Abstract: The various embodiments described herein provide lateral mass and facet fixation implants, which may be inserted and applied via a posterior approach, using minimally invasive or less invasive techniques. The embodiments described below generally include an intrafacet implant (or “facet implant”) and a lateral mass fixation member attached to or attachable to the facet implant. The lateral mass fixation member can include one or more tabs extending from a middle portion and configured to secure the lateral mass fixation member to lateral masses of adjacent vertebrae. The tabs may be flexible, semi-rigid, or rigid, and may be collapsible to facilitate insertion of the device. Methods for delivering the lateral mass and facet fixation implants are also described.

Abstract: A dynamic interspinous process device for implantation with respect to a first vertebra and an adjacent second vertebra is provided. The dynamic interspinous process device may include a first attachment side and a second attachment side. Each of the first attachment side and second attachment side may include a central portion, a first wing extending from the central portion, a second wing extending from the central portion, and one or more slots extending from an interior side of the respective attachment side to an exterior side of the respective attachment side. The one or more slots of the respective attachment side may be configured to allow the first wing and the second wing to move relative to one another in a direction of a longitudinal axis of the dynamic interspinous process device.

Abstract: A spinal implant is disclosed for engagement to portions of a spinal segment after a laminectomy procedure. The spinal implant includes a first member and a second member in orthogonal relation relative to the first member such that the spinal implant generally defines a t-shape configuration. The spinal implant is formed using biocompatible materials to safely adapt to the surgical area. The spinal implant may include hooks or apertures for engaging with portions of bodily tissue. The spinal implant may be engaged to other spinal implants along the spine using one or more arms of an interconnecting arrangement.

Abstract: This invention relates to a surgery planning tool, which is not a patient implant, comprising an elongated body including at least a portion having the shape and the size of a spinal correction rod.

Abstract: An orthopedic device configured for use as a compressor or a distractor is provided. The device has two arm members and a locking sleeve for securely holding an elongated pin is attached to each of the two arm members. The locking sleeve are hingeably connected to the outer end of each of the two arm members by a biaxial hinge block, wherein the biaxial hinge block is configured to allow the locking sleeve to swivel in two different directions about two orthogonally oriented axes.

Abstract: An inserter for attaching a modular yoke to a bone screw and for providing an indication of attachment, comprises a tubular body having a central lumen, distal and proximal ends, and an attachment portion for releasable attachment to a yoke having a bottom opening for receipt of a head of said bone screw. The inserter includes an inner shaft having a distal end configured to be received into the yoke, the shaft being axially movable within the lumen from first to second axial positions in response to the introduction of the bone screw head into the yoke bottom opening. An indicator button supported by the body is movable in response to axial movement of the shaft from a first indicator position indicating the first axial position of the shaft relative to the body to a second indicator position indicating the second axial position of the shaft relative to the body.

Abstract: A hard tissue fixation staple-plate interlocking device can include a recess in a staple body or a plate. The device can also include a locking part of the other of the staple body or plate. The device can be reconfigurable between an insertion configuration and an interlocked configuration. In the insertion configuration, the locking part can slide into the recess in a translation sliding motion that is parallel to a sliding motion of the legs of the staple, as the legs of the staple slide through the holes in the plate. In the interlocked configuration, the locking part can be at least partially in the recess, and recess surface portions can engage part surface portions and inhibit movement of the staple and plate out of the interlocked configuration. Also, multiple staples and screws can be interlocked with the plate, with staples being at non-parallel angles to each other.

Abstract: A wrist arthrodesis plate (20) consisting of a distal region (21) and of a proximal region (22) which adjoins the distal region (21) in the direction of a longitudinal axis (A). The plate (20) is of such a shape and size that the distal region (21) of the plate can be fastened to the carpus (1) and a proximal region (22) of the plate can be fastened to the radius (3) by fastening devices, such as screws, which can be inserted into plate holes. A distal end region (29), which comprises a farthest distal location (23) of the plate (20), is of a shape and size that the distal end region (29) can be placed with the farthest distal location (23) exactly, and only, on a carpal bone from the group comprising trapezium (11), trapezoid (10), capitate (9) and hamate (8), without covering any part of the laterally adjacent bones.

