Abstract: A suture trimmer including an elongate shaft including an elongate lumen extending proximally from a distal end of the elongate shaft, a transverse through-opening disposed proximal the distal end of the shaft, and a groove extending proximally from the distal end of the shaft to a distal end of the opening. A fitting is disposed within the elongate lumen at the distal end of the shaft and extends distally therefrom. A cutting member is slidably received within the lumen of the shaft and configured to move between a proximal end of the opening and the distal end of the opening and cut a suture disposed within and extending from the opening.

Abstract: Implantable fasteners that can be repositioned after implantation, and implants including these repositionable implantable fasteners, have been developed. The fasteners are designed to fixate medical devices and other implantable components in the body, and can be adjusted after initial fixation in tissue to reposition the implanted medical device. The fasteners include a plurality of tissue retainers emanating from a supportive backing, wherein the tissue retainers can swivel from the plane of the supportive backing to engage tissue. The fasteners are fixated in tissue by movement in a first direction, and can be removed when pulled in a direction opposite to the first direction. The fasteners may be attached to medical devices before or after implantation. In one embodiment, the implant is a mastopexy device in the form of a mesh and the repositionable fastener.

Abstract: The invention comprises a fusion implant system for a generally u-shaped bone staple in which the staple is provided on a storage block with the two side legs in an un-splayed position, and an inserter having two triangular shaped pivoting handles has detachable tips that engage the staple on the storage block such that when the handles are aligned one over the other in a congruent position, the tips force the side legs into a splayed configuration at 90° and a sliding block holds the handles in this position to allow the staple to removed from the storage block and tamped using the inserter handles into respective bone.

Abstract: A surgical stapling apparatus (10) having an adjustable minimum tissue gap (G) is provided. The surgical stapling apparatus (10) includes a proximal handle portion (20), an elongated central body portion (30), a distal head portion (40), an anvil assembly (50), and an approximation assembly (100). The approximation assembly (100) includes a drive screw (140), a screw stop (150), and a screw extension (160). The adjustable minimum tissue gap (G) can be adjusted by selectively securing the screw extension (160) to the drive screw (140) using a first or second pair of openings (145, 147) of the drive screw (140). A method is also provided to determine the minimum tissue gap (G) of the surgical stapling apparatus (10).

Abstract: The present disclosure describes filter devices for deployment to body vessels where clots or emboli may need to be captured, particularly the vena cava. The filter device is of a spiral construction, having a first loop and a second loop, with a helical portion extending helically therebetween. The first and second loops assist in the filter being self-centering within a body vessel. A method of making a filter device is also disclosed.

Abstract: A long nose manipulatable catheter is described herein. The catheter generally comprises a flexible joint region defining a main lumen and an adjacent wire lumen. The wire lumen has an opening near or at a distal end of the flexible joint region and a push/pull wire can be pushed or pulled through the wire lumen. The catheter assembly may also comprise at least one radio-opaque marker band for securing the push/pull wire. The joint region has a predetermined length sized to affect a flexure of the joint and is generally located at the distal end of the catheter. The joint region itself may be varied to extend distally from where the braid terminates, or it may extend to encompass a portion of the braid. By varying a length of the joint region, the amount of curvature and flexure of the joint region can be controlled.

Abstract: A medical shaft instrument includes an instrument head with at least one jaw member for applying clamps with two jaw member branches. The instrument head is connectable over an instrument shaft having an outer tube with a handle for actuation of the jaw member. A clip magazine includes a retaining rail for supporting clamps in a predetermined storage position distance from each other. All the clamps are advanceable by a forth and back movable conveying and advancing rail. The clamp closest to the instrument head is conveyable by a tongue into the jaw member between the jaw member branches. The retaining rail has a distally extending support plate or bridge, which covers a jaw member region of a jaw member branch on the other jaw member branch facing side such that a tipping of an advanced or advanceable clamp on the jaw member branch is prevented.

Abstract: A hemostatic device is provided to stop bleeding at a puncture site on the wrist of a patient, the device comprising a transparent flexible band to be wrapped at the site where the bleeding is to be stopped, a curved frame having an inner peripheral side and possessing a first curved portion in its first half and a second curved portion in its second half, a first balloon provided on the inner peripheral side in the first half of the curved frame and a second balloon provided on the inner peripheral side in the second half of the curved frame. The bleeding from a first artery is stopped by compressing the first artery at the puncture site using inflation of the first balloon and the blood flow in the first artery is increased by compression of a second artery using inflation of the second balloon.

