Abstract: Orthopedic fixation devices, assemblies, and methods for securing a spinal rod. The orthopedic fixation device may include a tulip head, a bone fastener, a rotatable saddle, and a threaded locking cap. The saddle may be insertable into the tulip head in an unlocked position with a rod seat offset relative to a rod slot of the tulip head. The saddle may be rotated into a locked position with the rod seat aligned with the rod slot such that a rod is positionable through the rod slot and into the rod seat. The threaded locking cap may secure the rod and bone fastener.

Abstract: A pivotal bone anchor assembly includes a receiver with an axial bore communicating with a bottom of the receiver through a lower opening, with the bottom of the receiver including an angled planar surface extending upward to define an expanded portion of the lower opening. The receiver further includes upright arms with opposed internal surfaces extending between front and back faces of the upright arms to define an open channel, side outer surfaces opposite the internal surfaces extending downward toward the bottom of the receiver, break-off extensions integrally formed with and extending upwardly from inner edge portions of top surfaces of the upright arms, and non-threaded tool engagement grooves extending horizontally and entirely across the side outer surfaces to the front and back faces of the upright arms, with each tool engagement groove being isolated from the axial bore and located below the top of the respective upright arm.

Abstract: An anchor assembly can be couplable to a bone and can include an anchor and a housing. The anchor can include a shank securable to bone and a head coupled to a proximal portion of the shank. The housing can include a proximal portion including an anchor bore and a distal portion including a secondary bore configured to engage the anchor to limit angulation of the anchor relative to the housing.

Abstract: A connection device includes a sleeve having a first end, a second end above the first end, a longitudinal axis, and a wall that extends at least partially around the longitudinal axis. An extension member of a bone anchoring device is insertable through the first end into the sleeve to position the sleeve around at least part of the extension member. The wall has an outer surface and defines a laterally extending opening. A surface at a lower end of the opening extends inwardly from the outer surface by a first distance to facilitate insertion of a free end of the extension member from the first end into the opening, while a surface at an upper end of the opening extends inwardly from the outer surface by a distance greater than the first distance to restrict the free end from extending past the upper end of the opening.

Abstract: Disclosed herein are embodiments of a system and embodiments of a method for stabilizing spinal vertebrae through a skin incision. In some embodiments, the system or method can include a first screw having a first screw head, a second screw having a second screw head, and a third screw having a third screw head, a first tower having a distal portion, a proximal portion, and a bend between the distal portion and the proximal portion, a second tower having a distal portion and a proximal portion, the second tower configured to be removably coupled with the second screw at a distal end of the second tower, and a third tower having a distal portion, a proximal portion, and a bend between the distal portion and the proximal portion.

Abstract: A universal pair of pedicle screw-mounted retractor blades and locking shims configured for mounting over and locking onto the tower or extended top threaded post of a pair of adjacent pedicle screws pre-positioned in adjacent vertebrae. Each cylindrical retractor blade body has a proximal flange with an inverted post extending distally, configured for attachment to a handle or arm of a ratcheting retractor. The L-shaped locking shim is removably positioned along a grooved slot within the retractor blade body and temporarily locked into place within the tulip portion of the pedicle screw using a set screw.

Abstract: Treatment of spinal irregularities, including, in one or more embodiments, derotation apparatus and systems that can be used to reduce the rotation of vertebral bodies. Derotation apparatus that may comprise a tube assembly comprising an inner sleeve and an outer sleeve disposed over the inner sleeve. The inner sleeve may have a distal end for attachment to an implant. The tube assembly may further comprise a handle assembly. The tube assembly may further comprise a ball joint assembly disposed between the tube assembly and the handle assembly. The ball joint assembly may comprise a ball joint configured for attachment to a coupling rod. The ball joint assembly further may comprise a reducing extension below the ball joint, the reducing extension being sized to fit in a central bore of the inner sleeve. Orthopedic fixation devices comprising a ball joint are also disclosed.

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: The modular intramedullary fixation device is a multi-piece bone fixation device for insertion into the medullary cavity of a bone. In one embodiment, the modular intramedullary fixation device is formed from a plurality of substantially Z-shaped modular elements, which are assembled together to a desired length and width. In additional embodiments, the modular intramedullary fixation device includes a proximal portion, a distal portion, and a connector for connecting the two portions to each other. The connector may be provided in a wide variety of configurations, including an adjustable connector for adjusting the length of the modular intramedullary fixation device. Each of the proximal and distal portions may further have an adjustable length.

