Abstract: A sensor insertion device comprises a cylindrical main body case that has a lower end opening and an upper end opening; a needle insertion button that is disposed slidably in and out of the upper end opening of the main body case; a carrier that is provided inside the main body case and is linked to the needle insertion button; a guide needle holder that is provided at the lower end portion of the carrier and detachably holds a guide needle for guiding a sensor in the insertion direction; a long cylindrical needle extraction sleeve that is provided slidably around the outer periphery of the main body case; and a grip portion that is provided along the lengthwise direction of the main body case on the outer periphery of the needle extraction sleeve.

Abstract: A portable and passive safety intraosseous device to allow for direct introduction of medications, etc., within the intermedullary space of a subject patient's bone or, if needed, the removal of certain substances from such a subject patient's bone. Such a device permits direct drilling and placement of a cannula within the subject bone with access external to the subject patient's skin, permitting, as well, connection of a tube for such introduction/removal purposes. The ability to provide a passive safety unit allows for facilitated utilization in, for instance, emergency situations with the entire device provided for utilization thereof. The device includes a drilling component with a permanently attached stylet and a removable cannula, a power supply for a single drilling operation, a mechanism to draw the stylet back into the drill component after use and disengagement from the cannula, and an automatic closure that activates with the separation of the cannula.

Abstract: A multi-movement cosmetic assembly includes a housing defining an interior; a drive system disposed within the housing; a sleeve received within the housing; and a drive shaft positioned in the sleeve. The drive system is operably coupled to the sleeve and the drive shaft such that actuation of the drive system causes (i) the sleeve to move laterally back and forth to oscillate relative to the housing, and (ii) the drive shaft to rotate relative to the housing.

Abstract: One or more tethers for use with fastener assemblies and a method for use of the one or more tethers with the fastener assemblies is provided. The one or more tethers can be attached between a first fastener assembly positioned with respect to a first vertebrae adjacent a first side of a spinous process of a second vertebrae and a second fastener assembly positioned with respect to the vertebrae adjacent a second side of the spinous process of the second vertebrae. The one or more tethers can be tensioned against the spinous process of the second vertebrae to mitigate stresses on an uninstrumented level of the spine.

Abstract: A bone fastener includes a tulip head including sides spaced by an opening and a lower portion below the opening and extending from the sides. The lower portion is formed with a lower central opening configured to allow a portion of a pedicle screw to pass. The lower portion is formed with at least one aperture offset sideways from the lower central opening.

Abstract: The invention relates to a surgical screw for fixing in a bone of a human or animal body, having a head, having a shaft, and having an external thread. The external thread is disposed on at least one segment of the shaft of the surgical screw. The external thread extends onto at least one segment of the head.

Abstract: The invention discloses a bionic artificial spinal joint, wherein the spinal joint includes a plurality of fixing units, the fixing units are fixed on a vertebral body, at least two fixing units located on one side of a spine are arranged along the extension direction of the spine and fixed in sequence, and sufficient force can be borne between two adjacent fixing units. The overall micro-motion joint structure formed by two adjacent fixing units is both supportable and bendable. The present application imitates the function of the human inter-process joints, so that the spine equipped with the bionic artificial spine joint can be bent within a certain angle range while maintaining the height of the intervertebral space, thereby avoiding the problem of spinal rigidity after the traditional spine surgery pedicle internal fixation.

Abstract: The invention provides the internal fixation system of spine posterior screw-plate, including the vertebral plate. The vertebral plate is curved, its internal cambered surface directly faces the spine, and external cambered surface of vertebral plate is equipped with a reinforcing rib. The vertebral plate is set with the perforative injecting hole. One side of vertebral plate is fixed with a fixed connecting plate, and the end of the fixed connecting plate away from the vertebral plate is set with the first regulating hole. The bottom of the fixed connecting plate on two sides of the first regulating hole is set with n-shaped caulking groove.

Abstract: The invention provides the internal fixation system of multi-function adjustable spine posterior screw-rod. It not only includes the vertebral plate, but also includes the adjustable connecting rod, screw and lock nut. Among them, vertebral plate is curved, its internal cambered surface directly faces the spine, and external cambered surface of vertebral plate is equipped with a reinforcing rib. The vertebral plate is set with the perforative injecting hole, and the external cambered surface of vertebral plate is set with the located block. The surface of the located block is set with the concave threaded hole, and the located block on two sides of the threaded hole is set with the U-shaped bracket. The top of screw expands to form a locking block, which surface is set with the concave locking hole. The locking block on both sides of locking hole is set with the U-shaped locking groove.