Abstract: Disclosed is a Rongeur for surgical use. The disclosed Rongeur has a push button actuator which, upon activation, allows the long parts of the Rongeur to be easily separated for thorough cleaning and sterilization for reuse.

Abstract: A surgical dissection tool for cutting bone and other tissue includes a cutting head having an outer surface having non-paired or an odd number of flutes formed therein. Each flute includes a rake surface intersecting with the outer surface to form a cutting edge, and a relief surface opposite the rake surface. The relief surface and the rake surface form a first angle. Each flute also includes a leading angled surface extending from the relief surface to a distal end portion of the cutting head, the leading angled surface and the rake surface forming a second angle substantially the same as the first angle.

Abstract: A patient-specific acetabular guide can be used for preparing an acetabulum of a patient to receive an acetabular implant. The acetabular guide includes a patient-specific engagement surface designed to be complementary and mateable with a corresponding surface of the patient's pelvic anatomy. The acetabular guide is designed during a pre-operative plan for the patient by a three-dimensional reconstruction of the anatomy of the patient using two-dimensional medical images. The patient-specific engagement surface has a first portion mateable with a portion of the acetabulum of the patient. The acetabular guide includes a guiding element that extends from the acetabular guide opposite to the first portion of engagement surface. The guiding element defines a bore designed to be oriented along an alignment axis for an acetabular implant when the acetabular guide is engaged to the acetabulum.

Abstract: A medical device and method are disclosed, which can sufficiently capture a capturing target even if a lumen is deformed. A medical device has an accommodation unit and an impeller holding unit. The accommodation unit includes a lumen which accommodates a capturing target present inside a living body, in which a shape of at least a portion on a distal side is deformable, and whose inner surface before and after deformation is configured to be flat as a whole, a distal opening portion and a proximal opening portion which respectively communicate with the lumen, and a filter for capturing at least one or more of the capturing targets. The impeller holding unit includes an impeller which causes a fluid to flow from the distal opening portion toward the proximal opening portion inside the living body so as to allow the lumen to aspirate the capturing target together with the fluid.

Abstract: A surgical tissue bag (7) for use in the removal of tissue from a surgical site comprises an elongate handle (8) having a proximal portion (15) and a distal portion (14), and a pouch (9) disposed at the end of the handle. The pouch (9) comprises a flexible ring (10) and a bag portion (11) depending from the ring and forming an enclosure to contain tissue and other fluid material. The handle (8) includes an offset portion (13) such that the distal portion (14) is offset from the proximal portion (15) by a discrete amount. The proximal portion of the handle forms a longitudinal axis, and the ring (10) forms a plane at an angle to the longitudinal axis. The bag portion (11) is shaped such that it defines a bag longitudinal axis, the bag longitudinal axis being non-orthogonal to the plane of the ring (10).

Abstract: The present disclosure relates to a dissecting tip for use in a surgical stapler or instrument.

Abstract: An ultrasonic instrument includes a body, a shaft assembly, and an end effector. The shaft assembly extends distally from the body. The shaft assembly includes an acoustic waveguide configured to acoustically couple with an ultrasonic transducer. The end effector includes an ultrasonic blade, a clamp arm and a clamp pad. The ultrasonic blade is in acoustic communication with the waveguide. The clamp arm is pivotally coupled with the shaft assembly. The clamp pad is configured to removably couple with the clamp arm while the clamp arm is pivotally coupled to the shaft assembly.

Abstract: An apparatus includes a body assembly, a shaft defining a longitudinal axis extending from the body assembly, an acoustic waveguide having a flexible portion, and an articulation section coupled with the shaft. A portion of the articulation section encompasses the flexible portion of the waveguide. The articulation section has a first member and a second member translatable relative to the first member. An end effector has an ultrasonic blade that is in communication with the waveguide. An articulating control assembly has a motor. The motor is operable to translate the first and second members to thereby deflect the end effector away from the longitudinal axis at the articulation section.