Abstract: An intramedullary nail implant for positioning in a bone having a head and a shaft defining an intramedullary canal. The implant includes a distal portion having a shaft extending along a central axis and configured for positioning within the intramedullary canal. A proximal portion extends proximally from the distal portion. The proximal portion defines a contact surface which extends at least in part medially of the central axis such that it is configured to extend within a medial portion of the bone head. A method of implanting the nail is also provided.

Abstract: A metatarsal fixation device is provided for fixation of osteotomy or fracture of a distal metatarsal metaphysis bone of the human foot and for fixation of an associated capsule to the metatarsal head. The device includes a metallic bone plate with a series of screw holes along an elongated portion of the plate and a combination of a singular screw hole and a resilient clamp on an end of the elongated portion. The resilient clamp has two arched resilient arms extending laterally outward from an end of the elongated portion. Each arm has a plurality of spikes on an inner surface thereof providing points of contact that compress and attach a metatarsal phalangeal joint capsule portion to the medial and/or lateral aspect of the metatarsal head, thereby facilitating realignment of the metatarsophalangeal joint and respective digit. The resilient arms are biased to grasp lateral sides of a metatarsal head and any associated capsule portion.

Abstract: A bone screw is provided that reduces insertion torque when driving the screw into bone while maintaining pull-out strength. The provided bone screw includes one or more threads having a portion with a reduced flank profile that helps reduce the amount of torque required to drive the bone screw into bone. The portion with the reduced flank profile has an equal thread depth or height as the portion of the one or more threads with a non-reduced flank profile, thereby helping to maintain pull-out strength. The reduced flank profile portion is away from the bone screw's insertion tip. As such, the bone screw's non-reduced flank profile portion creates internal female threads that have a correspondingly larger flank profile than the screw's reduced flank profile portion, thereby reducing friction between the reduced flank profile portion of the one or more threads and the interior female thread.

Abstract: A method and device for repairing a bone fracture include the use of a bone plate and a bone hook that engages the interior of the bone. The method includes the steps of using at least one bone hook that engages the interior of the bone to apply a counterforce to the bone plate installation forces. The bone plate is configured to be positioned over the hook while the bone hook is in place. In an exemplary configuration, two bone hooks are used to position and then hold the ends of the fractured bone. The hooks are positioned through the bone plate and apply a counterforce to the installation of the bone plate. The hooks are removed after the plate is installed. In the case of a rib fracture, with the hook or hooks engaging the interior of the bone, there is minimal disruption to the intercostal material around the fracture and no engagement between the tools and the pleura behind the bone.

Abstract: An ablation device and method for pulsed field ablation, the device comprising a catheter including an expandable basket, a set of electrodes formed on the expandable basket, and a pulse generator suitable for generating electric pulses wherein the pulse generator being in electrical connection with the set of electrodes. The expandable basket is formed of a braided mesh of filaments, wherein the filaments are made of nonconductive material, wherein at least portion of the filaments comprises a lumen, and wherein the lumen comprises melted material, wherein the filaments further include electrodes and conductive wires. The conductive wires at least partially lead inside of the lumen of the filaments, and are electrically connected to the electrodes.

Abstract: An ablation applicator for an ablation device for ablating tissue of a blood vessel having a tubular body defining an inner lumen to which an ablation medium is conductible, a control mechanism for converting the tubular body between a passive operation mode for inserting the ablation applicator into the blood vessel and an active operation mode for ablating tissue of the blood vessel, and an ablation medium supply line for supplying the ablation medium to the inner lumen and positioned within the inner lumen and having a number of openings for passing the ablation medium from the ablation medium supply line to the inner lumen for thermally contacting the ablation medium with the tubular body wherein at least some of the openings are distributed along the ablation medium supply line with a predetermined spacing between neighboring openings.