Abstract: An apparatus for reducing the profile of a bone fixation plate while preventing backing out of screws is disclosed. The plate has at least two openings though which two screws can pass through bony tissue. The apparatus includes at least one section of relief and sections of engagement. As the screw is tightened, it will begin to lag the plate to the bone. When the screw head interferes with the plate at the interference point, there is a slight resistance that insertion forces can overcome. When the screw is advanced further, it snaps into the sliding fit area and is allowed to move freely. The forces that cause the screw to back out from the plate are preferably not strong enough to pass the screw head back past the interference section. At least one of the two openings is configured as an elongated slot to allow the screw to translate in the slot. It may be desirable to include a set screw to help prevent backout.

Abstract: Vertebral probes for spinal surgeries and related surgical methods. In some embodiments, the probe may comprise a bicortical, vertebral probe that may comprise a shaft and a distal tip configured to penetrate a vertebral body to facilitate subsequent placement of a bone anchor providing bicortical purchase within the vertebral body. One or more features for facilitating safe placement of the probe may be provided, such as making the tip spring-loaded or otherwise axially movable relative to the shaft, providing sensors, and/or providing means for determining a position of the tip within a vertebral body.

Abstract: A spinal system includes a polyaxial fastener including a setscrew and a nut. The setscrew includes an externally-threaded base, which is formed with an inner spherical race, and a polyaxial setscrew member, which includes a spherical base that extends from an externally-threaded setscrew head. The spherical base is received in the inner spherical race.

Abstract: A system for establishing an anchorage or augmentation in hard tissue with the aid of a material having thermoplastic properties, which is brought to the site of the anchorage or reinforcement in a solid state, is liquefied in situ, and, in a liquefied state, is displaced to contact the object. The system includes a housing with a proximal housing part and mounted therein, a transmitting piece possibly coupled to an energy source and a driver spring, a distal housing part releasably coupled to the proximal housing part, a permeable sleeve couplable to the distal housing part, and a thermoplastic element positionable in the permeable sleeve. The two housing parts, the transmitting piece, the driver spring and the permeable sleeve form a closed load frame in which the thermoplastic element is compressed between the transmitting piece and the permeable sleeve.

Abstract: An improved posterior acetabular wall fracture buttress plate has a main plate and a plate extension. The buttress plate has a pair of arms extending from the main plate and an arm extending from the plate extension. The main plate and the plate extension are pre-contoured with a concavity contoured and bent lengthwise off horizontal relative to the main plate to mimic a hip socket contour posteriorly along an undersurface at about 38 degrees plus or minus 8 degrees to mimic a curvature of the hip to yield an angle on the undersurface of 142 degrees plus or minus 8 degrees. The arms are 1.0 cm or less wide. The plate extension extends from the main plate and has at least one transverse groove defining a breakaway section allowing the plate extension to be removed from the main plate.

Abstract: A kyphoplasty system includes various instruments which can be selectively used in a surgical theater (e.g., during a surgical operation on a patient) or a surgical training environment. The kyphoplasty system can include one or more of a kyphoplasty apparatus, a prone table mat, a connector system, a bone introducer needle, and a biopsy device. The kyphoplasty system may also include a training system for use in the training environment.

Abstract: A compression screw driver system including a drive member having a shaft extending from a proximal end to a distal end. A drive selection member is positioned about the shaft and is axially moveable along the shaft between an engagement position and a disengaged position. A distal portion of the drive selection member defines a first engagement structure. A compression sleeve is positioned over the distal end of the shaft. The proximal end of the compression sleeve defines a second engagement structure which complements the first engagement structure and the distal end of the compression sleeve defines a contact surface. In the engagement position the first and second engagement structures are engaged and the compression sleeve rotates with the drive member and in the disengaged position the first and second engagement structures are disengaged and the compression sleeve remains stationary while the drive member rotates.

Abstract: An implant driver for engaging an orthopedic implant for selective advancement and retraction of the implant. The implant driver includes a first jaw assembly comprising a helical cam surface corresponding with a first direction of rotation. The first jaw assembly is operative to engage, in response to rotation in the first direction, the implant using spherical jaw members disposed in constrictive helical channels. The implant driver includes a second jaw assembly comprising a helical cam surface corresponding with a second direction of rotation. The second jaw assembly is operative to engage, in response to rotation in the second direction, the implant using spherical jaw members disposed in constrictive helical channels. Absent rotation of the first and second jaw assemblies, the spherical jaws may not restrict relative axial movement between the implant and the implant driver to allow for advancement and/or retraction of the instrument relative to the implant.

