to the jaws so that distal movement of the attachment moves the jaws to the open configuration while proximal movement thereof moves the jaws to the closed configuration.

Abstract: A biopsy forceps includes an end effector with opposing first and second jaws coupled together and configured to move from an open configuration to a closed configuration. Each of the first jaw and the second jaw includes a plurality of teeth having a base. The bases of two adjacent teeth of the first jaw are spaced apart to form a first gap, and the bases of two adjacent teeth on the second jaw are spaced apart to form a second gap. The end effector in the closed configuration may define one or more windows between edges of the first and the second jaws. And, at least one of these windows may include at least a portion of one or both of the first and second gaps.

Abstract: A seal assembly that seals opening in the wall of a blood vessel has a first sealing element for placing inside the lumen of the blood vessel and to engage the interior wall surface, a shaft integrally formed with the first sealing element and fixed in a predetermined configuration relative to the first sealing element, an outer floating element slidingly movable along the shaft; and a second sealing element, the second sealing element slidingly movable relative to the first sealing element along the shaft to engage the outer floating element and position the outer floating element against the exterior surface and the first sealing element against the interior surface of the blood vessel to seal the opening in the blood vessel.

Abstract: A bag with one or more openings is placed within a body cavity. Excised tissue is placed within the opening of a deflated bag. One or more openings of the bag are withdrawn outside the body cavity and the bag is inflated. Instruments including laparoscopic visualization are placed within the inflated bag that remains within the body cavity. The tissue retained within the bag is morcellated/crushed/reduced and removed. The bag is deflated and removed with residual tissue/blood/fluids inside. The tissue to be removed is retained in the bag which prevents potentially harmful material such as cancerous cells from being released in the body cavity.

Abstract: Medical devices and methods of using medical devices are disclosed. An example tissue retraction delivery device includes a positioning assembly, the assembly including: a delivery catheter having a distal end region and a lumen extending therein, wherein the distal end region includes an engagement member orienting tip. The delivery device also includes an actuation catheter extending within at least a portion of the delivery catheter, the actuation catheter including a distal end region and a lumen extending therein. An actuation wire extends within the lumen of the actuation catheter, the actuation wire having a proximal end region and a distal end region. An end effector is coupled to the distal end region of the actuation wire, the end effector configured to capture an engagement member of a tissue retraction device, wherein manipulation of the actuation wire shifts the end effector from a first position to a second closed position.

Abstract: Apparatus for securing an object to bone, the apparatus comprising: an anchor, the anchor comprising: a body comprising an opening for receiving a filament therein; and a locking element movably mounted to the body for selectively locking the filament to the body; and an inserter for deploying the anchor in bone, the inserter comprising: a handle; an overtube extending distally from the handle; a carriage movably mounted to the handle; a shaft movably mounted within the overtube and connected to the carriage and releasably connected to the body of the anchor, the shaft being hollow; and a rod movably mounted within the shaft and connected to the locking element.

Abstract: Devices, systems and methods for compressing, cutting, incising, reconfiguring, remodeling, attaching, repositioning, supporting, dislocating or altering the composition of tissues or anatomical structures to alter their positional or force relationship to other tissues or anatomical structures. In some applications, the invention may be used to used to improve patency or fluid flow through a body lumen or cavity (e.g., to limit constriction of the urethra by an enlarged prostate gland).

Abstract: An apparatus for suturing tissue, comprising: a needle having a beveled opening and housing multiple anchors, wherein each of said anchors comprises an elongated tubular body and a loop connected to said tubular body, and wherein a thread is threaded sequentially through the loops; and a pushrod configured to push each of said anchors towards the opening of said needle, to extract each respective anchor from the opening.

Abstract: A method for coupling tissue with a flexible member including a tail and a self-locking construct coupled to the tail. The self-locking construct includes an adjustable first loop and an adjustable second loop coupled thereto. The method includes implanting an anchor in bone, the anchor slidably mounted to the tail. The tail is positioned relative to the tissue. An end of the tail is inserted through the first loop. The tail is passed through the first loop, the second loop is pulled into the anchor, and the self-locking construct is positioned relative to the tissue. The self-locking construct is tightened against the tissue by pulling on an end of the self-locking construct. The first loop is tightened onto the second loop.