Abstract: The present invention generally relates to improved medical devices, systems, and methods. In many embodiments, devices, systems, and methods for locating and treating a target nerve with cold therapy are provided. For example, a focused cold therapy treatment device may be provided that is adapted to couple with or be fully integrated with a nerve stimulation device such that nerve stimulation and focused cold therapy may be performed concurrently with the cryo-stimulation device. Improvements in nerve localization and targeting may increase treatment accuracy and physician confidence in needle placement during treatment. In turn, such improvements may decrease overall treatment times, the number of repeat treatments, and the re-treatment rate. Further, additional improvements in nerve localization and targeting may reduce the number of applied treatment cycles and may also reduce the number of cartridge changes (when replaceable refrigerant cartridges are used).

Abstract: Methods and devices for performing ablation using time multiplexed waveforms are disclosed. The increased efficacy of monophasic waveforms is combined with the reduced side effects of biphasic waveforms by distributing components of the waveform across over a broader time interval than that typically used in a conventional biphasic waveform. Charge balancing occurs upon completion of therapy delivery within a time period that avoids muscle stimulation, while allowing unbalanced waveforms to be delivered during stimulation.

Abstract: Pulsed field ablation systems are disclosed, some of which may include an output pulse generation circuit and a high voltage pulse generation circuit electrically connected to the output pulse generation circuit. The high voltage pulse generation circuit may be configured to deliver a high voltage pulse set to the output pulse generation circuit. The output pulse generation circuit may be configured to generate an output pulse set at least in response to the high voltage pulse set. The output pulse set may be deliverable to a set of selectable electrodes and may be configured to cause pulsed field ablation of tissue. Each pulse in the output pulse set may have a rise time that is shorter than a rise time of at least one high voltage pulse in the high voltage pulse set.

Abstract: A pulse generator discharge circuit is disclosed. The circuit includes one or more discharge stages, each discharge stage including a plurality of control input terminals. The circuit also includes first and second discharge terminals, and a plurality of serially connected switches electrically connected between the first and second discharge terminals, where a conductive state of each of the switches is controlled by a control signal. The circuit also includes a plurality of inductive elements configured to generate the control signals for the serially connected switches, where each inductive element is configured to generate a control signal for one of the serially connected switches in response to one or more input signals at one or more of the control input terminals, and where each of the serially connected switches is configured to receive a control signal from a respective one of the inductive elements.

Abstract: Systems and methods to confirm safe delivery of treatment energy to a patient by identifying a presence of a fault in an energy delivery pathway and identifying a location of the fault within the device. The system includes a processing unit configured to calculate blood impedances external to the device based on known impedance characteristics of the device, and then to calculate impedances within the device during energy delivery based on the calculated blood impedances. The processing unit prevents the delivery of energy in an energy delivery pathway that is determined to be compromised. The processing unit is also configured to compare times for two different frequencies to travel a predetermined distance, the difference in the times corresponding to a location of a fault within the energy delivery pathway.

Abstract: An electrosurgical probe with internal cooling for use in systems and methods for lesioning in bone and other tissue is disclosed. The probe includes a distal electrical insulator, a proximal electrical insulator, a distal electrical conductor defining a distal electrode with a closed distal end and a proximal electrical conductor defining a proximal electrode, the distal electrode longitudinally spaced apart and electrically isolated from the proximal electrode by the distal electrical insulator. The distal electrode has a closed proximal end formed by a distal face of the distal electrical insulator to thereby define a closed distal inner lumen for circulating the cooling fluid. The proximal electrode has a closed distal end formed by a proximal face of the distal electrical insulator and a closed proximal end formed by a distal face of the proximal electrical insulator to thereby define a closed proximal inner lumen for circulating the cooling fluid.

Abstract: An apparatus includes a shaft assembly and an end effector, which includes first and second jaws pivotably coupled together. The first jaw includes a first jaw body and a first electrode surface. The second jaw includes a second jaw body and an electrode assembly, which includes a distal end pivotably supported by the distal end of the second jaw body. The electrode assembly further includes a second electrode surface positioned to face the first electrode surface when the first and second jaws are placed in a closed configuration. The first and second electrode surfaces are operable to apply RF energy to tissue. The electrode assembly further includes at least one compressible member interposed between the second electrode surface and the second jaw body. The at least one compressible is being configured to urge a proximal region of the second electrode surface toward a corresponding region of the first electrode surface.