Abstract: An instrument includes an ultrasonic blade, a first fluid port in communication with the distal opening of the ultrasonic blade, a clamp arm, an irrigation member positioned adjacent to the distal end of the ultrasonic blade, and a second fluid port in communication with the irrigation member. The ultrasonic blade defines a distal opening. The ultrasonic blade is operable in a first mode to emulsify tissue that is distally positioned relative to the ultrasonic blade. The ultrasonic blade is further operable in a second mode to transect and seal tissue that is transversely positioned relative to the ultrasonic blade. The clamp arm is pivotable toward and away from the ultrasonic blade.

Abstract: A tissue-removing catheter includes a tissue-removing element operatively connected to a drive shaft for rotation of the tissue-removing element about an axis of rotation in a cutting direction. In some embodiments, the tissue removing element has a cutting blade and cutting teeth positioned radially inward of the cutting blade with respect to the axis of rotation. The cutting blade and cutting teeth are fixed with respect to one another to form first and second cuts in tissue as the tissue-removing element rotates. In certain embodiments, the tissue-removing element includes a cutting blade and raised elements spaced apart inward of the cutting blade relative to the axis of rotation to define an annular tissue-receiving channel between the cutting blade and the raised elements. A bottom surface of the channel can define cutting teeth.

Abstract: A catheter for performing a procedure at a treatment site in the lumen of a blood vessel. The catheter includes an elongate tubular shaft having a proximal bend, a distal bend and a hinge element. A distal portion of the shaft includes a window extending through the sidewall of the shaft between the hinge element and the distal end of the elongate tubular shaft. A working element is disposed within the lumen of the elongate tubular shaft and is configured for performing the procedure through the window at the treatment site. The bends and hinge element are configured to urge the window against a wall of the vessel at the treatment site.

Abstract: A needle guide device for releasable mounting on an imaging transducer or on an adaptor bracket on an imaging transducer is disclosed. The needle guide device includes a universal lockable mounting member which is configured for slidable releasable engagement with a coupling member on a specially constructed imaging transducer or on a conventional imaging transducer onto which a specially constructed adaptor is mounted. The needle guide device makes use of a slidable mounting member to cooperate with the coupling member. The needle guide device is adjustable to establish various selectable angular trajectories for a needle and has a low profile form factor to result in the creation of a minimal blind zone when mounted on the transducer and even if establishing a large angle for shallow needle penetration.

Abstract: An adapter assembly for connecting a loading unit to a handle assembly is provided. The adapter assembly includes a sleeve, a trocar assembly releasably securable with the sleeve, and a locking mechanism configured to releasably secure the trocar assembly within the sleeve.

Abstract: A surgical system for manipulating tissue. A steerable instrument is at least partially disposed in a deformable conduit. The steering instrument may include a control element and a deflectable portion operatively connected to the control element. The steerable instrument is actuatable to move between at least a substantially straight configuration and a curved configuration when the deflectable portion protrudes from an access cannula positioned within the tissue. The deflectable portion of the steerable instrument moves away from a longitudinal axis of the access cannula in order to deform the deformable conduit so that the deformable conduit occupies a deformed position. The steering instrument is removable from the deformable conduit so as to allow withdrawal of the deflectable portion of the steerable instrument from the deformable conduit without substantially displacing the deformed position of the deformable conduit. Methods of manipulating tissue with the surgical system are also disclosed.

Abstract: A bionic fixing apparatus is provided. The bionic fixing apparatus includes a body having a through hole and at least one slit. The through hole penetrates the body from the top surface to the bottom surface to form a top opening and a bottom opening. An inner diameter of the top opening is larger than an inner diameter of the bottom opening. The slit is connected to the bottom opening and extends upwardly from the bottom surface of the body, such that the body has a flexible bottom portion.

Abstract: A growing rod for mounting between attachment mechanisms that are secured to anatomical structures of a patient having scoliosis. The growing rod includes an outer housing and an inner housing disposed within the outer housing. The inner housing includes a magnet assembly including a magnet having a first pole and a second pole and a gear reduction mechanism coupled to the magnet. A first rod is secured to the inner housing and a second rod is secured to the outer housing. The gear reduction mechanism reduces an output rotation of the magnet to rotate a driver that operates to move the inner housing along a longitudinal axis with respect to the outer housing.