Abstract: A monolithic rib plate is described. The rib plate comprises multiple first screw orifices located substantially along a first line and connected by first bridges, multiple second screw orifices located laterally on one side of the first line and connected by second bridges, wherein one or more of the second bridges have a smaller cross-section than the first bridges, and third bridges, each connecting one of the second screw orifices with one of the first screw orifices. Also described is a rib plate system comprising the monolithic rib plate and at least one of one or more polyaxial locking screws, a tool for removing the second bridges, a tool for bending the monolithic rib plate, and one or more orifice bridge plates.

Abstract: An all-in-one odontoid fracture repair apparatus, system, and method may include an odontoid guide comprising an odontoid guide cannula having a proximal end, a distal end, and a first longitudinal passage extending through the odontoid guide cannula between the proximal and distal ends of the odontoid guide. The odontoid guide may include a vertebra coupler located at the distal end of the odontoid guide cannula that may be configured to couple to a first vertebra of a patient. The odontoid guide may be configured to receive bone cement within the first longitudinal passage of the odontoid guide cannula and deliver the bone cement through the first longitudinal passage of the odontoid guide cannula to an odontoid process of the patient in order to repair a fractured or osteoporotic odontoid process in the ever increasing fragile geriatric population.

Abstract: An implant filling apparatus may include an actuator mechanism, a push rod, straight fill tubes and/or diverted tip fill tubes and an implant connector. An actuator impacts the push rod at a predetermined pressure and rate such that the push rod can drives fill material out of the fill tube(s) and into an implant that is coupled to the implant connector.

Abstract: A bone positioning guide may include a main body member, a shaft, and a bone engagement member. The shaft can be movably connected to the main body member and have the bone engagement member rotatably coupled to its distal end. The bone engagement member can have a surface configured to engage a bone. The main body member can also include a tip opposite the bone engagement member for engaging a second bone. In use, the bone engagement member may be positioned in contact with a medial side of a first metatarsal while the tip is positioned in contact with a lateral side of a different metatarsal, such as a second metatarsal. The shaft can then be moved to advance the bone engagement member toward the tip, causing realignment of the first metatarsal.

Abstract: Methods for temporarily fixing an orientation of a bone or bones. Methods of correcting a bunion deformity. Bone positioning devices. Methods of using a bone positioning device. Bone preparation guides. Methods of using a bone preparation guide.

Abstract: This disclosure relates to a bone tamp and a corresponding method including the bone tamp sliding over a guide wire projecting from a digit of a foot and protruding from an interphalangeal implant.

Abstract: A cryo-system for treating a body part of an individual by cryotherapy, which includes two parts. The first part is either i) a cryo-probe suitable for internal cooling, which includes a penetrating segment in communication with a cryogen source and is at least smaller than 1/10th of the body part's biggest volume and/or at least one dimension smaller than 1 cm or ii) a cryo-probe suitable for external cooling, which includes a non-penetrating segment in communication with a cryogen source. The second part is either i) an assembly of at least two nanoparticles bound to each other or associated with each other via binding or associating material or ii) at least one nanoparticle, which includes iron and at least one other metal than iron. The assembly of at least two nanoparticles or the at least one nanoparticle may be cooled by the cryo-probe or by switching on the cryo-probe.

Abstract: A method for reshaping a nasal airway in a patient involves advancing an inflatable balloon of a reshaping device in an uninflated configuration into a nostril of the patient and between a nasal septum and a lateral wall of the nasal airway. The method then involves inflating the inflatable balloon to an inflated configuration to cause the inflatable balloon to contact nasal mucosa covering the nasal septum and the lateral wall, delivering energy from an energy delivery member attached to or inside of the inflatable balloon, and removing the reshaping device from the nasal airway.

Abstract: A device for cooling a living tissue is disclosed. The cooling device solves severe patient's waiting and clinic work load due to time-consuming anesthesia required by conventional therapies. The cooling device also significantly reduces psychological burden and pain of the patient for ocular anesthesia. The cooling device includes a cooling unit configured to cool a target area and a heat dissipating unit configured to dissipate heat from the cooling unit. The heat dissipating unit is also configured to regulate internal air flow to increase heat dissipating efficiency.

