Abstract: A method of manufacturing an optical obturator includes providing an injection mold including a mold cavity defining an outer surface of the optical obturator and a core pin centrally positioned within the mold cavity. The core pin defines an inner surface of the optical obturator. In particular, the core pin may be cantilevered to the injection mold. The method further includes injecting a first material between the core pin and the mold cavity to form the tubular shaft and injecting a second material between a distal portion of the core pin and a distal portion of the mold cavity to form the optical tip.

Abstract: A trocar assembly includes a seal assembly that maintains insufflation pressure when sized seal cartridges are removed and replaced. The trocar assembly includes a housing that defines a working chamber, and a cannula distally extends from the housing and defines a lumen that communicates with the working chamber. The seal cartridge is arranged within the working chamber, and may include one or both of a proximal seal assembly and a distal seal assembly arranged distally from the proximal seal assembly, and may further include a bushing extending distally from a distal end of the seal cartridge and into the lumen. A tertiary seal may also be positioned within the working chamber distal to the seal cartridge, such that the bushing extends through the tertiary seal when the seal cartridge is received within the working chamber.

Abstract: Various trocars and trocar supports are provided for allowing an insufflation port on the trocar to be coupled through the trocar support to an insufflation fluid. In one embodiment, the trocar includes a housing, a cannula extending through the housing, and an insufflation port projecting from the housing. A trocar support is provided having an opening that receives the insufflation port on the housing such that the insufflation port is unobtrusive during use and can be connected and disconnected rapidly.

Abstract: Access assemblies includes an instrument valve housing and a valve assembly disposed within the cavity of the instrument valve housing. The valve assembly includes a guard assembly, a seal assembly disposed adjacent to the guard assembly, and a centering mechanism for maintaining the seal assembly and guard assembly centered within a cavity of the instrument valve. In embodiments, the seal assembly includes a plurality of seal sections that are movable from an unfolded configuration to folded configuration in which the seal assembly forms a hexagonal member defining an opening to facilitate sealed passage of a surgical instrument. The seal sections may include a tapered inner edge for engaging a surgical instrument inserted through the instrument valve housing.

Abstract: A medical instrument configured to be inserted into a body cavity comprises a body comprises a first probe at a first end, the first probe comprising a first cylindrical portion with a first outer circumferential surface of a first diameter; a first circumferential edge at a distal end of the first probe; a first distal lip projecting outwardly from the first outer circumferential surface beyond the first circumferential edge and extending for at least a part of a circumference of the first circumferential edge; and a first marker lip projecting outwardly from the first outer circumferential surface and extending for at least a part of a circumference of the first outer circumferential surface; wherein the first distal lip is positioned distal to the first marker lip; and wherein the body comprises a hollow cavity to enable a second medical instrument to pass therethrough.

Abstract: A device includes a first arm having a first rotating member including a first gear coupled thereto and a first rotation imparting member fixed thereto, a second arm pivotally coupled to the first arm at proximal ends of the first arm and the second arm, the second arm having a second rotating member including a second gear coupled thereto and a second rotation imparting member fixed thereto, wherein when the first arm and the second arm are brought towards each other, the first rotation imparting member engages with the second gear to cause the second rotating member to rotate in a first direction, and the second rotation imparting member engages with the first gear to cause the first rotating member to rotate in a second direction, opposite the first direction.

Abstract: A polyaxial bone screw assembly includes, a threaded shank body having an integral upper portion receivable in a receiver, the receiver having an upper channel for receiving a longitudinal connecting member and a lower cavity cooperating with a lower opening. A retaining member for capturing the shank in the receiver includes a sloping surface for a frictional, press fit, cammed engagement with the shank. A compression insert having a resilient structure provides non-floppy positioning of the shank with respect to the receiver and also independent locking of the shank with respect to the receiver.

Abstract: An element with a shank (1) and a holding element (2) connected to it for connecting to a rod (100) is provided, wherein the holding element (2) has a recess (3) having a U-shaped cross-section for receiving the rod (100) with two legs (4, 5) open at one end (6) and an inner thread (7) on the open legs (4, 5) and a locking element (9) with an outer thread (8) which cooperates with the inner thread of the legs, wherein the inner thread (7) of the legs and the outer thread (8) of the locking element are constructed with a flat thread in which the two flanks (7a, 7b; 8a, 8b)) enclose an angle of 90° in each case with the screw axis (S, M). This prevents splaying of the open legs when the locking element is screwed in. The flat thread is easy to produce.