Abstract: An apparatus and method related to a collet for a spinal screw are described herein. In some embodiments, such an apparatus includes a screw, a movable head comprising a top portion and a bottom portion, a concave interior larger than a screw head, a connecting rod, a locking element screw, and a collet interposed between the screw head and the concave interior of the movable head, where the collet comprises a flexible hinge, and where the collet reduces axial compression force transferred from the set screw to the screw head.

Abstract: Occipital plate systems are described. The occipital plate systems include an occipital plate having an upper portion and lower portion. The lower portion can include an opening for receiving one or more lateral members therethrough. The lateral members include top and/or side apertures for receiving lateral connectors that are attached to polyaxial screw receiving members. The occipital plate systems can also include low-profile clamping arms that are operably attached to an occipital plate via an extension member and articulating joint member. The clamping arms, along with tension cables attached intermittently along its length, can be used in addition to or instead of screws and hooks to secure an occipital plate system to vertebrae.

Abstract: A facet distraction prosthesis includes an array of facet distraction base elements, connected to each other by a set of connector elements located at adjacent base elements. The set of connector elements includes a male connector having an at least partial cylindrical or spherical contour that is received in, and articulates with, an at least partial cylindrical or spherical recess of a female connector, so that adjacent ones of the base elements can bend in multiple degrees of freedom about different bending axes with respect to each other and adapt to a geometry of a facet joint.

Abstract: Devices for retracting tissue during a minimally-invasive, posterior spinal fusion procedure include a blade positionable along a passageway device connected to a connecting element implanted in a vertebra of the spine, such that the blade covers at least a portion of a longitudinal opening of the passageway device. The blade may be coupled to the passageway device by receiving the passageway device with a receiving portion. Systems for displacing the vertebrae of the spine include first and second extenders, the distal ends of each of which are configured to engage the connecting elements. Each extender may include a shaft configured to be securely engaged within a cage of the respective connecting element. The devices and systems of the present invention may be used in connection with an interbody fusion technique performed through an opening extending between the passageway devices, and an intermediate retractor blade may provide additional tissue retraction.

Abstract: A tool set for implanting a rod in a human spine in conjunction with bone screws. The tool set includes a pair of end guide tools that receive opposite ends of the rod in channels and under manipulation by a surgeon facilitate transport of the rod toward the bone screws attached to the guide tools. Intermediate guide tools having guiding pass through slots are utilized to guide intermediate locations along the rod toward associated bone screws. An attachment structure operably connects the guide tools to the bone screws. The guide tools each include a lower guide and advancement structure to allow a closure top with mating structure to be rotated and driven downward against the rod and to cooperate with similar structure in the bone screw to seat and lock the rod therein. A method utilizing the tool set allows a surgeon to percutaneously implant the rod in the patient.

Abstract: A device for implanting a bone fixation system comprises an insertion instrument extending from a proximal end to a distal end, the distal end having an engagement portion for removably engaging a proximal end of a bone plate, the insertion instrument having an elongated channel extending therethrough to permit insertion of a first protection sleeve therethrough, wherein a longitudinal axis of the elongated channel is coaxial with a longitudinal axis of a first opening extending through the bone plate and a first protection sleeve insertable into the elongated channel and guiding insertion of an anti-rotation screw therethrough and through the bone plate, a longitudinal axis of the first protection sleeve being angled with respect to the longitudinal axis of the elongated channel.

Abstract: Embodiments provide methods, apparatuses, and systems for fixation of a fractured bone with a bone plate. In various embodiments, the systems and plates provide elastic suspension of the receiving holes relative to an osteosynthesis plate. This elastic suspension can promote load distribution between the screws that connect a bone segment to the plate, thereby reducing stress risers and load shielding effect. In addition, stress at the screw holes, and within the construct as a whole, is reduced by incorporation of these elastic elements in the plate. Additionally, in some embodiments where fracture healing by callus formation is desired, elastic suspension of the receiving holes relative to the osteosynthesis plate can enable small, controlled amounts of relative motion between bone fragments connected by the plate. This relative motion can promote fracture healing by callus formation.