Abstract: A system is configured to delivering radiofrequency power to the endometrial lining tissue of a uterine cavity, including modulating the delivered power so that a measured impedance of the endometrial lining tissue tracks a target impedance as a function of time, wherein the target tissue impedance is derived from a function that approximates a preferred endometrial lining tissue ablation impedance curve that is determined based upon a measured impedance of the endometrial lining tissue after RF power has been delivered for a predetermined initial time period.

Abstract: An end effector of an electrosurgical device may include a discharge port in communication with a first fluid path, an aspiration port in communication with a second fluid path, a first and second electrode, and a diverter in mechanical communication with the two electrodes. The diverter may receive, on its surface, a fluid emitted by the discharge port, and maintain a contact of the fluid with the first and second electrodes. The diverter may be further configured to prevent an aspiration, by the aspiration port, of the fluid on its surface. An electrosurgical device may include a source port in communication with a first fluid path, an evacuation port in communication with a second fluid path, a first and second electrode, and a housing. The device may include a shaft extending distally from the housing and the end effector as described above.

Abstract: A resectoscope operating handle and electrode fitting structure and fitting method are provided. The fitting structure includes a slider of a resectoscope operating handle and a binding post of an electrode. The slider has a front surface and a back surface. The front surface of the slider is provided with a mounting groove for mounting the binding post. An end surface of the binding post is perpendicular to the front surface of the slider. The binding post is mounted in the mounting groove, and an axial direction of the binding post is perpendicular to a plane where the handle is located. The resectoscope operating handle and electrode fitting structure and fitting method of the present invention can ensure that an electrode is accurately and firmly fixed to an operating handle under the condition of convenience in operation.

Abstract: An electrosurgical instrument with first and second branches that are pivotably supported by a support pin is disclosed. The first branch has a first tissue contact surface and the second branch has a second tissue contact surface. The two tissue contact surfaces are electrically connected with an electric connection device at the first branch. The electric connection is at least partly established via a respective conductor. The second conductor is integrally formed by one single body. The second conductor has a contact section with at least one contact part in contact with an electrically conductive circumferential surface of the support pin, such that an electric rotation connection is established between the contact section and the support pin. In this manner the second conductor arranged in the first branch can establish an electric connection with the second branch via the support pin and further with the second tissue contact surface.

Abstract: An electrosurgical instrument with first and second branches pivotably arranged at a hinge is disclosed. The hinge is formed by a support pin at the second branch and a corresponding support cavity at the first branch. At one side adjacent to the hinge location at which the support pin extends into the support cavity, a knife guide cavity is provided in the second branch for a moveable guided support of a knife. Parallel to the pivot axis defined by the hinge, the knife guide cavity is arranged adjacent to an axial end of the support pin. The hinge or the hinge location formed by the hinge at which the support pin is arranged in the support cavity is only arranged on one side of the knife guide cavity viewed in a direction parallel to the pivot axis. The respective other side is free from hinge components.

Abstract: An endosurgical device is provided. The endosurgical device comprises a flexible tube having at least two lengthwise extending channels, an end effector comprising two opposite jaws having opposite cutting edges, an effector sleeve that surrounds the tube at least at the distal tube end, and means for reciprocating the end effector axially in relation to the effector sleeve to close the jaws when the effector sleeve is moved forward and backwards to close and open the jaws, respectively. The exterior face of the opposite jaws is electrically insulated, and an electrical cord for providing current to the end effector extends inside one of the lengthwise extending channels of the tube. The endosurgical device may allow the surgeon to take several tissue specimens from an organ and to perform several functionalities when the device is inside the organ.

Abstract: A sphincterotome device can be used to achieve appropriate positioning within the biliary duct during cannulation. The sphincterotome device enables performance of a “double-wire” or multiple wire procedure without the need for removal and reintroduction of the sphincterotome device, thereby allowing for a shorter procedure.

Abstract: An elongate medical device comprising an expandable structure with an expandable configuration and a collapsed configuration, a handle, operably coupled to the expandable structure, the handle further including a selective movement limiter; and a deflection control member coupled with the distal hub, where the deflection control member is configured to adjust a stiffness of the expandable structure, from a first stiffness to a second stiffness, and maintain the first stiffness or the second stiffness when the selective movement limiter couples with the deflection control member and limits a longitudinal movement of the deflection control member, and wherein the deflection control member is configured to move freely when the selective movement limiter is not coupled with the deflection control member.