Abstract: A probe for treating shoulders and other joints has a working end which includes a first element for cutting soft tissue, a second element for applying RF energy to tissue, and a third element for cutting or burring bone. The probe is introduced to a working space in a patient's joint, such as the patient's subacromial space, typically under endoscopic viewing. Soft tissue is cut with the first element. Radiofrequency energy is applied with the second element to ablate or cauterize tissue, while bone may be burred with the third element. Successive treatments steps are performed by reorienting the treatment device in situ with removal or withdrawal of the working end.

Abstract: A balloon-type electrode catheter is capable of performing an ablation treatment with respect to a lesion over a wide area and excellent in an effect of cooling the inner portion of a balloon. The balloon-type electrode catheter includes an outer tube, an energization connector, a balloon having neck portions at both ends of an expansion portion, an inner tube, a distal end tip, strip electrodes formed on the outer surface of the balloon, and a conducting wire that connects each of the strip electrodes and the energization connector to each other. Openings of fluid supply sub lumens of the outer tube are located on the distal end side from an intermediate location in the axial direction in the expansion portion of the balloon. Openings of fluid drainage sub lumens of the outer tube are located at the proximal end of the expansion portion.

Abstract: An irrigated ablation catheter includes a tip electrode with a thin shell and a plug to provide a plenum chamber. The tip electrode has an inlet of a predetermined size and noncircular shape, and outlets in the form of fluid ports formed in the thin shell wall. The plurality of the fluid ports is predetermined, as is their diameter. Each fluid port has a tapered configuration, for example, a frustoconical configuration, with a smaller inlet diameter and a larger outlet diameter.

Abstract: A catheter includes an elongate shaft, an electrode assembly, a connective stem, a coupler, a first magnetic position sensor, and a second magnetic position sensor. The electrode assembly includes microelectrodes. The connective stem includes a first connective stem member and a second connective stem member. The connective stem defines a first sensor receptacle and a second sensor receptacle in an exterior surface of the connective stem. The coupler is configured for coupling with the connective stem. The first magnetic position sensor is disposed in the first sensor receptacle and elongated along a first sensor longitudinal axis. The second magnetic position sensor disposed in the second sensor receptacle and elongated along a second sensor longitudinal axis that is not parallel to the first sensor longitudinal axis.

Abstract: An apparatus and method of treatment of an animal using the apparatus are disclosed. The apparatus includes a scalpel, a laser included in the scalpel, and a visible light source included in the scalpel. The visible light source provides a visible targeting beam. The method of treatment includes activating a visible targeting beam in a laser scalpel. The visible targeting beam has an illumination intensity. The method further includes illuminating a tumor that includes cancerous cells and non-cancerous cells with the visible targeting beam, activating an invisible mid-infrared laser included in the scalpel to produce a laser spot at the tumor, and ablating the cancerous cells while leaving the non-cancerous cells substantially undamaged.

Abstract: In some embodiments, a system for optical tissue interrogation comprises a catheter having a plurality of electrodes disposed in an array at a distal end of the catheter, the plurality of electrodes being configured to deliver ablation energy to tissue; and one or more optical fibers extending through the catheter to deliver light from a light source to the tissue and to deliver optical information comprising nicotinamide adenine dinucleotide hydrogen (NADH) fluorescence from the tissue to a sensor, wherein each electrode of the plurality of electrodes is associated with at least one of the one or more optical fibers.

Abstract: A balloon device for treating a calcified structure of a body tissue, including an elongated body extending between a proximal end and a distal end and having at least one lumen extending along at least a portion thereof and defining a fluid path, and at least one inflatable balloon secured to the elongated body and fluidly connected to the at least one lumen, with the at least one lumen being fluidly connectable to a fluid source for selectively inflating and deflating the at least one inflatable balloon, and with the at least one inflatable balloon, when being inflated, is positioned in close proximity to the calcified structure and vibrating, mechanical vibrations of the at least one inflatable balloon causes destructuration of the calcified structure.

