Abstract: The tool and surgical kit are configured to facilitate in-situ reattachment of a screw extender to screw is provided. The surgical kit includes a screw extender, a screw assembly and a tool. The screw extender has a channel extending from a proximal end to a distal end of the screw extender. The screw assembly includes a screw and a set screw. The screw includes a threaded shaft and a head having a pair of sidewalls spaced apart from each. The interior surface of the sidewalls is threaded. The tool includes a first and a second removable shaft, the distal ends of which are configured to respectively engage the screw and the set screw. The tool includes a main shaft, a handle and a hollow housing. The main shaft is configured to fit through the channel, and the hollow housing is configured to receive the screw extender housing.

Abstract: A guide assembly includes a spinal screw assembly having a bone screw and a spinal rod holder; and a spinal rod guide having first and second elongated arc portions defining a pair of longitudinal slots extending along the first and second arc portions, each of the first and second arc portions further defining at least one recess extending transversely from each of the longitudinal slots, the at least one recess configured to receive at least a portion of a reduction tool to enable reduction of a spinal rod received within the spinal rod holder.

Abstract: A bone nail for stabilizing a fracture. The bone nail having a head portion and a stem portion. The stem portion offset from the longitudinal axis of the head portion. The nail including a continuous passageway extending from a rear edge of the nail to a front edge of the nail. The continuous passageway including a bore extending longitudinally through the head portion and both a groove and a bore in the stem portion.

Abstract: An intramedullary nail system (1) comprising a nail stem (2) having a multi-featured proximal end (3), a distal end (5) and a central conduit (22) configured to accommodate a fastener (4) having a proximal end (7), a distal end (9) and a central shaft (22a), wherein the fastener (4) comprises a stop (8) extending laterally from the proximal end (7) relative to a vertical axis of the fastener (4) and which is configured to matingly engage with an internal wall (3a) of the multi-featured proximal end (3) to provide control over rotational and distal movement of the system (1) when secured with a bone screw.

Abstract: A device for bone fixation comprising: a bone plate (1) which has a plate hole (2) suitable for receiving a bone screw (20), the plate hole (2) having an inner wall (4) made of a material which has a hardness Hp; and a hollow cylinder- or hollow cone-shaped insert which is mounted in the plate hole (2), at least partially abuts the inner wall (4) and is suitable for accommodating the head (21) of a bone screw (20), the insert (10) being arranged in the plate hole (2) such that it is secured against rotation and consisting of a material that has a hardness HE<Hp.

Abstract: A bone plate includes: a band-shaped body section that is fixed along a longitudinal direction of the tibia; a transverse section that is fixed along a direction intersecting the longitudinal direction of the tibia; a joining section for joining the body section and the transverse section; and screw holes. The body section, the joining section, and the transverse section have a curved surface shape, a first plane on which the axial line of a screw hole in the joining section is disposed and a second plane on which the axial line of a screw hole in the body section is disposed are substantially parallel to each other, the angles between a straight line connecting a longitudinal direction upper-end portion and lower-end portion of the bone plate and the first plane and the second plane are predetermined angles, and an axial line and an axial line are at twisted positions.

Abstract: A bone fusion implant for fusing a first bone region to a second bone region of a mammalian bone includes a first fixing region having multiple securing means receiving holes for attaching to the first bone and a second fixing region which is connected to the first fixing region and has multiple securing means receiving holes for attaching to the second bone region, wherein a cutting tool guiding contour which specifies a severing line is formed between the first and the second fixing region. A method for the individualized production of such a bone fusion implant includes recording an actual 3D model of the mammalian bone implant in a first data set, drafting a target 3D model, and producing the bone fusion implant by way of the target 3D model.

Abstract: In one form, a bone compression device is provided having a shape-retentive bone plate with an initial, unflexed configuration and a flexed configuration. The bone plate may be shifted to the flexed configuration and secured to bones using bone screws of the bone compression device. Once the bone plate has been secured to the bones, the bone plate returns toward its unflexed configuration which compresses the bones.

Abstract: A three-dimensional mini-plate with an oblique orientation for use in immobilizing fractures in facial bones such as the mandible. The plate's oblique orientation permits it to be better matched to oblique fractures such that its edges do not interfere with tooth roots or the inferior margin of the mandible.