Abstract: In accordance to one aspect of the present disclosure, a driver for a bone screw is provided that includes an inner shaft and a distal drive head of the inner shaft. The drive head is configured to fit in a drive recess of a bone screw to form a mating connection therewith. The driver further includes at least one outer, resilient locking member shiftable along the inner shaft from a proximal, unlocked position to a distal, locked position. The resilient locking member has a locking portion that contacts and is urged outwardly by a proximal ramp surface of the drive head as the locking member shifts distally from the unlocked position to the locked position to secure the bone screw onto the drive head.

Abstract: A cooled radiofrequency ablation system and method are provided. In particular, a method to map active radiofrequency channels to respective pump assemblies for cooled radiofrequency ablation is provided. The system includes a pump system having a plurality of pump assemblies, a radiofrequency generator unit, and a plurality of cooled radiofrequency probes, wherein each cooled radiofrequency probe comprises a cable-tubing assembly having a radiofrequency cable connected to the radiofrequency generator unit and fluid tubing in communication with a pump assembly and connected to a cooling fluid source. Each pump assembly of the plurality of pump assemblies is activated individually in sequence. The system and method map each cooled radiofrequency probe to a respective pump assembly connected thereto by measuring a temperature drop delay time at the tip of each probe. The system and method can further detect the presence of multiple probes daisy-chained to a single pump assembly.

Abstract: A cryoablation tool has a primary fluid circuit for cryogenically cooling or heating tissue surrounding the distal portion of the cryoablation tool. The primary fluid circuit has a primary-primary heat exchanger facilitating recuperative heat exchange between a high pressure stream of a primary fluid and a low pressure stream of the primary fluid. The cryoablation tool has a secondary fluid circuit having a secondary-secondary heat exchanger for permitting recuperative heat exchange between a high pressure stream of a secondary fluid and a low pressure stream of the secondary fluid. The secondary fluid circuit also has a primary-secondary heat exchanger permitting heat exchange between the high pressure stream of the primary fluid and the low pressure stream of the secondary fluid.

Abstract: A cryoablation tool may include a catheter. The catheter may have a shaft having: a proximal end, a distal end, a shaft wall extending between the proximal end and the distal end, the shaft wall having an outer surface and an inner surface and a vacuum gap defined therebetween that forms a vacuum chamber, the inner surface of the shaft wall being gas permeable, a shaft lumen bounded by the inner surface of the shaft wall, the shaft lumen for carrying a cryogen gas, and the vacuum chamber having a proximal opening connectable to a vacuum source, the proximal opening establishing vacuum communication between the vacuum chamber and the vacuum source.

Abstract: A cryoablation catheter, including a first capsule body, a core tube and a heat insulation part, wherein the first capsule body is mounted at a front end of the core tube, and has a front end area adapted for fitting to myocardial tissue during a cryoablation process and a rear end area exposed to blood; the core tube has a first looping path provided therein which is adapted for a first fluid with low temperature to be filled into or flow out of the first capsule body; the heat insulation part is at least partially fitting to the rear end area, and is adapted for reducing heat exchange efficiency between the first fluid and the blood in an atrium. The cryoablation operating apparatus and the cryoablation equipment thereof can effectively reduce the heat exchange between the cryoablation catheter and the blood during a cryoablation process.

Abstract: A treatment apparatus which uses thermal or non-thermal plasma to treat urinary tract infections (UTIs) by destroying bacteria. The apparatus comprises an elongate probe that includes a coaxial cable for conveying radiofrequency (RF) electromagnetic (EM) energy and/or microwave EM energy, a probe tip connected at the distal end of the coaxial cable for receiving the RF and/or microwave EM energy, and a gas conduit for conveying gas to the probe tip. The probe tip comprises a first electrode connected to the inner conductor of the coaxial cable, and a second electrode connected to the outer conductor of the coaxial cable, and wherein the first electrode and second electrode are arranged to produce an electric field from the received RF and/or microwave EM energy across a flow path of gas received from the gas conduit to produce a thermal or a non-thermal plasma.