Abstract: There is described an automated slit lamp system for imaging an eye of a patient. The automated slit lamp system generally has: an illuminator emitting an illumination beam towards the eye of the patient during examination, the illuminator being operable to illuminate the eye of the patient in different illumination patterns; a controller communicatively coupled to the illuminator, the controller controlling the illuminator to automatically illuminate the eye of the patient with a sequence of illumination patterns comprising at least a first illumination pattern and a second illumination pattern being different from the first illumination pattern, the first and second illumination patterns being selected from a group comprising: diffuse illumination, direct focal illumination, tangential illumination, retroillumination, indirect illumination and sclerotic scatter illumination; and a camera generating images of the eye during both the first and second illumination patterns.

Abstract: Methods, apparatus, and systems for performing an ophthalmic diagnostic test are disclosed. In one aspect, a head-wearable device for administering an ophthalmic test to a subject can comprise a head-wearable frame for mounting the device onto the subject's head, and a light seal configured for coupling to the frame so as to isolate at least one eye of the subject from ambient light when the device is worn by the subject.

Abstract: A method of verifying ophthalmic measurements includes obtaining, via an ophthalmic measurement device, a first measurement of at least one ophthalmic parameter over a first measurement area. The first measurement area corresponds to an unassisted visible area of a patient's eye. A second measurement of the at least one ophthalmic parameter over a second measurement area is obtained via the measurement device. The second measurement area corresponds to an assisted visible area of the patient's eye. The first measurement is compared to the second measurement. It is determined if the second measurement diverges from the first measurement. Responsive to a determination that the second measurement diverges from the first measurement, an alert that the second measurement is inaccurate is generated. Responsive to a determination that the second measurement does not diverge from the first measurement, the second measurement is accepted as accurate.

Abstract: According to one aspect, the invention relates to a system (101) for in vivo, full-field interference microscopy imaging of a scattering three-dimensional sample.

Abstract: An information processing apparatus according to an embodiment of the present technology includes an acquisition section and a processor. The acquisition section acquires eye information regarding an eye of a user. The processor determines a first line-of-sight direction on the basis of the eye information using a first method, determines a second line-of-sight direction on the basis of the eye information using a second method that is different from the first method, calculates reliability information regarding at least one of reliability of the first line-of-sight direction or reliability of the second line-of-sight direction, and determines a line-of-sight direction of the user on the calculated reliability information.

Abstract: There is provided a VR-based portable nystagmus test apparatus that provides both a three-dimensional stereoscopic image and a voice to a subject such that efficiency and accuracy of a follow-up examination can be enhanced. The VR-based portable nystagmus test apparatus can enhance the accuracy and efficiency of an examination by inducing the subject to make a correct motion, during the examination on the subject who wears the VR-based portable nystagmus test apparatus.

Abstract: Example systems and techniques for denervation, for example, renal denervation. In some examples, a processor determines one or more tissue characteristics of tissue proximate a target nerve and a blood vessel. The processor may generate, based on the one or more tissue characteristics, an estimated volume of influence of denervation therapy delivered by a therapy delivery device disposed within the blood vessel. The processor may generate a graphical user interface including a graphical representation of the tissue proximate the target nerve and the blood vessel and a graphical representation of the estimated volume of influence.

Abstract: A system includes a robotic device and a processing circuit programmed to enable planning of a placement of an implant relative to a bone based on bone densities of a plurality of regions of the bone, generate a control object based on the placement of the implant, and control the robotic device using the control object.

Abstract: Devices, systems, and methods for a robot-assisted surgery. Navigable instrumentation, which are capable of being navigated by a surgeon using the surgical robot system, and navigation software allow for the navigated placement of interbody fusion devices or other surgical devices.

Abstract: A robotic surgical system employing a treatment catheter (30) (e.g., a thermoablation catheter or a cyroablation catheter), and an articulated robot (40) including a plurality of linkages and one or more joints interconnecting the linkages for navigating the treatment catheter (30) within an anatomical region. The robotic surgical system further employs a robot controller (41) for controlling a navigation by the articulated robot (40) of the treatment catheter (30) along a intraoperative treatment path within the anatomical region relative to the anatomical structure derived from a planned treatment path within the anatomical region relative to the anatomical structure based on a registration between the articulated robot (40) and a preoperative image (21a) illustrative of the planned treatment path within the anatomical region relative to the anatomical structure.