Abstract: The invention concerns a method for intra-operative monitoring of the effectiveness of transcatheter renal denervation in a patient, to assist in guiding the procedure and in particular for identifying a physiological procedural endpoint. Through aorticorenal ganglia pace-capture, renal sympathetic nerve function can be assessed. In accordance with the invention, sustained reduction or abolition of renal vasoconstriction induced by the pacing is used as an indicator of successful renal denervation.

Abstract: A device positionable in a cavity of a bodily organ (e.g., a heart) may discriminate between fluid (e.g., blood) and non-fluid tissue (e.g., wall of heart) to provide information or a mapping indicative of a position and/or orientation of the device in the cavity. Discrimination may be based on flow, or some other characteristic, for example electrical permittivity or force. The device may selectively ablate portions of the non-fluid tissue based on the information or mapping. The device may detect characteristics (e.g., electrical potentials) indicative of whether ablation was successful. The device may include a plurality of transducers, intravascularly guided in an unexpanded configuration and positioned proximate the non-fluid tissue in an expanded configuration. Expansion mechanism may include helical member(s) or inflatable member(s).

Abstract: Particular embodiments disclosed herein provide a surgical laser system comprising first laser source configured to emit a first laser beam with a first wavelength and a second laser source configured to emit a second laser beam with a second wavelength. The surgical laser system further comprises a first diffraction optical element (DOE) tuned to the first wavelength and a second DOE tuned to the second wavelength, wherein the first DOE is configured to diffract the first laser beam into one or more first diffracted beams at a diffraction angle and the second DOE is configured to diffract the second laser beam into one or more second diffracted beams at the same diffraction angle. The surgical laser system further comprises one or more beam splitters configured to reflect the one or more first diffracted beams and the one or more second diffracted beams onto a lens.

Abstract: First and second skeleton model data is determined based on first and second surface data of a patient. Each of the skeleton model data describes geometries of rigid anatomic structures of a patient at a different point in time. Skeleton difference data is determined describing differences between the geometries of the rigid anatomic structures. In a next step, movement instruction data is determined which describes movement to be performed by the rigid anatomic structures to minimize the differences, i.e. to correct the posture of the patient. The movement instruction data is for example determined based on anatomy constraint data which describes anatomical movement constraints for the rigid anatomic structures (e.g. range of motion of a joint). An instruction is displayed (e.g. using augmented reality), guiding the user how to move the rigid anatomic structures so as to correct the patient's posture.

Abstract: A surgery optimizing method performed by a computer is provided. The method includes generating a plurality of genes corresponding to a surgical procedure based on the surgical procedure composed of at least one detailed surgical operation, performing virtual surgery on each of the plurality of genes to evaluate whether surgery is optimized, selecting at least one gene among the plurality of genes based on the evaluation result to apply a genetic algorithm, and applying the genetic algorithm to generate a new gene and deriving an optimal surgical procedure based on the new gene.

Abstract: A Computed Tomography (CT) system comprises an image fusion unit for generating a fusion image being a fusion of a CT image of an object within a CT imaging region, particularly within a bore of the CT system, and of an optical image of the object, which is generated, after the object has been moved out of the CT imaging region, particularly when the object is located in front of the bore. The fusion image further shows a path, along which an interventional instrument should be moved within the object and which has been provided based on the CT image. By looking at the fusion image a user can accurately move the instrument along the path, without needing to acquire many additional CT images for position checking purposes. As the result, the radiation dose and time needed for an interventional procedure are reduce.

Abstract: Provided in accordance with the present disclosure are systems and methods for identifying a percutaneous tool in image data. An exemplary method includes receiving image data of at least a portion of a patients body, identifying an entry point of a percutaneous tool through the patients skin in the image data, analyzing a portion of the image data including the entry point of the percutaneous tool through that patients skin to identify a portion of the percutaneous tool inserted through the patients skin, determining a trajectory of the percutaneous tool based on the identified portion of the percutaneous tool inserted through the patients skin, identifying a remaining portion of the percutaneous tool in the image data based on the identified entry point and the determined trajectory of the percutaneous tool, and displaying the identified portions of the percutaneous tool on the image data.