Abstract: Improved medical suturing devices, systems, and methods for maintaining a position and orientation of a suture needle at a fixed location relative to a suturing device. An exemplary device include a clamp having opposing grasping surfaces for grasping the needle at a first location, and a needle contacting surface for contacting the needle at a second location, the second location a distance axially away from the first location so as to inhibit unintended movement of the needle relative to the device, which may include rotation of the needle about the first location and rotation of the needle about its axis. In many embodiments, the device includes a first and second clamp and a mechanism for alternating grasping of the needle between the first and second clamp. The device may also be incorporated into a single-clamp needle grasping device.

Abstract: A surgical fastener is provided for various surgical fastening applications, including attaching an implantable prosthesis, such as a soft tissue repair fabric, to tissue and/or muscle. The surgical fastener may include a coil body and a separate head that is attached to the coil body. The head may include two or more radial wings extending in an outward radial direction from the head body. Each wing may include an external thread to engage with a corresponding internal thread of a delivery device. Each wing may be spaced from an adjacent wing by an opening therebetween to receive a drive member for driving the surgical fastener. The coil body may be attached to the center of the head. A proximal-most coil of the coil body may be spaced from a distal face of the head to form a gap therebetween.

Abstract: An apparatus and method for joining members together using a self-drilling screw apparatus or stapling apparatus are disclosed. The screw apparatus includes a shell and first and second first screw members having tapered ends and threaded bodies that are disposed within the shell. A drive mechanism rotatably drives the first and second screw members from the shell in opposite directions and causes the screw members to embed themselves in the members to be joined. The screw apparatus can be used to join members such as bones, portions of the spinal column, vertebral bodies, wood, building materials, metals, masonry, or plastics. The stapling apparatus includes first and second lever arms rotatably joined together at a fulcrum, and the lever arms rotate in opposite directions. First and second cartridges are disposed at the ends of the lever arms. Each cartridge is capable of holding a staple including a bracket, a nail member and an alignment slot.

Abstract: A bone staple insertion tool for inserting a bone staple into a patient includes a body having a proximal portion, a distal surface and a fulcrum. The body defines a longitudinal axis and the fulcrum is positioned on the distal surface. The distal surface has a first end and a second end. A bone staple mount is fixed to the body and extends from the body proximate the first end. A force applicator is movably attached to the body. The force applicator has a gripping portion and a staple pin portion. The staple pin portion is positioned proximate the second end. The force applicator is configured to receive the bone staple. Upon actuation of the gripping portion, the staple pin portion bends the inter-axis of the bone staple across the fulcrum to an expanded state, wherein the first and second legs are positioned substantially parallel to the longitudinal axis.

Abstract: Various exemplary methods and devices are provided for improved surgical sutures, suture systems, and methods for suturing. In general, the sutures, suture systems, and methods can allow a suture to form a secure, closed loop without tying a knot. The suture can include a barbed portion configured to be threaded through a hollow portion. The barbed portion can have a plurality of barbs thereon, which can grasp onto an inner wall of the hollow portion when disposed therein to help secure the loop at a desired size. The barbs can all be oriented in one direction that corresponds to a direction of movement of the suture when the loop is being tightened. Thus, the barbs can be configured to allow for a size of the loop to be easily reduced to any desired size to approximate tissue, but can be configured to resist subsequent expansion of the loop to ensure that the tissue remains in place.

Abstract: Stapler cartridges and surgical apparatus that include a stapler cartridge can include a knife that retracts into the stapler cartridge after cutting stapled tissue to prevent an operator being cut by the knife during replacement of the used stapler cartridge with a new stapler cartridge. A stapler cartridge includes a staple pushing shuttle, a knife member slidably coupled with the staple pushing shuttle, and a cartridge body. The staple pushing shuttle is slidably coupled to the cartridge body. The cartridge body includes a guide track engaged by the knife member and configured so that a cutting blade of the knife member protrudes from the cartridge body during a first portion of a distal movement of the staple pushing shuttle and the cutting blade is retracted into the cartridge body during a second portion of the distal movement of the staple pushing shuttle.

Abstract: The present disclosure is directed to a medical instrument. The medical instrument may include a delivery device and a retraction mechanism including a target tissue anchor and a first stabilizing anchor, wherein the target tissue anchor attaches to target tissue and connects to the delivery device.

Abstract: Provided is a treatment method that reduces risk factors contributing to anastomotic leakage by using a medical device. The treatment method includes placing a medical device including a sheet-like main body portion for promoting adhesion between biological tissues between one joint target site and another joint target site of a biological organ to be joined, and joining the one joint target site and the other joint target site to each other in a state where at least a portion of the main body portion is interposed between the one joint target site and the other joint target site.