Abstract: A computer implemented medical method of calibrating a cage is presented. In particular, this calibration method calculates a virtual model of the cage based on a cage tip point and a cage end point, acquired by using a pointer tip of a pointing device, and at least one axis, acquired by using a pointer shaft of the pointing device along a side of the cage. This method allows for providing a more detailed virtual model of the cage, while being in compliance with sterility restrictions.

Abstract: Techniques for robotically guiding a cup-shaped implant or instrument are provided. In an example, the technique can include a combination of the following operations. Acquiring a calibration image including a cup-shaped element in a first orientation. Identifying a first elliptical outline of the cup-shaped element. Acquiring a navigation image including the cup-shaped element in a second orientation. Identifying a second elliptical outline of the cup-shaped element. Aligning a coordinate system of a robotic system to a patient, and positioning an implant or instrument based on a pre-operative plan within the coordinate system.

Abstract: Described herein are systems, apparatus, and methods for precise placement and guidance of tools during surgery, particularly spinal surgery, using minimally invasive surgical techniques. Several minimally invasive approaches to spinal surgeries were conceived, percutaneous technique being one of them. This procedures looks to establish a skin opening as small as possible by accessing inner organs via needle-puncture of the skin. The percutaneous technique is used in conjunction with a robotic surgical system to further enhance advantages of manual percutaneous techniques by improving precision, usability and/or shortening surgery time by removal of redundant steps.

Abstract: A method for determining the position of a rotatable jaw of an attachment relative to a non-rotatable jaw is disclosed. The method comprises assembling the attachment to a surgical robot, rotating a first rotatable driver of the robot to align the first driver with a first rotatable drive of the attachment, and rotating a second rotatable driver of the robot to align the second driver with a second rotatable drive of the attachment. The method further comprises evaluating the amount of rotation required to align the first driver with the first drive and the amount of rotation required to align the second driver with the second drive, calculating a difference between the amount of rotation of the first driver and the amount of the rotation of the second driver, and determining the position of the rotatable jaw relative to the non-rotatable jaw based on the calculated difference.

Abstract: Devices, systems, and methods for a robot-assisted surgery. Navigable instrumentation, which are capable of being navigated by a surgeon using the surgical robot system, and navigation software allow for the navigated placement of interbody fusion devices or other surgical devices. The interbody implant navigation may involve navigation of access instruments (e.g., dilators, retractors, ports), disc preparation instruments, trials, and inserters.

Abstract: A robotic system comprises a robotic arm and a medical instrument. The robotic arm comprises a series of linkages connected by a series of joints and one or more instrument drivers coupled to a distal end of the series of linkages. The medical instrument comprises an elongated shaft extending between a distal portion and a proximal portion, an instrument base connected to the proximal portion of the elongated shaft, the instrument base including an attachment interface configured to facilitate attachment to the robotic arm, a non-transitory computer readable medium storing a compression compensation parameter, and a pull wire connected to the distal portion of the elongated shaft, the pull wire extending along the elongated shaft between the distal portion and a drive input positioned at the instrument base, the drive input configured to actuate the pull wire to cause movement of the elongated shaft.

Abstract: For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.

Abstract: Certain aspects relate to systems and techniques for endoscopically-assisted percutaneous medical procedures. A method can include inserting a first medical instrument having an elongated shaft and a first position sensor into a treatment region of a patient through a natural orifice of the patient. A first position of the first medical instrument within the treatment region can be determined with the first position sensor. A target location can be defined within the treatment region that is distanced from the determined first position. A second medical instrument can be percutaneously guided toward the target location. The method can be performed on a robotically-enabled medical system.

Abstract: A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator.

Abstract: A medical instrument system includes a control system and an operator input device coupled to an instrument including a sensor. The control system includes a processor and memory comprising instructions that cause the control system to: determine a distance between a distal tip of the instrument and an anatomical area based on sensor data; determine a motion scaling parameter based on the distance; receive an input instruction from the operator input device; map the input instruction to an output instruction including applying the motion scaling parameter to the input instruction to create the output instruction; instruct an actuator to move the instrument based on the output instruction; determine a second distance between the distal tip and the anatomical area based on the sensor data; determine a second motion scaling parameter based on the second distance; and stop movement of the instrument based on the second motion scaling parameter.