Abstract: A bone fixation device includes a plastically deformable bone fixation body having a screw receiving aperture extending therethrough. The shape of the aperture is defined by a side wall having a first threaded portion, a second smooth walled portion extending from the first threaded portion, and a third smooth walled portion extending from the second portion. The aperture has a step change in cross section between the second and third portions defining a lip. The second and third portions are connected by a lip face extending substantially normal to the aperture length with the edge of the lip face defining the lip. The device further includes at least one bone fixation screw having a shaft and a head. The shaft engages with the first threaded portion of the aperture and the head abuts the lip with an abutment force being directed substantially radially outwards so producing a tight fit.

Abstract: A modular bone fixation linkage includes a plurality of interconnected links that can angulate with respect to an adjacent one of the links about at least one axis, such as three axes. The links can further include fixation holes that are configured to receive bone anchors that secure the links to an underlying anatomical structure.

Abstract: A tracking device for a surgical navigational system. A tracking head includes tracking elements configured to communicate tracking information to the surgical navigation system. An extension arm is configured to be coupled to the tracking head, and a bone plate is configured to be coupled to the extension arm. The bone plate is further configured to be coupled to anatomic structure and includes openings each configured to receive a fastener. A central opening may be provided to receive an additional fastener for coupling the extension arm to the bone plate. A recess within the top surface may receive the base plate of the extension arm. Spikes of the bone plate are configured to penetrate the anatomic structure and, in conjunction with the fasteners, prevent movement of the tracking device. The bottom surface is concave between the spikes to define a space configured to accommodate portions of the anatomic structure.

Abstract: Bone compression screws are characterized by a two-piece compression screw assembly comprising a screw component and a sleeve component. The screw component has external male bone screw threading at a distal end, external male machine screw threading on a proximal end, and a smooth shank between the threaded distal and proximal ends. The screw component may be solid, cannulated, slotted, fenestrated, fluted, helically fluted, or any combination thereof. The sleeve component has external male bone screw threading with a pitch that can be equal to, smaller than, or greater than the thread pitch of the screw component, an internal bore extending from a proximal end of the sleeve component to the distal end of the sleeve component and sized for reception over the proximal end of the screw component. Internal female machine screw threading is configured to mate with the external male machine screw threading of the screw component.

Abstract: Systems and methods for stabilizing a bone structure of a patient. A stylet and a delivery tube is directed through an access cannula to form a curved path to a target site. The stylet is withdrawn with a distal portion of the flexible delivery tube maintaining a curved configuration along the curved path. The curable material including a plurality of elements disposed in a fluent material is directed through the flexible delivery tube with a distal portion of the flexible delivery tube maintaining the curved configuration against forces from the elements and the fluent material. A delivery cannula may be directed through the flexible delivery tube. An expandable member may deployed at the target site to create a cavity. A steerable assembly may be selectively activate to form the curved path. The plurality of elements may substantially follow a curved path created within the bone structure.

Abstract: Disclosed is a system and method for tracking an instrument. The instrument may be tracked with one or more trackable members. The trackable members may be held relative to a handle to which the instrument is attached.

Abstract: A delivery system includes a first instrument having an outer sleeve defining a passageway. The first instrument includes an inner sleeve having a first end disposed in the passageway and a second end including a first mating element. The inner sleeve defines a channel. A second instrument includes a hollow shaft disposed in the channel and a handle coupled to the shaft. The handle includes a body and a second mating element extending from the body. The second mating element is configured to engage the first mating element to secure the second instrument to the first instrument. Methods are disclosed.

Abstract: A device for treating a tissue includes a capsule extending longitudinally from a proximal end to a distal end and including a channel extending therethrough, the capsule releasably coupled to a proximal portion of the device and clip arms, proximal ends of which are slidably received within the channel of the capsule so that the clip arms are movable between an open configuration, and a closed configuration. A core member is coupled to the clip alms, the core member including a proximal portion and a distal portion releasably connected to one another so that, when the core member is subjected to a predetermined load, the proximal and distal portions are separated from one another. An electrically conductive control member is connected to the core member, a proximal end of the connected member connected to a power source for delivering an electrical current to the clip arms.