Abstract: Nerve scaffolds are described that include a tubular outer housing fabricated from a biocompatible polymer, within which are disposed a plurality of carbon nanofiber yarns. The carbon nanofiber yarns, which can be separated by distances roughly corresponding to an average nerve fiber diameter, provide surfaces on which nerve fibers can regrow. Because the proximate carbon nanofiber yarns can support individual nerve fibers, a nerve can be regenerated with a reduced likelihood of undesirable outcomes, such as nerve pain or reduced nerve function.

Abstract: System for fixation of leaflets of a heart valve including an implantable fixation device including a first distal element and a second distal element, a first proximal element moveable relative to the first distal element between a first position and a second position, and a second proximal element moveable relative to the second distal element between a first position and a second position. The system further includes a delivery device including a catheter having a proximal end portion and a distal end portion, the implantable fixation device releasably coupled to the distal end portion of the catheter, the catheter defining at least one lumen extending between the proximal end portion and the distal end portion.

Abstract: A ventricular partitioning device for isolating damaged tissue within a ventricle of the heart is disclosed. The ventricular partitioning device includes a disk-shaped portion configured to isolate a portion of a ventricular wall to facilitate remodeling of the ventricular wall. The device further includes an anchor configured to secure the device to the ventricular wall.

Abstract: A medical device has an artificial contractile structure including at least one contractile element adapted to contract a hollow body organ in such a way that said contractile element is adapted to be in a resting position or in an activated position, the activated position being defined with the contractile element constricting the hollow body organ and the resting position being defined with the contractile element not constricting the hollow body organ. The medical device further includes a tensioning device adapted to apply a force so as to tighten the contractile element around the hollow body organ, the tensioning device having a flexible transmission with a tensioning element arranged in a sheath. The sheath has an inner coiled wire coiled in a first direction, and an outer coiled wire surrounding the inner coiled wire and coiled in a second direction opposite to said first direction.

Abstract: A medical clip cartridge (1) for connecting a medical clip (22) to a line member (25) having a connection part (31) on a distal part thereof, comprising an insertion port (2) for inserting a line member (25), an insertion path (3) extending distally from the insertion port (2), and a storing part (4) for storing a clip (22), that is connected to a distal end of the insertion path (3), wherein the insertion path (3) has a protrusion (5) projecting from an inner surface of the insertion path, and the protrusion (5) has a part whose top surface widens toward a distal end thereof and whose height from the inner surface of the insertion path increases toward the distal end.

Abstract: An implant for occluding a flow through a vessel may comprise a body member having a first end portion, a second end portion, and an intermediate rod portion extending between the first end portion and the second end portion and a mesh having base layer and a plurality of micro-pillars extending from a first surface of the base layer. The mesh may be disposed about at least a portion of the body such that the micro-pillars extending generally radially outward from the body member. The plurality of micro-pillars may be configured to extend into an adjacent tissue.

Abstract: A system for treatment of an aneurysm includes an intrasaccular device that can be delivered using a catheter. The device can include at least one expandable structure adapted to transition from a compressed configuration to an expanded configuration when released into the aneurysm. The expandable structure can have a specific shape or porosity. Multiple expandable structures can also be used, in which case each of the expandable structures can have a unique shape or porosity profile. The morphology of the aneurysm and orientation of any connecting arteries can determine the type, size, shape, number, and porosity profile of the expandable structure used in treating the aneurysm.

Abstract: The present invention is a location control apparatus for bone resection, the location control apparatus includes a guiding module, located at the bottom of the location control apparatus for bone resection, a blocking plate module, formed on the rear end of the guiding module and has a protruding shape, and, a guide groove, located at the bottom of the blocking plate module to allow a osteotome or bone saw to be inserted, wherein the dimension of the inserted osteotome or bone saw could be adjusted.

Abstract: A medical driver can include a handle coupled to a drive shaft. The drive shaft can couple with an access assembly for drilling into bone, and can be displaced relative to the handle from a rotationally restricted state, in which the drive shaft is rotationally restricted relative to the handle, to a drilling state, in which the drive shaft is freely rotatable in at least one direction relative to the handle. The medical driver can further include a mechanical energy-storage device coupled to the drive shaft that can automatically rotate the drive shaft relative to the handle upon transition of the drive shaft to the drilling state. A biasing element can be coupled to the handle and to the drive shaft to provide a bias to maintain the drive shaft in the rotationally restricted state.