Abstract: The subject disclosure is directed to an articulated medical device in communication with a ventilator, used for regulating breathing patterns in a subject, wherein the articulated medical device may be advanced or retracted during repeatable breathing cycles, so as to reduce the possibility of abrasion to the lungs.

Abstract: The present disclosure involves object recognition as a method of registration, using a stereoscopic camera on Augmented Reality (AR) glasses or an endoscope as the image capture technology. Exemplary objects include surgical tools, anatomical components or features, such as bone or cartilage, etc. By detecting just a portion of the object in the image data of the surgical scene, the present disclosure may register and track a portion of the patient's anatomy, such as the pelvis, the knee, etc. The present disclosure also optionally displays information on the AR glasses themselves, such as the entire pelvis, the femur, the tibia, etc. The present disclosure may include combinations of the foregoing features, and may eliminate the need for electromagnetic, inertial, or infrared stereoscopic tracking as the tracking technology.

Abstract: Arrangements are described for monitoring cochlear implantation surgery. During surgical insertion of a cochlear implant electrode array into a patient cochlea, at least one measurement difference value is determined for at least one electrode contact currently located at a given insertion depth into the patient cochlea based on comparing current stimulus response data for the at least one electrode contact to prior stimulus response data for at least one prior electrode contact previously located at the given insertion depth. A potential trauma response is identified when the at least one measurement difference value exceeds a defined difference value.

Abstract: A system for accessing extra articular lesions or abnormalities or intra osseous lesions or abnormalities or bone marrow lesions using intra articular localization has a guide, an arm, a pair of attachment assemblies and a tubular sleeve. The guide component has a first portion and a second portion. The first portion has a first slotted opening extending a length from a first end. The second portion has an arcuate curvature extending from the first portion to a second end of the guide component with an elongated second arcuate slot in the second portion. The first attachment assembly is configured to be movably adjustable within the length of the first slotted opening. The second attachment assembly is configured to be movably adjustable along the elongated second arcuate slot.

Abstract: A surgical instrument adaptor comprises a member including a first mating surface that is removably attachable with a surgical instrument and a second mating surface that is connectable with an actuator. An image guide is attachable with the member and oriented relative to a sensor to communicate a signal representative of a position of the surgical instrument. Systems, surgical instruments, spinal implants and methods are disclosed.

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: A remote workstation for the control of percutaneous intervention devices is provided. The remote workstation includes a control system for remotely and independently controlling at least two percutaneous intervention devices. The control system includes at least one input device to control the percutaneous intervention devices. The control system controls movement of at least one of the percutaneous intervention devices along at least two degrees of freedom. The remote workstation also includes a graphical user interface for displaying icons representative of the operational status of each of the percutaneous intervention devices.

Abstract: A robotic surgical system is configured to determine whether a surgical instrument has been properly mounted to an arm of the surgical system. As the surgical instrument is moved into engagement with the arm, a magnet on the arm exerts an attractive force on a plate on the surgical instrument. As the instrument engages to the arm, load cell measurements and inertial measurement unit (IMU) information from one or more sensors on the arm are monitored to determine the mass of the instrument as well as the acceleration of the instrument as it mates with the instrument engagement interface. The system compares the load cell measurements and IMU information with what those parameters are expected to be when a surgical device assembly or instrument of that type is mounted. If the load cell measurements and IMU information deviates from what is expected, the system provides a notification to the user and prevents use of the manipulator arm until the surgical device assembly or instrument is properly positioned.

Abstract: The present disclosure is directed to a robotic surgical system. The robotic surgical system includes at least one robot arm, a camera, and a console. The console includes a first handle, a second handle, and a selector switch configured to select between a robotic control mode and a camera control mode. In the system the first handle or the second handle control the at least one robot arm in the robotic control mode and the first handle and the second handle control the camera in the camera control mode.