Abstract: An electrosurgical snare, e.g. suitably sized for insertion down the instrument channel of an endoscope, arranged to radiate microwave frequency energy (e.g. having a frequency greater than 1 GHz) from an elongate conductive element within an area encircled by a retractable loop. The elongate conductive element and retractable loop may be independently slidable relative to a snare base at a distal end of a sleeve to provide an appropriate device configuration. By controlling the shape of the emitted microwave field, the risk of collateral thermal damage can be reduced.

Abstract: A method of manufacturing a jaw member of a surgical forceps includes forming a jaw frame having a distal jaw support. The method also includes forming an electrically-conductive defining an aperture having a first diameter, forming a stop member including a body having a second diameter smaller than the first diameter and a shoulder having a third diameter greater than the first diameter. The method also includes inserting the stop member into the aperture such that the body extends through the aperture and the shoulder abuts a portion of the electrically-conductive plate surrounding the aperture, and overmolding an outer housing about at least a portion of the jaw frame, electrically-conductive plate, and stop member to secure the jaw frame, electrically-conductive plate, and stop member to one another.

Abstract: An apparatus includes a body, a shaft assembly, an articulation section, an end effector, and an articulation drive assembly. The articulation drive assembly is configured to drive the articulation section to deflect the end effector relative to the longitudinal axis from a non-articulated configuration to an articulated configuration. The articulation drive assembly includes a rotatable housing, a static member, and an indication feature. The rotatable housing is rotatably coupled to the body. The static member is fixed relative to the body. The indication feature is configured to indicate when the end effector is deflected into the non-articulated configuration. The indication feature includes a ridge and a cantilever arm. The ridge extends from an exterior surface of the rotatable housing. The cantilever arm defines a slot configured to house the ridge when the end effector is in the non-articulated configuration.

Abstract: An apparatus includes a body, a shaft assembly, an end effector, and an articulation section. The articulation section is longitudinally interposed between a distal end of the shaft assembly and a proximal end of the end effector. The articulation section is configured to flex to thereby provide deflection of the end effector away from the longitudinal axis of the shaft assembly. The articulation section includes a first frame member, a second frame member, and a sleeve. The proximal end of the second frame member is proximal to the proximal end of the first frame member. The sleeve is disposed about the first and second frame members.

Abstract: A control circuit for use with an electrosurgical system is disclosed. The control circuit is programmed to provide an electrosurgical signal comprising a plurality of pulses to first and second electrodes and receive a first reading of an impedance between the first and second electrodes. The control circuit is programmed to receive a second reading of the impedance between the first and second electrodes. The control circuit is programmed to determine a difference between the first and second readings and determine that a short circuit is present between the first and second electrodes based on a magnitude of the difference between the first reading and the second reading. The control circuit is programmed to generate a signal indicating the short circuit between the first and second electrodes.

Abstract: Devices, systems and methods are provided for deployment of one or more functional devices, such as therapeutic and/or diagnostic medical devices and/or positioning devices, at various locations relative to a defined operative path. The devices, systems, and methods can include a guide system and a positioning element. The guide system defines the operative path when deployed within a patient's body. The positioning element cooperates with the guide system to define one or more positions relative the defined operative path from which the one or more functional devices are deployed. The present inventions allow for the accurate and reliable placement of the one or more functional devices at the one or more positions relative the operative path. In one embodiment, the functional device is an ablation device adapted to ablate cardiac tissue for the treatment of cardiac arrhythmias, such as atrial fibrillation.

Abstract: An embodiment of the invention includes a surgical device for coagulating soil tissue such as atrial tissue in the treatment of atrial fibrillation, atrial flutter, and atrial tachycardia. The surgical device can include at least one elongate member comprising conductive elements adapted to coagulate soft tissue when radiofrequency or direct current energy is transmitted to the conductive elements. Openings through said conductive elements are routed through lumens in the elongate member to a vacuum source to actively engage the soft tissue surface intended to coagulate into intimate contact with the conductive elements to facilitate the coagulation process and ensure the lesions created are consistent, contiguous, and transmural.

Abstract: Ablation systems and methods of the present disclosure control lesion depth and width such that, for example, wide and shallow lesions can be formed in target tissue in an anatomic structure of a patient during a medical procedure. Such wide and shallow lesions can be useful for treating, for example, thin tissue such as atrial tissue in atria of the heart of the patient.