Abstract: A T-shaped plate for osteosynthesis, has at least three first attachment holes (124) and second attachment holes (113) including a curved linkage area (13). The epiphysis portion has a recess (34) with a curved profile from one end to the other of the T-bar when viewed from the top, and a curved profile when viewed from the side, and the diaphysis portion is straight and rigid. The plate is non-deformable at normal temperatures. The leg of the T has a rounded inner surface (56). The linkage area (13) has an S-shaped longitudinal cross-section, the ends (132, 133) of which that are adjoined with the bar and leg of the T, respectively, are substantially parallel to one another.

Abstract: A X-ray detectable bioabsorbable bone screw comprises a light-emitting element, a light-sensing element, a transparent inner encapsulant body, an outer covering body, and two conductive frames on which. An optically reflective surface is in contact and formed between the dome enclosing portion of the transparent inner encapsulant body and the outer encapsulant body. A portion of the light emitted by the light-emitting element is reflected to the light-sensing element through the optically reflective surface, and the other portion of the light emitted from the light-emitting element is directly emitting to the light-sensing element through the transparent inner encapsulant body. The present invention applies the optically reflective surface to minimize the overlapping area between the two conductive frames, and reduces the capacitance value, and increases the CMRR in a manner that the photo coupler of the present invention is able to meet the standard of electrical characteristics as required.

Abstract: A handling device for handling an augmentation implant is proposed, comprising an elongated housing having an axial through-bore for accommodating a sonotrode of an ultrasound applicator, and a lateral opening for inserting a pin magazine with an augmentation pin, wherein the axial through-bore and the lateral opening are connected to each other. The handling device further comprises a distal implant portion for fastening a proximal end of the augmentation implant at the housing, and a proximal tool portion for driving and/or augmenting the augmentation implant.

Abstract: An ultrapolar electrosurgery blade assembly with argon beam capability and an ultrapolar electrosurgery pencil with argon beam capability that are both capable of using monopolar energy in a bipolar mode for cutting and coagulation and using ionized gas for cutting and coagulation.

Abstract: A method for suppressing arc formation during an electrosurgical tissue treatment procedure includes the steps of supplying pulsed current from an energy source to tissue and measuring the pulsed current supplied from the energy source. The method also includes the steps of comparing an instantaneous measured pulse to a predetermined threshold and controlling the pulsed current supplied from the energy source based on the comparison between the instantaneous measured pulse and the predetermined threshold.

Abstract: A surgical instrument includes an end effector assembly and a deployment mechanism for deploying a proximal hub associated with an energizable member between proximal and distal positions. The deployment mechanism includes a rotatable shaft, a cord including a proximal end engaged to the rotatable shaft and a distal end engaged to the proximal hub, a biasing member positioned to bias the proximal hub towards the distal position, and a gear assembly operably coupled to the rotatable shaft. The gear assembly is configured to move the proximal hub from the distal position to the proximal position against the bias of the biasing member by rotating the rotatable shaft relative to the cord to at least partially wind-up the cord about the rotatable shaft.

Abstract: In the present invention, a system and method for determining the orthogonality and applied force vector of an ablation catheter includes the steps of providing an electrophysiology system including an RF generator, a processor operably connected to the RF generator, a display operably connected to the processor and an ablation catheter operably connected to the RF generator and the processor, the catheter including an ablation electrode disposed opposite the RF generator and a number of microelectrodes disposed on and electrically isolated from the ablation electrode, the processor configured to compare data signals obtained from the microelectrodes with one another to derive a difference value for each pair of data signals, obtaining data signals from the microelectrodes, comparing the data signals from microelectrode pairs to determine difference values and generating a visual representation on the display of the orthogonality and applied force vector of the ablation electrode using the difference values.

Abstract: Ablation systems of the present disclosure facilitate the safe formation of wide and deep lesions. For example, ablation systems of the present disclosure can allow for the flow of irrigation fluid and blood through an expandable ablation electrode, resulting in efficient and effective cooling of the ablation electrode as the ablation electrode delivers energy at a treatment site of the patient. Additionally, or alternatively, ablation systems of the present disclosure can include a deformable ablation electrode and a plurality of sensors that, in cooperation, sense the deformation of the ablation electrode, to provide a robust indication of the extent and direction of contact between the ablation electrode and tissue at a treatment site.