Abstract: Electrosurgical systems comprising an electrosurgical network connecting a plurality of electrosurgical connection units (each connectable to an electrosurgical instrument) and an electrosurgical generator such that an electrosurgical signal generated by the electrosurgical generator can be controllably provided to a selected combination of electrosurgical connection units. Such electrosurgical systems allow an electrosurgical instrument attached to any of the plurality of electrosurgical connection units to be dynamically controlled by the electrosurgical generator.

Abstract: Systems, devices, and methods for electroporation ablation therapy are disclosed, with the device including a first jaw including a plurality of first electrodes and a second jaw including a plurality of second electrodes. The first jaw and the second jaw may be substantially rigid, elongate, and collectively define a longitudinal axis. The first jaw and the second jaw may be configured to engage tissue therebetween during use.

Abstract: An electrode assembly for an electrosurgical instrument includes a housing configured to operably receive a distal end of an instrument shaft, the housing including a pair of opposing spring clips. An active electrode is included having a proximal end configured to engage the distal end of the shaft and includes a cutting edge defined about a periphery thereof. An insulator is included that encapsulates the active electrode while leaving the cutting edge exposed. A pair of return electrodes is included that is each configured to operably engage an exposed side of the insulator, each return electrode including a recess defined therein configured to removably receive a distal end of each respective spring clip such that, upon selective engagement of the active electrode with the distal end of the shaft, each spring clip removably snaps into each respective recess to removably lock the active and return electrodes to the housing.

Abstract: A bipolar electrode instrument for use in a resectoscope and having an elongated shaft section, through which a first conductor extends, which forms a working electrode to which high-frequency current can be applied at the distal end of the electrode instrument, and a second conductor further extending through the shaft section, which forms a counter electrode in the distal end region of the electrode instrument. The working electrode and the counter electrode are spatially separated from one another in such a way that the distance between them cannot be bridged by a straight conductor which has a length of 6 mm or less. When used in a resectoscope for endoscopic surgery with a cladding tube, the electrode instrument is mounted so as to be longitudinally displaceable inside the cladding tube.

Abstract: An electrosurgical instrument includes an elongated shaft, an end effector, a drive shaft, and a switch assembly. The end effector is coupled to a distal end portion of the elongated shaft and includes opposing first and second jaw members. The end effector is configured to move between an open configuration and a closed configuration. The drive shaft is operably coupled to the end effector to move the end effector between the open and closed configurations. The switch assembly includes a first electrical contact and a second electrical contact. The first electrical contact is coupled to the drive shaft and configured to move with the drive shaft. The first electrical contact is configured to engage the second electrical contact in response to a movement of the drive shaft to determine a first angle between the first and second jaw members.

Abstract: A method for manufacturing a cutting electrode for a surgical instrument. The method involves starting with a material blank that is provided with a rated break location. The material blank is dimensioned to allow for separation with forces sufficiently low that they can also be transmitted by the plastic body. The rated break location separates the material blank in a first section serving exclusively for handling and positioning of the material blank in a mold as well as in a second section that self-supportingly projects in a mold hollow space and is overmolded by plastic. After removal, the first section can be easily broken off the cutting electrode. The created breaking edge forms a cutting edge.

Abstract: A surgical instrument includes a housing having a shaft affixed thereto, a reciprocatable drive rod slideably disposed at least partially within the shaft, and a force applicator coupled to the drive rod. The shaft includes first and second jaw members attached to a distal end thereof, at least one of which movable relative to the other from a first position wherein the jaw members are disposed in spaced relation relative to one another to at least a second position closer to one another wherein the jaw members cooperate to grasp tissue therebetween. The force applicator and the drive rod mechanically communicate to impart movement to at least one of the jaw members. The bipolar forceps includes a handle assembly and a force-balance interface. The force-balance interface configured to translate a multiple of the user-applied force exerted on the handle assembly into the jaw members.

Abstract: An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.

Abstract: A system includes an expandable distal end of a catheter and a processor. The expandable distal end has multiple electrodes that are configured to be placed in contact with a tissue in an organ and to apply ablative power to tissue. The processor is configured to, during application of the ablative power, determine whether a physical contact between the electrodes and tissue meets a predefined contact quality, and, if the physical contact of an electrode among the electrodes with the tissue does not meet the predefined contact quality, re-use the electrode for electrophysiological (EP) sensing.