Abstract: A surgical connector useful to link spine rods together. The connector may be used adjacent a pair of mounting screws in one vertebra to limit movement between the screws or may be used to apply a lateral force to a portion of the spine to change curvature. A method of performing spinal surgery is also provided to reinforce a patient's spine.

Abstract: A surgical kit includes a shield for covering a portion of the spine of a subject. The shield can include an attachment portion adapted to engage a bone fixation assembly which is adapted to be fixed on multiple vertebra bones of the subject. The bone fixation assembly can include a vertebra joining member secured between two bone anchors. Each bone anchor can include a fastener portion adapted to be implanted into a vertebra bone and a head coupling portion adapted to secure the vertebra joining member. The shield can be coupled to the bone fixation assembly via separate coupling elements, such as a clip or an adjustable link secured between two vertebra joining members of the bone fixation assembly. Alternatively, the shield can include an integral attachment portion configured to engage the bone fixation assembly directly.

Abstract: Interspinous process spacing devices and associated methods are provided. In one embodiment, an interspinous process spacing device includes a first attachment side, a second attachment side, and a spacer. The first attachment side and the second attachment side each include a central portion, a first wing portion, and a second wing portion. The central portion includes an inner surface extending along at least a majority of an anterior-posterior height of the central portion, and the first wing portion includes an inner surface extending along at least a majority of an anterior-posterior height of the first wing portion. The inner surface of the first wing portion extends in a direction transverse to the inner surface of the central portion, and the anterior-posterior height of the first wing portion is less than the anterior-posterior height of the central portion.

Abstract: The present invention is directed to a surgical tool and a method of use thereof. The surgical includes a rod having opposite ends, the rod configured to be received into a rod-receiving portion of a head of a pedicle screw; a pair of elongated arms each having a proximal end and a distal end, the pair of elongated arms at proximal ends coupled to the opposite ends of the rod; and a handle connects the distal ends of the pair of elongated arms, the handle having a second length, the handle shaped to be grabbed by a hand.

Abstract: The invention relates to an assembly for use in minimally invasive surgical procedures, including bone implant fixation procedures. The assembly is configured to provide a faster and more accurate measurement of depth of holes for placement of bone screws and fasteners. The assembly includes a guidewire having a deployable distal hook member configured to securely anchor into a desired position relative to a hole drilled in a bone and thereby provide an accurate datum for a measuring instrument for determining a depth of the hole for subsequent screw placement. The assembly further includes a surgical depth instrument to cooperatively function with the guidewire and obtain one or more measurements while operably coupled to the guidewire.

Abstract: The present disclosure provides devices, systems and methods of bone fixation. The disclosed devices, systems and methods facilitate secure fixation of first and second bone segments, such as to promote fusion thereof. The devices may include at least one bone engagement projection extending from an engagement surface of a plate portion for implantation into the first bone segment. A portion of the plate portion spaced from the at least one bone engagement projection may include at least one bone fixation aperture. The least one bone fixation aperture may allow for a one bone engagement projection to be inserted therethrough and into the second bone segment to affix the plate portion to the second bone segment. In some embodiments, the at least one bone fixation aperture may be a compression slot.

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

Abstract: A method and system for performing bone fusion and/or securing one or more bones, such as adjacent vertebra, are disclosed. The screws include a threaded tip connected to a main shaft and a threaded outer sleeve that rotates relative to the outer shaft until locked down. Independent rotation of the threaded outer sleeve relative to the threaded distal tip allows compression or distraction to modify the gap between the vertebral bodies. The screws are passed from the inferior to superior vertebra or superior to inferior, for example, through a transpedicular route to avoid neurological compromise. At the same time, the path of screw insertion is oriented to reach superior or inferior vertebra. An intervertebral cage of the system is configured for lateral expansion from a nearly straight configuration to form a large footprint in the disc space. The screws and cage may be combined for improved fixation with minimal invasiveness.