Abstract: A method, including selecting a first maximum radiofrequency (RF) power to be delivered by an electrode within a range of 70 W-100 W, and selecting a second maximum RF power to be delivered by the electrode within a range of 20 W-60 W. The method also includes selecting an allowable force on the electrode within a range of 5 g-50 g, selecting a maximum allowable temperature, of tissue to be ablated, within a range of 55° C.-65° C., and selecting an irrigation rate for providing irrigation fluid to the electrode within a range of 8-45 ml/min. The method further includes performing an ablation of tissue using the selected values by initially using the first power, switching to the second power after a predefined time between 3 s and 6 s, and terminating the ablation after a total time for the ablation between 10 s and 20 s.

Abstract: A method and system of ablating melanin are provided. Stepwise multi-photon fluorescence is induced in melanin within a region of tissue. The fluorescence is detected, and at least a portion of the melanin from which the fluorescence is detected is ablated. The system and method can use a continuous wave laser in the near infrared range for the inducement and ablation of melanin, providing high resolution at low cost.

Abstract: The present application describes computer apparatus and software programs useful to the field of corrective spinal surgery. The apparatus and software implement and facilitate methods for assessing the degree of balance and alignment achieved through corrective measures applied to the spine prior to completing a surgical procedure. The apparatus and software facilitate pre-operative planning and virtual testing of the corrective measures to be applied. The apparatus and software further facilitate intra-operative reconciliation with the pre-operative plan prior to completing the surgery.

Abstract: The present application describes computer apparatus and software programs useful to the field of corrective spinal surgery. The apparatus and software implement and facilitate methods for assessing the degree of balance and alignment achieved through corrective measures applied to the spine prior to completing a surgical procedure. The apparatus and software facilitate pre-operative planning and virtual testing of the corrective measures to be applied. The apparatus and software further facilitate intra-operative reconciliation with the pre-operative plan prior to completing the surgery.

Abstract: A medical fastening device for noninvasively fastening a medical marking device comprising two or more marking elements to a body part of a patient is provided. The fastening device has a support body which extends over a surface in two directions of extent aligned at an angle to each other and is adaptable in its shape to the contour of the body part, to which the marking device is fixed or fixable. The support body is elastically stretchable in the surface of its extent and comprises a first stretch area and at least one second stretch area, the stretchability of which in at least one direction in the surface of the extent of the support body is less than that of the first stretch area. A medical referencing device and a medical instrumentation comprising such a fastening device are also provided.

Abstract: An optical tracking system includes at least one tracking array for generating and optically transmitting data between 1 and 2,000 MB/s. At least one tracker for optically receiving the optically transmitted data between 1 and 2,000 MB/s is also provided. The tracking system is used not only for tracking objects and sending tracking information quickly but also providing the user or other components in an operating room with additional data relevant to an external device such as a computer assisted device. Orthopedic surgical procedures such as total knee arthroplasty (TKA) are performed more efficiently and with better result with the optical tracking system.

Abstract: The present invention relates to a computer-implemented medical method of determining a spatial position of a medical optical observation device (1), the method comprising executing, on a processor of a computer (2), the steps of:—acquiring position data describing, for a plurality of points in time, the spatial position of the observation device (1) within a co-ordinate system of a medical tracking system (3);—determining, based on the position data, average position data describing an average value for the position of the observation device (1) within the co-ordinate system of the medical tracking system (2);—acquiring image data describing a plurality of images acquired at the plurality of points in time via a camera (4) assigned to the observation device (1) and detecting the field of view (5) of the observation device (1);—determining, based on the image data, optical flow data describing an optical flow for the plurality of images;—determining, based on the average position data and the optical flow dat

Abstract: Medical software tools platform utilizes a surgical display to provide access to specific medical software tools, such as medically-oriented applications or tools, that can assist those in the operating room, such as a surgeon or surgical team, with a surgery. In particular, an optical sensor located within an endoscopic camera may register subtle differences in color characteristics reflected from a tissue surface and in turn transmit the information to a medical image processing system. Moreover, the new tools are intended to help surgeons better determine the boundaries between healthy and diseased regions during surgical procedures. Various tools are intended to be used in procedures where indocyanine green (ICG) fluorescent dye is used. Intraoperative fluorescence imaging is commonly used during minimally invasive procedures to enable surgeons to visualize tissue perfusion and anatomical structures. The term perfusion refers to the passage of blood and tissue fluid through the capillary bed.

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

Abstract: A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.

Abstract: A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.