Abstract: A balloon catheter includes a flexible outer cylinder shaft, a holding member connected to a proximal end portion of the outer cylinder shaft, a sealing member that maintains liquid tightness incorporated in the holding member, a flexible inner cylinder shaft, a tube having a Rockwell hardness of R 115 or more, a flexural modulus of 3.0 to 4.5 GPa, and a thickness of 0.06 to 0.12 mm, a push-in member connected to a proximal end portion of the inner cylinder shaft, a pull-out prevention member connected to the push-in member, and a balloon composed of an elastic material and connected to each of the distal end portion of the outer cylinder shaft and the proximal end portion of the inner cylinder shaft, wherein the tube is inserted over the inner cylinder shaft over an area thereof except for a connecting portion between the balloon and the inner cylinder shaft.

Abstract: A hair removal device based on an LED light source comprises a shell provided with an LED hair removal lamp panel. A circuit board is arranged in the shell and is provided with a hair removal driving circuit, which is electrically connected to the LED hair removal lamp panel and a main control circuit. The LED hair removal lamp panel is preferably used as a light source, fulfills more uniform light distribution, and can be controlled by the main control circuit to emit light waves with the corresponding wavelength to realize hair removal. The hair removal device can control the light wavelength more easily, improves the hair removal effect, and greatly reduces potential safety hazards.

Abstract: The disclosed invention relates to an improved system and method for treatment of soft tissue, e.g., for treatment of a snoring condition. The system can include a laser source; a hand piece; and a device for directing radiation emitted by the laser source to a treatment area (e.g., an oral treatment area). In some cases, the handpiece can include an optical element (e.g., a lens) mounted within a replaceable cartridge and adapted to modulate a laser beam such that it is non-ablative, prior to its delivery to a treatment region. In various embodiments, the system includes a CO2 laser capable of performing treatment in a more efficient manner than conventional techniques.

Abstract: A cooling element includes a frame including one or more datums. The cooling element also includes a first window including a first proximal surface and a first distal surface. The first window is sealed to the frame. The cooling element further includes a second window sealed to the frame. The second window includes a second proximal surface and a second distal surface. The second window is configured to contact a target tissue or a tissue adjacent to the target tissue via the second distal surface. The cooing element also includes a coolant chamber located between the first distal surface of the first window and the second proximal surface of the second window and configured to receive a coolant. The first window, the second window and the coolant chamber are configured to receive and electromagnetic radiation (EMR), and transmit a portion of the received EMR to the target tissue.

Abstract: The present disclosure enables improved laser treatments by enabling better estimation of laser-tissue interaction to better inform the planning of a treatment path for a laser signal through a treatment region. An embodiment in accordance with the present disclosure uses a laser signal to generate a feature in the treatment region, generates a surface profile of the treatment region that includes the feature, compares that surface profile to another surface profile of the treatment region taken before the generation of the feature, and infers at least one property for at least one tissue type in the treatment region based on the comparison. In some embodiments, the feature is generated such that it includes a plurality of tissue types previously identified in the treatment region, thereby enabling inference one or more properties for each tissue type and/or locating one or more boundaries between tissue types.

Abstract: A medical laser apparatus, including: an energy guide; a first energy source configured to generate energy for treating a target tissue through the energy guide; a second energy source configured to emit first and second aiming beams to a target tissue through the energy guide, the second aiming beam having at least one characteristic different from the first aiming beam; and a controller comprising hardware, the controller being configured to: receive a signal indicating an illumination mode from at least two illumination modes used by an endoscope to illuminate the target tissue; and control the second energy source to output the first or second aiming beam based on the indicated illumination mode.

Abstract: A controller: performing one or more iterations of a first process, the first process including: selecting at least one variable operating parameter of a laser light source of a lithotripsy device; determining a value of each of a plurality of base settings of the at least one variable operating parameter selected; and performing, in order, for the each of the plurality of base settings: setting the at least one variable operating parameter selected to the value of the each of the plurality of base settings; and controlling the laser light source to output laser light based on the value of the each of the plurality of base settings set; selecting one of the plurality of base settings; and performing one or more iterations of a second process, the second process including controlling the laser light source based on the one of the plurality of base settings selected.

Abstract: An approach is provided for image guided procedures. The approach includes acquiring image data of at least one object of a subject, in which the acquired image data is registered to one or more coordinate systems. The approach includes receiving the acquired image data. The approach includes displaying, on one or more smartglasses, one or more superimposed images over a portion of the subject. The one or more superimposed images may be related to the acquired image data. The approach includes aligning the one or more superimposed images to correspond with a position of the at least one object.