Abstract: An apparatus to limit a seating depth of a fastener can include a cylindrical housing, a pin, a driver, and a biasing element. The cylindrical housing can include a proximal portion couplable to a tool, a distal portion engageable with a workpiece, and a bore extending from an opening on the distal portion towards the proximal portion along a longitudinal axis of the housing. The pin can be secured to the housing and can extend radially inward into the bore. The driver can be translatable within the bore of the housing and can extend beyond the opening on the distal portion to engage the fastener. The driver can include a slot that can be engageable with the pin to receive a torque from the pin and can rotate with the housing to transfer the torque to a fastener when the pin engages the slot.

Abstract: The present disclosure relates generally to cryosurgery apparatuses and systems for and methods of treatment of distal lung tissue or lesions, and more particularly to guided cryogenic delivery to a distal treatment area within lung tissue via a low-profile, high pressure, closed-tipped catheter or probe configured to pass through a working channel of a bronchoscope and extend to a distal region of the lung.

Abstract: A cautery device includes an elongated handpiece extending axially from a proximal end to a distal end and a cautery tip extending coaxially with the handpiece from the distal end of the handpiece. The tip defines a channel extending coaxially with the handpiece along at least a portion of the length of the cautery tip from a proximal open end to a distal end. The device includes a gas supply connection extending from the proximal end of the handpiece for supplying gas to the cautery tip. The gas supply connection is fluidly coupled to the cautery tip. The device includes an electric supply connection extending from the proximal end of the handpiece for supplying electricity to the cautery tip. The electric supply connection is electrically coupled to the cautery tip. The gas supplied to the cautery tip is introduced to the channel at the proximal open end and exits to envelop the distal tip.

Abstract: A method for assessing a lesion formed between first and second regions of body cavity tissue, the method including using a first probe in contact with the tissue at a stimulus location in the first region, and applying to the tissue or sensing in the tissue a first activation signal having a first activation peak at a first time. Respective second activation signals having respective second activation peaks following the first activation signal are received from a second probe having multiple electrodes in contact with the tissue at respective sensing locations in the second region, and based on a temporal relation between the first and second activation peaks and a spatial relation between the stimulus location and the sensing locations, one of the multiple electrodes proximal to a gap in the lesion is identified. A map of the body cavity is displayed with the identified electrode marked on the map.

Abstract: The methods disclosed herein are directed towards improving ablation efficiency associated with applying nanosecond electric pulses (nsEP) to tissue. In particular, applying nsEP to tissue can open pores in the cellular membranes of the tissue. These pores can be kept open longer by cooling the tissue. The combined application of nsEP and the cooling of tissue may have synergistic effects on triggering apoptosis of cells in the tissue. This allows for numerous practical benefits associated with nsEP-based tissue ablation to be realized. For instance, nsEP of lower pulse strength or lower numbers of pulses to be used, which can be provided by smaller pulse generators operating on less power.

Abstract: A medical device system may be configured to detect an improper energy transmission configuration therein. The condition may be detected by way of a detection of a condition where an energy-transmitting electrode of the medical device system becomes too close to or becomes in contact with an object resulting in an inability of the electrode to properly transmit energy. For example, if the energy-transmitting electrode is a first electrode configured in its operational state to transmit energy to bodily tissue adjacent the first electrode, but the first electrode is inadvertently contacting a second electrode, such contact may cause at least some energy transmitted by the first electrode to follow an unintended path away from its intended path to the adjacent tissue. Such a condition may be detected based at least upon an analysis of information acquired from a sensing device system.

Abstract: A surgical forceps includes a first shaft member including a proximal portion having a handle at a proximal end thereof and a distal portion having a jaw member at a distal end thereof. The proximal and distal portions are pivotable between an aligned position and an angled position. A second shaft member includes a jaw member at a distal end thereof and a handle at a proximal end thereof. The shaft members are pivotable relative to one another between a spaced-apart position and an approximated position for moving the jaw members relative to one another between an open position and a closed position to grasp tissue therebetween. The proximal portion of the first shaft member is pivoted relative to the distal portion of the first shaft member from the aligned position to the angled position upon movement of the first and second shaft members towards the spaced-apart position.

Abstract: A method and apparatus for ablating tissue are disclosed that comprise positioning two or more bi-directional ablation energy sources in spaced-apart relation in sufficient proximity to the tissue to be ablated so that, upon activation each energy source creates an energy field in the tissue to be ablated. The energy sources are spaced such that the energy fields created by at least one of the activated sources partially overlaps with the energy field created by one or more of the other energy sources. The energy sources are alternately activated and deactivated, so that a substantially constant energy field results where the energy fields created by at least two of the energy sources overlap. While the energy sources are preferably RE energy sources, other energy sources, such as microwave, may be used.

