Abstract: A guidance system for targeted interventions using medical instruments may include an optical unit positioned such that a desired area of intervention is within a field of view. A control unit having a touch screen display, may be communicatively coupled with the optical unit and configured to receive a real time image of the area of intervention, and further configured to (i) receive MRI volume representations of the desired area of intervention, (ii) register any multi modal markers that appear in the field of view, (iii) generate guidance feedback images comprising a plurality of image elements based on the MRI volume representations and (iii) to transmit the guidance feedback images to the projector. The projector in turn directs at least one of the guidance feedback image elements onto the area of intervention responsive to receipt of the guidance feedback images from said control unit.

Abstract: A puncture needle includes: a main body having a rod shape; a needle tip formed at a distal portion of the main body; and a recess formed in a side portion of the main body. The recess has a distal-side wall that has a wall surface facing a proximal side and facing a direction of being skewed at 0° or more and 75° or less from a direction along an axis of the main body to a radially outer side of the main body. The distal-side wall and a portion of the main body on a proximal side of the recess are separated from each other when the distal-side wall and the main body are viewed in a normal direction of the distal-side wall.

Abstract: A puncture needle with high echo visibility of a needle tip is provided. The puncture needle includes a main body having a rod shape, a pyramidal portion that has a pyramidal shape and is disposed at a distal end of the main body, and an ultrasound reflecting structure three-dimensionally formed on a side portion of the pyramidal portion.

Abstract: An access assembly for a surgical tool, including a housing member, arranged at a proximal end of the access assembly and including a longitudinal channel for accessing a surgical tool; a tube member, arranged at a distal end of the access assembly, extending along a longitudinal axis of the access assembly, and configured to receive the surgical tool; a proximal sealing device arranged inside the housing member and configured to connect the proximal end of the housing member with the received surgical tool in a sealed manner; a distal sealing device connected with a distal end of the tube member in a sealed manner; a fluid supply channel including a mixing component and a first fluid supply channel for inputting a first fluid. The mixing component includes a first passage for introducing a second fluid, and a second passage for mixing and delivering the first fluid and the second fluid.

Abstract: An expandable introducer includes an introducer hub and an introducer sheath coupled to the introducer hub and extending distally therefrom. The introducer sheath includes a sheath wall, the sheath wall having an interior surface defining a lumen of the introducer sheath and an exterior surface disposed radially outward from the interior surface. The exterior surface may be wavy or ridged to reduce contact surface area between the introducer sheath and a patient's anatomy. The interior surface of the sheath wall may be wavy or ridged to reduce contact surface area between the sheath wall and a dilator and/or delivery system that advances therethrough. The exterior surface of the sheath wall may be textured to aid in hydro-coat retention and/or to reduce surface contact area with a patient's anatomy, thereby reducing track forces during insertion and delivery. The introducer sheath wall may include a spine.

Abstract: According to a general aspect, an insertion device includes an elongate member defining a lumen extending from a first end of the elongate member to a second end of the elongate member; a coupler configured to be coupled to a first end portion of the elongate member, the coupler defining a lumen; and an obturator having a first end portion, the first end portion of the obturator being configured to be disposed within the lumen defined by the elongate member and move from a first position within the lumen defined by the elongate member to a second position within the lumen defined by the elongate member.

Abstract: Catheter-based delivery systems for delivery and retrieval of a leadless pacemaker include features to facilitate improved manipulation of the catheter and improved capture and docking functionality of leadless pacemakers. Such functionality includes mechanisms directed to deflecting and locking a deflectable catheter, maintaining tension on a retrieval feature, protection from anti-rotation, and improved docking cap and drive gear assemblies.

Abstract: A bone harvesting device includes a main body having an internal cavity and a suction port adapted to be coupled to a suction source. The device further includes an outer tube having an interior surface, an exterior surface, a proximal end and a distal end, the proximal end of the outer tube being coupleable to the main body, an inner tube having an interior surface, an exterior surface, a proximal end and a distal end, the inner tube being in fluid communication with the internal cavity and at least partially disposed within the outer tube such that a venting channel is defined between at least a portion of the inner tube and at least a portion of the outer tube.

Abstract: Provided in the present application are a sealing device and a puncture device. The sealing device includes: a first body; a second body, the second body being connected to the first body, and the second body and the first body forming an instrument channel for an instrument to pass therethrough; and a sealing component, the sealing portion being arranged in the instrument channel and allowing the instrument to pass there through, so as to form at least one sealing part in the instrument channel in a state in which the instrument is inserted and/or not inserted into the instrument channel. By means of the implementation, the sealing device can form at least one sealing part in the instrument channel in the state in which the instrument is inserted or not inserted into the instrument channel, such that the sealing performance of the puncture device can be significantly improved.