Abstract: Shape-sensing systems and methods for medical devices. The shape-sensing system can include a medical device, an optical interrogator, a console, and a display screen. The medical device can include an integrated optical-fiber stylet having fiber Bragg grating (“FBG”) sensors along at least a distal-end portion thereof. The optical interrogator can be configured to send input optical signals into the optical-fiber stylet and receive FBG sensor-reflected optical signals therefrom. The console can be configured to convert the reflected optical signals into plottable data for displaying plots thereof on the display screen. The plots can include a plot of curvature vs. time for each FBG sensor of a selection of the FBG sensors in the distal-end portion of the optical-fiber stylet for identifying a distinctive change in strain of the optical-fiber stylet as a tip of the medical device is advanced into a superior vena cava of a patient.

Abstract: A system for performing image-guided surgery includes an instrument having a first portion configured to define a trajectory into the body of a patient, a marker device and a user-interface component. A sensing device receives electromagnetic signals that are reflected or emitted from the marker device, and a processing system, coupled to the sensing device, includes at least one processor configured with processor-executable instructions to perform operations that include tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device, receiving a signal from the user-interface component of the instrument indicating a user-input event, and saving the trajectory into the body of the patient defined by the first portion of the instrument in response to receiving the signal.

Abstract: The invention involves a system and method for confirming the orientation of the spine around and along the longitudinal axis of the spine to provide additional accuracy with pedicle screw placement when the pedicle screw placement is by hand or with a robot. The system utilizes a CT scan of the patient which is overlain with a real time fluoroscopic image to confirm the proper orientation and positioning. Optical or electromagnetic markers can then be utilized to monitor for movement of the spine during the procedure.

Abstract: A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A coupling device driven by a plurality of drive disks corresponds to a first motor and a second motor. One or more processors are configured to send a low torque command to a first motor, send the low torque command to a second motor, determine whether the first motor and the second motor meet one or more hold engagement criteria, send a high torque command to the first motor in response to the first motor and the second motor meeting the one or more hold engagement criteria, and send the high torque command to the second motor in response to the first motor and the second motor meeting the one or more hold engagement criteria.

Abstract: Certain aspects relate to robotic medical instrument systems. Such a system can include first and second medical instruments. The first medical instrument can include an instrument base and an elongate shaft extending from the instrument base, and a robotic drive input. The first medical instrument may include an instrument inlet. The second medical instrument may include an instrument base and an elongate shaft that extends through the instrument inlet. The second medical instrument can include a robotic drive input that is coupled to a rotating element in the second medical instrument. The robotic medical instrument system can include a robotic arm that has first and second robotic drive outputs. The first robotic drive output can drive the robotic drive input of the first medical instrument, and the second robotic drive output can drive the robotic drive input of the second medical instrument.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.

Abstract: A surgical instrument having a proximal end, a distal end and a shaft, the shaft comprising a plurality of joint components connected in series, each joint component comprising first and second connectors, which connectors are axially spaced apart from one another at first and second ends of a respective joint component, characterised in that the first connector comprises a first rolling surface, and the second connector comprise a second rolling surface, and wherein each joint component comprises a first spur gear extending from the first rolling surface, and a second spur gear extending from the second rolling surface, wherein the first rolling surface of a first joint component is engageable with the second rolling surface of a second joint component to form a rolling joint, and the second rolling surface of the first joint component is engageable with a first rolling surface of a third rolling joint.

Abstract: Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. A drive device configured to facilitate axial motion of an elongated shaft of a medical instrument can include a body comprising a channel configured to receive the elongated shaft of the medical instrument, a roller configured to engage with the elongated shaft such that, when rotated, the roller drives axial motion of the elongated shaft received in the channel, a first drive input coupled to the body, wherein the first drive input is operable by a robotic system to rotate the roller, a cover configured to selectively open or close the channel, and a second drive input coupled to the body, wherein the second drive input is operable to actuate the cover.

Abstract: Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. Axial motion can include insertion and/or retraction of the instrument. For example, a robotic medical system can include a medical instrument comprising an instrument base and a flexible shaft configured for insertion into a patient, and a first robotic arm attachable to the instrument base of the medical instrument. The system also includes a drive device configured to engage the flexible shaft, and a second robotic arm attachable to the drive device. The second robotic arm is configured to operate the drive device to drive axial motion of the flexible shaft, and the first robotic arm is configured to move in coordination with operation of the drive device.