Abstract: A bipolar electrosurgical fusion/sealer and dissector is provided that is arranged to simultaneously fuse and cut tissue captured between jaws of the instrument. The jaws include particularly positioned, shaped and/or oriented electrodes along with a compressible landing pad to perform the simultaneous fusion and cutting of tissue. An electrosurgical generator is arranged to supply RF energy through the instrument and monitors a phase angle of the supplied RF energy and adjusts or terminates the supplied RF energy based on the monitored phase angle to optimally fuse and dissect the tissue.

Abstract: A surgical instrument includes an end effector assembly and a switch assembly. The end effector assembly includes a monopolar assembly and a bipolar assembly. The switch assembly includes first and second bipolar inputs, first and second bipolar outputs, a monopolar input, and a monopolar output. The switch assembly is transitionable between a first condition, wherein the first and second bipolar inputs are coupled to the first and second bipolar outputs, respectively, for supplying energy to the bipolar assembly, and a second condition, wherein the monopolar input and the monopolar output are coupled to one another for supplying energy to the monopolar assembly.

Abstract: A catheter is described for use in cannulating a bile duct in ERCP or sphincterotomy procedures. The catheter has a continuous compound curve that has first and second curves. The first and second curves have radii of curvature and lengths that orient the tip of the catheter selectively toward a bile duct.

Abstract: A monopolar telescopic electrosurgery pencil with argon beam capabilities which includes telescoping members contained within the pencil and a monopolar electrosurgery blade assembly with a non-conductive tube member for an inert gas.

Abstract: Embodiments of medical devices and methods are disclosed. The medical devices typically comprise a flexible elongate member defining a lumen, and a support spine affixed to the distal end and extending proximally therefrom within the elongate member lumen. In some embodiments, the support spine is configured to support at least a portion of the elongate member when the elongate member is bent or curved. Some embodiments include apertures at or near the distal end for enabling fluid communication between the lumen and the outside environment. In some embodiments, the support wire extends proximally from the distal end within a distal portion of the lumen such that a proximal portion of the lumen is substantially unobstructed, thereby reducing turbulence of fluid flowing through the lumen.

Abstract: A method for treatment evaluation includes applying energy through a probe to ablate tissue at a plurality of sites in an organ in a body of a patient, thereby creating lesions in the tissue including at least first and second lesions at respective first and second, mutually-adjacent sites. Location coordinates and respective treatment parameters are recorded at each of the sites with respect to the applied energy. Based on the recorded treatment parameters, respective measures of size of the lesions are computed, including at least respective first and second measures of the first and second lesions. An indication of contiguity between at least the first and second lesions is generated responsively to the first and second measures and to a distance between the location coordinates of the first and second sites.

Abstract: Helical push wire electrodes are provided. The electrodes may create a continuous helical lesion. One or more electrodes may wind around a support section and create a set of helixes having fixed ends and hitches. Pushing or pulling an end of the electrode transforms the electrodes between a delivery configuration and a deployed configuration such that the set of helixes expand or contract axially. Different portions of the electrodes may be surrounded by sleeves. The sleeves may regulate how the wires transform and provide insulation. Various insulation configurations of the electrodes may provide creations of discrete lesions, efficient energy delivery and reduced power consumption.

Abstract: The invention relates to an energy application apparatus for applying energy to an object. A plurality of energy application elements (4) applies energy to the object at different locations and at least one ultrasound element (18) generates an ultrasound signal being indicative of a property of the object at the different locations, wherein at least one energy application element is individually controlled depending on an energy application influence, in particular, an ablation depth, determined for the location at which the at least one energy application element applies energy from the ultrasound signal. Thus, at least one local control point for applying energy to the object is provided, thereby improving the control of applying energy to the object.

Abstract: A system including a catheter navigable to a location within a patient, a lumen extending through the catheter and ending at the distal end in an orifice, a fluid controller in fluid communication with the lumen of the catheter and capable of supplying a fluid to or removing a fluid from an area proximate the desired location. The control of the fluid in the area proximate the desired location affecting a dielectric constant of the area proximate the desired location. The system includes a microwave energy source, and a microwave ablation probe connected to the microwave energy source, the microwave ablation probe being navigable to a desired location within the patient. Application of energy from the microwave energy source to the microwave ablation probe in an area proximate the desired location having the affected dielectric constant results in a substantially spherical tissue effect in the area proximate the desired location.