Abstract: Systems and methods for forming a lesion on an endocardial tissue of a patients heart involve placing an ablation assembly inside of the heart and adjacent to the endocardial tissue, and placing a guiding assembly outside of the heart. An ablation assembly includes an ablation element and a first attraction element, and a guiding assembly includes a second attraction element. First and second attraction elements can be attracted via magnetism. Techniques involve forming an ablation on the cardiac tissue of a patient's heart with an ablation element of the ablation assembly. Optionally, techniques may include moving the second attraction element of the guiding assembly relative to the patient's heart, so as to effect a corresponding movement of the ablation element of the ablation assembly.

Abstract: An electrophysiology catheter (100) includes a catheter distal portion (110) on which a force sensor (200) is arranged. The force sensor (200) includes an elastic tube (210) and strain gauges (220). The elastic tube (210) has a hollow portion in its wall, and the strain gauges (220) are disposed external to the hollow portion. Compared to the design with the strain gauges (220) overlapping the hollow portion, arranging them over solid portions of the elastic tube (210) allows the strain gauges (220) to collect more accurate electrical signals while suffering from less interference. This can result in a significant improvement in contact force measurement accuracy of the catheter distal portion (110).

Abstract: A device is described for treating a nasal airway by modifying a property of a nasal tissue of or near a nasal valve of the airway, without using a surgical incision or an implant, to decrease airflow resistance or perceived airflow resistance in the nasal airway. Various embodiments include an elongate shaft, a bipolar radiofrequency delivery member extending from one end of the shaft, and a handle attached to the elongate shaft at an opposite end from the radiofrequency delivery member. The radiofrequency delivery member is sized to be inserted into a nose and configured to at least temporarily deform the nasal tissue and deliver radiofrequency energy. The radiofrequency delivery member includes two rows of protruding electrodes disposed on a tissue contact surface, and the device is configured to deliver radiofrequency energy from one row of electrodes to the other row of electrodes.

Abstract: Electrosurgical forceps in which one or more pairs of non-resonant unbalanced lossy transmission line structures are arranged on the inner surfaces of the jaws of the forceps provide both (i) active and return electrodes for a radiofrequency (RF) signal, and (ii) lossy structures for delivering a microwave signal into biological tissue in conjunction with a mechanical gripping arrangement for applying pressure to material held within the jaws. The location of the pairs of transmission lines on the jaws of the forceps and the selection of the material of the jaws is arranged to ensure that any biological tissue gripped by the jaws become the propagation medium for the RF signal and the medium into which the microwave signal is lost.

Abstract: Methods and apparatus for planning and/or carrying out a total knee replacement surgical procedure on a knee of a leg of a patient are described. Anatomical data for the leg of the patient is obtained, which allows the femoral mechanical axis, the tibial mechanical axis and the joint line of the knee to be determined. A planned proximal tibial cut angle and a planned distal femoral cut angle are determined. A total knee replacement procedure is carried out on the knee of the patient, wherein a distal femoral cut is made using the planned distal femoral cut angle and a proximal tibial cut is made using the planned proximal tibial cut angle.

Abstract: Simulated are postures each formed by a manipulator arm and a surgical instrument when a tip end portion of the surgical instrument is located at a three-dimensional position of each lattice point in a lattice model set so as to correspond to the manipulator arm, the surgical instrument being held by the manipulator arm. Extracted is such a combination of the lattice points in the lattice models that the postures interfere with each other. Data of the combination which causes the interference is stored in a storage portion. It is determined whether or not an operating command transferred to a control portion corresponds to the combination which causes the interference. When it is determined that the operating command corresponds to the combination which causes the interference, the control portion executes interference preventing processing.

Abstract: Methods of orthopedic fixation and imagery analysis are provided. Images of first and second bone segments attached to a fixation apparatus are captured. Fixator elements identified in the images can be used to obtain imaging scene parameters. Bone elements identified in the images can be used with the imaging scene parameters to reconstruct a three dimensional representation of positions and/or orientations of the first and second bone segments with respect to the fixation apparatus.