Abstract: A method of operating a surgical tool includes sending a command signal from a computer system to a motor to drive rotation of a drive shaft mounted within a drive housing of the surgical tool, monitoring one or more operational parameters of the motor with one or more monitoring devices in communication with the computer system, and measuring an unexpected change in the operational parameters of the motor with the monitoring devices. The unexpected change includes a measured operational parameter that is inconsistent with the command signal. The unexpected change is reported to the computer system as a bailout signal, and the surgical tool is disabled once the bailout signal is received at the computer system.

Abstract: A compliant medical robot system (50) employing a medical robot (50) and a robot actuation controller (80). The medical robot (50) includes a compliant end-effector (70) adjoined to a robotic arm (60), and the compliant end-effector (70) includes one or more tool actuators (72) adjoined to a tool holder (71) to provide a manual positioning of the tool holder (71) relative to the robotic arm (60). In operation, the robot actuation controller (80) controls an actuation of the tool actuator(s) (72) delineating an actuation parameter to set a manual positionable range of the tool holder (71) relative to the robotic arm (60) in compliance with a tool positioning command specifying the manual positionable range of the tool holder (71) relative to the robotic arm (60).

Abstract: A therapeutic garment for treatment of over-shunting headaches and method for use of the same are disclosed. In one embodiment, the therapeutic garment includes a waistband and an abdominal portion that extends from the waistband to encircle the abdomen and hips from the groin to the costal margin of a person wearing the therapeutic garment. A binder portion, having open and closed positions, is coincident to the abdominal portion. In the closed position, the binder distends the epidural venous plexus of the person wearing the therapeutic garment. A closure mechanism is configured to selectively alternate the binder between the open and closed positions. The therapeutic garment may further be fashioned into a brief, a tank top, or include leg extensions.

Abstract: A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link. A proximate end of the manipulator may be laterally offset to facilitate location of the surgical instrument apparatus closely adjacent to another surgical instrument apparatus.

Abstract: A robotic system can include a high force instrument that amplifies input forces such that output forces are greater than input forces. The high force instrument can include an end effector. The high force instrument can further include a first pulley configured to rotate about a pulley axis and a first jaw member connected to the first pulley by a first drive pin. The high force instrument can also include a second pulley configured to rotate about the pulley axis and a second jaw member connected to the second pulley by a second drive pink. A link can provide a first pivot point about which the first jaw member can pivot and a second pivot point about which the second jaw member can pivot.

Abstract: Provided are surgical instruments, and more particularly, surgical instruments that may be manually operated to perform laparoscopic operations or various surgical operations.

Abstract: A surgical instrument for use with a robotic manipulator includes an end effector assembly having one or two end effector members, each having a distal treatment end, a proximal end, and a tendon pass-through. Each end effector member is sandwiched between a corresponding pair of pulley members that, when assembled define an annular tendon pathway that is between the pulley members and that is aligned with the pass-through. For each end effector member, a tendon having a distal loop portion ends through the tendon pass-through, with its legs passing proximally from the pass-through, extending in opposite directions around the tendon pathway and proximally through the instrument's shaft.

Abstract: A surgical control device includes a housing, a power source held within the housing, at least 1 switch mounted on a housing surface, and a transmitter held within the housing in communication with the switch. The device is for attachment to a surgical instrument, such that a user activates the switch by placing the switch and an opposing housing surface between a thumb and a finger and squeezing the thumb and finger towards each other, whereby the squeezing does not induce movement of the attached surgical instrument. The device transmits an activation signal from the switch to a remote controller for controlling a surgical function. The device also includes a removable attachment device for attaching the housing to the surgical instrument.

Abstract: An apparatus, method, and system for a steerable medical instrument, configured to be used in conjunction with guided tools and devices under robotically controller medical procedures, including endoscopes, cameras, cutting tools and catheters. In one embodiment, the steerable instrument includes an elongate body (100), a control wire (110) arranged in a channel (104) of the elongate body and displaceable along the channel to bend the elongate body; and a controller (320) to selectively control drive forces applied to the control wire (110) under an actively controlled mode and a passively controlled mode. In the actively controlled mode, the controller actively bends at least part of the elongate body. In the passively controlled mode, the controller (320) decreases an amount of strain or an amount of displacement of the control wire, so that the control wire becomes compliant to external forces.