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: A laser tip, a laser treatment tool, a laser treatment device and a laser treatment system are provided for performing laser treatment surgery and minimizing any bleeding. A laser tip is attachable to a laser radiation opening located at the tip end of a laser transmission tube. The laser tip includes an attaching portion detachable from the laser radiation opening and a contact portion contactable with biological tissue. The contact portion is at the front of the attaching portion in the direction in which the laser light exits the laser radiation opening. An open space is located between the contact portion and the attaching portion, and a coupler couples a part of the contact portion and a part of the attaching portion. The contact portion has a reflective surface at a rear end thereof which reflects the laser light toward the coupler.

Abstract: Systems for enabling delivery of very high peak power laser pulses through optical fibers for use in ablation procedures preferably in contact mode. Such lasers advantageously emit at 355 nm wavelength. Other systems enable selective removal of undesired tissue within a blood vessel, while minimizing the risk of damaging the blood vessel itself, based on the use of the ablative properties of short laser pulses of 320 to 400 nm laser wavelength, with selected parameters of the mechanical walls of the tubes constituting the catheter, of the laser fluence and of the force that is applied by the catheter on the tissues. Additionally, a novel method of calibrating such catheters is disclosed, which also enables real time monitoring of the ablation process. Additionally, novel methods of protecting the fibers exit facets are disclosed.

Abstract: A method for selecting a medical device for use in the performance of a medical procedure. The method comprises acquiring image data relating to an anatomical region of interest of a patient's body and generating a multi-dimensional depiction of the anatomical region of interest using the acquired image data. The method further comprises defining a plurality of points relative to the multi-dimensional depiction, determining one or more measurements based on the defined plurality of points, and then selecting a medical device to be used based on the determined measurements.

Abstract: A data processing method, performed by a computer, for determining implant positions of two implant components relative to two bones, wherein each of the implant components is to be attached to one of the bones such that the implant components form a joint between the bones, and wherein an implant position is a relative position between the implant component and the corresponding bone, said method comprising the steps of: a) acquiring a set of target poses, wherein a target pose represents a relative position to be achieved between the two bones; b) calculating a set of virtual poses for a pair of virtual test implant positions, wherein the set of virtual poses comprises one virtual pose for each of the target poses and wherein a virtual pose represents a relative position between the two bones if the virtual test implant positions were applied as the implant positions; c) calculating a pose deviation value for each of the target poses, wherein a pose deviation value represents the difference between a tar

Abstract: A system for calibrating an electromagnetic navigation system is provided. The system includes an antenna assembly having a substrate, multiple pairs of transmit coils, multiple receive coils, multiple input terminals, and multiple output terminals. The substrate includes multiple layers, and each of the transmit coils is deposited on a respective one of the layers and each of the receive coils is deposited on another respective one of the layers. Each of the pairs of transmit coils corresponds to a respective one of the receive coils. Each of the transmit coils is coupled to a respective one of the input terminals, and each of the receive coils is coupled to a respective one of the output terminals.

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

Abstract: Devices and systems are provided for tracking a position and orientation of a handheld implement, such that the handheld implement may be trackable with an overhead tracking system. A support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated an angle relative to a longitudinal axis of the longitudinal portion. A marker assembly may include a support member for supporting the markers, and a connector for removably attaching the marker assembly to one or more handheld implements. The marker assembly may be configured to be removably attachable to a plurality of connection adapters, where each connection adapter is further connectable to a handheld implement, optionally at a calibrated position, such that a single connection adapter can be optionally employed to track a plurality of handheld implements. The handheld implement may be a medical instrument.

Abstract: A calibration device is provided having a body with an exterior surface configured for placement about a tool such that the body rotates about a tool axis. One or more fiducial marker is positioned on the exterior surface and in communication with a tracking system. A fixed fiducial marker array is provided that is also in communication with the tracking system. A calibration tool defines the tool axis relative to the fiducial marker array. A surgical system is also provided with a tracking module that calculates a center point of the rotation or a normal vector to the circular path to define a tool axis orientation. A method of using the surgical system and defining a tool axis relative to a fiducial marker array is provided. A system for defining a robot link orientation or tracking a tool a medical procedure and a fiducial marker array are provided.