Abstract: An implant surface mapping and unwrapping method provided by the present invention selects or defines a mesh implant geometry, and places and rotates it in a specific spatial position according to a mesh. Vertex space coordinates, which are interpolated in medical images such as computed tomography, magnetic resonance imaging, or ultrasound to calculate the gray scale values of these spatial coordinate points, and map them on the surface of the implant. In addition, the implant is irregular. The surface can be further unwrapped through the planar image to help understand its contact with the anatomy. If the medical image is pre-converted to other anatomical, physiological, pathological, and functional parameters, the mapping and unwrapping results will also be displayed with these parameters. Learn more about the relationship between implants and these parameters.

Abstract: Systems, methods, and media for presenting medical imaging data in an interactive virtual environment reality are provided. In some embodiments, a system comprises a head mounted display (HMD) that: determines that a transparent 3D object overlaps a 3D model of a portion of anatomy based on a medical imaging scan; sets values for pixels corresponding to portions of the 3D model not occluded by the transparent object by performing a shading operation; sets values for pixels corresponding to portions of the 3D model at the boundary of the transparent object to intensity values taken from the medical imaging data; displays the 3D model with an exterior surface shaded to evoke a 3D object, and internal surfaces at the boundaries of the transparent object not shaded to preserve details embedded in the medical imaging data.

Abstract: An electromagnetic (EM) system for tracking a surgical tool is provided. The system may comprise a plurality of subsets of field generator coils disposed along edge portions of a surgical bed. Each subset of field generator coils may be configured to generate a magnetic field within a control volume. The system may further comprise a position sensor disposed on a portion of the surgical tool. The position sensor may be configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume. Additionally, the system may comprise an EM system controller configured to selectively activate one or more of the subsets of field generator coils based on the sensor signal.

Abstract: The disclosure relates to an automatic brain-probe guidance systems. Specifically, the disclosure is directed to a real-time method and system for guiding a probe to the dorsolateral oscillatory region of the subthalamic nucleus in the brain of a subject in need thereof using factored Partially Observable Markov Decision Process (POMDP) via Hidden Markov Model (HMM) represented as a dynamic Bayesian Network (DBN).

Abstract: Various embodiments provide a cardiac mapping method including: generating an activation map of a heart based on electrocardiogram (ECG) data of a heart and a three-dimensional (3D) heart model; performing an electrophysiology (EP) procedure to determine a first pacing location; pacing the heart at the first pacing location using an EP catheter; determining whether the pacing at the first pacing location generates a desired cardiac response; displaying guidance information related to a second pacing location on one or both of the activation map and the internal surface map, when the first pacing location is determined not to generate the desired cardiac response; moving the pacing catheter to the second pacing location, based on the guidance information; and pacing the heart at the second pacing location.

Abstract: A Light Adjustable Lens (LAL) Tracker comprises an Imaging System, for creating a LAL image by imaging a LAL implanted into an eye; and an Image Recognition System, coupled to the Imaging System, for determining a disk cross-correlator with the LAL image; determining an edge cross-correlator with the LAL image; and determining a LAL position by determining a combined cross-correlator from the disk cross-correlator and the edge cross-correlator. A Tracking-based Illumination Control System comprises the LAL Tracker for tracking a LAL implanted in an eye, including an Imaging System, and an Image Recognition System; and an Illumination Controller, coupled to the LAL Tracker, configured for determining a LAL misalignment factor, corresponding to a LAL misalignment that characterizes a misalignment of the LAL position with a LAL illumination pattern, and generating an illumination control signal in relation to the determined LAL misalignment factor.

Abstract: A precision detection method for detecting the precision of a surgical robot positioning system includes: acquiring spatial position coordinates of a first detection point and a second detection point; acquiring information of a spatial axis for a surgical robot reaching a planned path, wherein the planned path is formed based on the first detection point and the second detection point; and calculating a first distance from the first detection point to a spatial axis and a second distance from the second detection point to the spatial axis. The precision detection method for a surgical robot positioning system can accurately detect the precision of the surgical robot positioning system.

Abstract: A method for removing an implant attached to a bone during revision joint replacement surgery includes a library of implant models. A series of surface points are collected on the implant with a digitizer. A best match is computed between the collected surface points and an implant model in the library of implant models to register the position of the implant model to the implant. A location is computed of a material-implant interface based on the geometry of the implant model and the registered position of the implant model. Material is removed at the material-implant interface to separate the implant from the bone. A computer-assisted surgical system is provided for performing the method.