Abstract: A cutting system includes a material removal tool having a fluid nozzle with an adjustable diameter, a workpiece including a target shape for removal, and a controller operable to adjust the diameter of the nozzle to vary fluid flow and control an amount of material removed by the material removal tool. The controller is adapted to adjust the nozzle to vary the fluid flow based on a position of the nozzle and workpiece data preoperatively obtained from the workpiece via a continuous feedback loop. A method of cutting a bone is also provided.

Abstract: A plantar plate augmentation kit assembly and method of repairing plantar plate tears through augmentation provides an assembly of tools used to augment a plantar plate with a soft tissue graft, and specifically an Artelon Graft. The kit assembly includes a plantar plate drill guide for aligning a drill bit and K-wires over a damaged area of a plantar plate. The assembly also includes a plantar plate joint distractor for separating tissue, at least two K-wires that serve as anchors to the tissue, a drill bit for driving the graft into the tissue. The assembly also includes a graft passer for retaining and manipulating the graft. Further included are at least two interference-type screws and a screw driver for manipulating the interference-type screws. These components are stored in a storage container that includes an outer housing and multiple inner recesses shaped and sized to frictionally fit the tools.

Abstract: A medical device for retrieving small fragments from within a patient's anatomy is provided. The medical device may include a plurality of tips disposed at a distal end of a collection wire and configure to capture stone fragments within the patient's anatomy. Further, the medical device may include an atraumatic tip positioned at the distal end of the collection wire and configured to avoid damage to the patient's anatomy at times the collection wire is manipulated by a user.

Abstract: A stone retrieval device includes a sheath and a stone retrieval basket that includes a distal region with a plurality of basket wires and a proximal region with one or more core wires. The stone retrieval basket is contained within the sheath and is movable out a distal opening of the sheath to cause the plurality of basket wires to open into a basket shape. The stone retrieval device further includes a lock mechanism that locks the position of the stone retrieval basket with respect to the position of the sheath and a basket force controller that includes a first and a second control stage. The first control stage includes a sensor for measuring force on the stone retrieval basket when the lock mechanism is in an unlocked position, and the second control stage includes a sensor for measuring force when the lock mechanism is in a locked position.

Abstract: An ultrasound catheter may be adapted for placement within a blood vessel having a vessel wall for treating a vascular lesion within or adjacent the vessel wall. The ultrasound catheter includes an elongate shaft extending from a distal region to a proximal region and an ultrasound transducer that is disposed relative to the distal region of the elongate shaft and is adapted to impart near-field acoustic pressure waves upon the vascular lesion in order to mechanically modify the vascular lesion. An inflatable balloon is disposed about the ultrasound transducer and is coupled to the elongate shaft, the inflatable balloon having a collapsed configuration suitable for advancing the ultrasound catheter through a patient's vasculature and an expanded configuration suitable for anchoring the ultrasound catheter in position relative to a treatment site.

Abstract: An ultrasound catheter is adapted for placement within a blood vessel having a vessel wall and is adapted for treating a vascular lesion within or adjacent the vessel wall. The ultrasound catheter includes an elongate shaft extending from a distal region to a proximal region and an ultrasound transducer that is disposed within the distal region of the elongate shaft, the ultrasound transducer adapted to impart near-field, acoustic pressure waves upon the vascular lesion in order to mechanically modify the vascular lesion.

Abstract: Methods and apparatuses of treating meibomian glands are disclosed. An apparatus suitable to treat meibomian glands comprises a heat source, a controller, and a pressure applicator. The heat source is configured to apply regulated heat to an eyelid containing at least one meibomian gland to reach a temperature adequate to melt at least one obstruction within the at least one meibomian gland and place the at least one obstruction in a melted state. The controller is configured to maintain the regulated heat for a time period adequate to melt the at least one obstruction and place the at least one obstruction in the melted state. The pressure applicator is configured to be placed into direct contact with the eyelid and apply a pressure over at least a portion of the eyelid to express the at least one obstruction from the at least one meibomian gland.

Abstract: A medical instrument includes: a jaw which is provided with a grasping section; and a blade which is movable close to and away from the grasping section and which extends from a distal-end portion thereof to a proximal-end portion thereof, the blade having a top portion including a ridge opposed to the grasping section, and the ridge of the top portion in the proximal-end portion being sharper than the ridge of the top portion in the distal-end portion.

Abstract: A medical instrument includes a snake wrist structure further including: a first joint disk having a first rim having a first tooth slot and a first toothed gear with the first tooth slot opposite the first toothed gear along the first rim; and a first strut having a first slot bearing and a first hole bearing connected by a first connection strut with the first slot bearing in the first tooth slot.