Abstract: Systems and methods are disclosed whereby a surface detection system is employed to obtain intraoperative surface data characterizing an exposed surface of the spine. In some embodiments, this intraoperative surface data is registered to segmented surface data obtained from volumetric data of the spine in order to assess the intraoperative orientation of the spine and provide feedback associated with the intraoperative orientation of the spine. The feedback may characterize the intraoperative spinal orientation as a change relative to the preoperative orientation.

Abstract: A robot comprising an arm extending between a base and an attachment for an end effector, the arm comprising: a first arm part; a second arm part distal of the first arm part; and a joint whereby the first and second arm parts are coupled together, the joint permitting the first and second arm parts to rotate relative to each other about at least two mutually offset axes; a control rod attached to the second part of the arm at a location spaced from the first and second axes, the control rod extending distally of that location along the first arm part; and a drive mechanism for driving the control rod to move relative to the first arm part and thereby alter the attitude of the second arm part relative to the first arm part.

Abstract: Various exemplary drive apparatuses and associated methods are disclosed for driving an elongated member, e.g., a catheter, sheath, or guidewire. An exemplary drive apparatus may include a first component and a moveable component, each configured to selectively grip the elongated member. In some examples, the first and moveable components may each include a gripping device. The moveable component may be configured to selectively move axially and rotationally with respect to a support surface to effect axial movement and rotation movement, respectively, of the elongated member with respect to the support surface within a range of motion of the moveable component. The moveable component may be configured to move the elongated member across a predetermined movement having a magnitude greater than the range of motion.

Abstract: A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising an instrument interface element for driving the pair of driving elements, the instrument interface element displaceable over a first displacement range, the instrument interface element comprising a body receivable in a drive assembly interface element of a robot arm when the robotic surgical instrument engages with the surgical robot arm, the drive assembly interface element displaceable over a second displacement range, the length of the body in the displaceable direction being greater than one of the maximum travel of the body over the first displacement range and the maximum travel of the drive assembly interface element over the second displacement range.

Abstract: In a remote control robot system including a plurality of slave arms, slave arm has a plurality of control modes of an automatic mode in which slave arm is operated based on a task program, a manual mode in which slave arm is operated based on an operator's operation received by a master device, and correctable automatic mode in which slave arm is operated based on task program while operation is sequentially corrected by the operator's operation received by master device. Operation sequence information includes an automatic part in which slave arm performs a work in the automatic mode, and a selected part in which slave arm performs a work in one selected from plurality of control modes, and the selected parts do not overlap with each other in time among the plurality of slave arms. Based on the operation sequence information, the plurality of slave arms are operated.

Abstract: A surgical instrument includes: a distal movable component; a proximal drive assembly including a drive shaft, a capstan, and a plurality of splines; a first cable extending between the distal movable component and the drive shaft; and a second cable extending between the distal movable component and the capstan. The drive shaft includes a tapered projection, and the capstan includes a tapered bore in which the tapered projection of the drive shaft is received. The plurality of splines engage the tapered projection of the drive shaft with the tapered bore of the capstan.

Abstract: A medical manipulator including an insertion portion, where the insertion section including a bending portion and an end effector disposed on a distal end side of the insertion portion. The medical manipulator further including a motor configured to generate a first drive force for moving the bending portion; a lever configured to generate a second drive force for moving the bending portion, the lever being used to move the bending portion instead of the motor; a wire configured to transmit the first drive force or the second drive force to the bending portion; and a transmission blocking device configured to switch from the first drive force to the second drive force.

Abstract: A surgical instrument comprises a shaft, wherein a deflectable articulation section is formed at the shaft, a proximal handling portion at a proximal end of the shaft, a distal effector at a distal end of the shaft, and a deflection mechanism for controlling a bending state of the articulation section. The deflection mechanism comprises a first pull element for a deflection movement and a second pull element for a return movement. The first pull element and the second pull element are jointly pretensioned during the movement of the articulation section. An interface is provided where the instrument is demountable into a distal shaft assembly and a proximal handle piece, wherein the effector is controlled via an actuation mechanism that passes through the interface in a mounted state. The actuation mechanism comprises a push piece having a distal end that is coupled with the effector and a proximal end that is actuable by a pushing movement.