Abstract: A surgical instrument (203) includes a reusable instrument portion (204) and a disposable tip assembly (205). The disposable tip assembly (205) includes an end effector assembly (206) that in turn includes an end effector. The disposable tip assembly (205) also includes a locking tip cover (410) that locks the disposable tip assembly (205) to a lock interface element (448B) of a tip interface (245) of the reusable instrument portion (204). To facilitate mounting the disposable tip assembly (205) on the tip interface (245) of the reusable instrument portion (204), the disposable tip assembly (205) includes a first quick connect/disconnect element (409) and the tip interface (245) includes a second quick connect/disconnect element (447). The second quick connect/disconnect element (447) is coupled to a tendon (452). The tendon (452) is also coupled to an actuator assembly that provides forces that push and pull (push/pull) the tendon.

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: A method of using a robotic guidance system for performing surgery on a spine is provided. The method includes utilizing a computerized tomographic scan image of a location on a spinal column of a patient, such that the computerized tomographic scan image is connected to a computer and visible on a monitor connected to the computer. The method also includes attaching a coupling component to the spinal column of the patient, coupling a marker to the coupling component, and imaging, with a fluoroscope, the view of the spinal column of the patient, wherein the fluoroscope image is transmitted to the computer and visible on the monitor and the at marker is clearly visible in the fluoroscope image.

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

Abstract: A surgical robot which enables an operator to easily judge which medical instrument is selected is provided. This surgical robot has a robot body which selectively operates a plurality of medical instruments, an input unit configured to input control information of the robot body, the input unit being common among the plurality of medical instruments, and a display unit configured to display an image of a surgical site of a patient, the display unit having a selecting situation display function which displays a selecting situation of the plurality of medical instruments.

Abstract: A cloud-based analytics medical system comprises a processor, a memory, an input/output interface to access data from medical hub communication devices, each coupled to a surgical instrument, and a database to store the data. The processor aggregates patient outcome data from the medical hubs. Patient outcome data comprises data pertaining to steps performed and corresponding timings for each step in patient procedures, to an outcome of each patient procedure performed, and to medical resources used in the patient procedures. Patient outcome data comprises location data describing which medical facility the medical resource was allocated to and data indicating whether the outcome was a success or failure.

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.

Abstract: A remote control robot system includes a master arm, and a slave arm having a plurality of control modes of an automatic mode in which the slave arm operates based on a prestored task program and a manual mode in which the slave arm operates based on manipulation of an operator received by the master arm. The master arm includes one or more motors configured to drive joints of the master arm, and a motor actuator configured to generate a torque instruction value that operates the joints according to an external force applied to the master arm and gives drive current corresponding to the torque instruction value to the motor. The motor actuator generates, when the control mode is the manual mode, the torque instruction value so that the joints operate according to the external force while resisting a frictional force of the motor.

Abstract: A medical system including a manipulator having a longitudinal portion with a proximal end and a distal end; a rotation driving unit connected to the longitudinal portion for rotating the proximal end; an uneven portion disposed on an outer circumference surface in the vicinity of the distal end and being along a helix; a bendable portion disposed at the distal end; a bending driving unit bending the bendable portion; a shape sensor unit detecting a bending amount and a bending direction of the bendable portion; a rotation angle sensor unit detecting a rotation angle and a rotation direction of the longitudinal portion; and a control unit controlling operations of the rotation driving unit and the bending driving unit, wherein the distal end and the uneven portion are rotatable about the longitudinal axis following the rotation of the proximal end when the proximal end is rotated by the rotation driving unit.

Abstract: A haptic feedback device receives a signal reflecting pressure exerted by a medical tool against an anatomical surface. A fastener secures the feedback device to, for example, a wrist of an operator. A haptic exertion component exerts haptic stimulation to the operator based on the received signal such that when the received signal reflects a pressure being exerted by the medical tool against the anatomical surface of a patient is in a defined range for operation of the medical tool, the exertion component exerts haptic stimulation at a predetermined level that indicates pressure of the medical tool is being exerted in the defined range. Otherwise, the exertion component does not exert a level of haptic stimulation that is equal to or more than the predetermined level or the exertion component exerts a level of haptic stimulation to the operator that is more than the predetermined level.