Abstract: The present invention relates to a device for transferring a preterm from a natural womb of a pregnant mammal to an artificial womb, wherein the device comprises an adjustable first wound retractor and an adjustable second wound retractor, wherein each of the adjustable wound retractors is adapted to dilate a surgical wound incision to a desired diameter, comprising a flexible sleeve disposed in a cylindrical form between a first retraction ring and a second retraction ring, an annular shaped transfer device base placed over the second retraction rings, and a transfer bag device comprising a transfer bag having an opening which opening is connected to an annular shaped transfer device base coupling member, wherein the transfer bag is provided with at least one integrated glove for receiving the hand of a medical practitioner, in particular a gynaecologist, in order to allow the medical practitioner to transfer the preterm from the natural womb into the transfer bag.

Abstract: Disclosed herein are exemplary medical devices for delivery of compositions to a target site. A disclosed medical device may comprise a delivery device comprising a delivery device comprising a handle, a composition delivery container and its plunger, an insertion tube, a dual lumen catheter comprising an exit port and optionally, an end structure, and fluid connections therefor, components for moving one or more catheters or for compressing one or more catheters. Methods of treatment and diagnosis using a disclosed delivery device, compositions for such methods and kits and systems are also disclosed.

Abstract: An external fixation assembly for bone fusion or separation is disclosed. Related methods are also disclosed.

Abstract: Systems and methods for using a femoral array clamp can include sliding a first throughbore of a first femoral array clamp on a first bone pin having a distal end disposed within a bone: inserting an array arm through a second throughbore of the first femoral array clamp; and locking a physical relationship between the first bone pin and the array arm by actuating a first fastener of the first femoral array clamp.

Abstract: One aspect of the disclosure relates to an adjustable implant. The adjustable implant may include a housing configured to be coupled to a first bone portion; an adjustable portion configured to be coupled to a second bone portion, the adjustable portion having a first bar; an actuator rotationally mounted within the housing, the actuator including a protrusion extending therefrom; and at least one gear having an anvil coupled thereto, wherein the protrusion of the actuator is configured to engage the anvil during rotation of the actuator to cause the adjustable portion to move relative to the housing. The protrusion may include an impact hammer surface. Also provided herein are distraction and compression systems including adjustable implants and adjustment devices therefor, and methods for adjusting such adjustable implants.

Abstract: A revision connector that is configured to couple a new spine fixation rod to a previously implanted spine fixation rod that is secured to a plurality of vertebrae. The previously implanted spine fixation rod may be received in a first rod receiving channel of the revision connector. The revision connector may include a linkage that is received in a second rod receiving channel of another revision connector. For example, the another revision connector may couple to the new spine fixation rod such that the revision connector is coupled to the new fixation rod. A bone anchor may not directly connect either of the revision connector or the another revision connector to underlying vertebra. Also, the new spine fixation rod can be implanted and secured to vertebra that are caudal and/or cranial with respect to the previously secured vertebrae.

Abstract: A flexible implant system includes a flexible implant, an implant housing, and an implant set screw. The flexible implant is configured to loop around a portion of a bony element. The implant housing includes a housing body defining a rod passage configured to receive an rod. The housing body also defines an implant passage that receives a portion of the flexible implant. The implant set screw engages the flexible implant within the implant passage to fix the flexible implant to the implant housing.

Abstract: An implant device for a facet joint includes a wedge portion and an anchor portion. The anchor portion is made integral with the wedge portion so as to form a central opening. The anchor portion includes a first face, a second face, and a lateral rim so as to form a rectangular prism portion. The first face is on a first longest and widest side of the rectangular prism portion. The second face is on a second longest and widest side of the rectangular prism portion. The method of fusing vertebrae with the implant device includes the step of forming a rectangular cavity between an upper vertebra and a lower vertebra. The rectangular cavity has a first longest and widest side on the upper vertebra and a second longest and widest side on the lower vertebra corresponding to the first face and the second face.

Abstract: An implant for connecting a lamina having an edge separated from a lateral mass of a vertebra during a laminoplasty procedure is provided. The implant has a first portion configured to engage with the lateral mass. The first portion includes a transverse opening for receiving a fastener for fixing the first portion to the lateral mass. The implant includes a second portion configured to engage with the edge of the lamina separated from the lateral mass during the laminoplasty procedure. The second portion being connected to the first portion so that the second portion is rotatable relative to the first portion about an axis of rotation. The second portion includes a transverse opening for receiving a fastener. The implant is configured so that the first portion can be secured to the lateral mass prior to separating the lamina therefrom.

Abstract: A photocurable device injection system for creating in situ polymerization via light or free-radical to enable fractured bone fixation. The system comprises a photosensitive polymeric resin sensitive to light, temperature, oxygen, enzymes, or a combination thereof. The photosensitive polymeric resin may be configured to cure at room temperature or physiological temperature with a light source. The photosensitive polymeric resin may be configured to depolymerize with ultrasonication, sonication, or a combination thereof. The system further comprises an implantable 3-dimensional biocompatible pouch comprising an optical light guide. The system further comprises one or more micro-sized ultrasonication probes configured to contact a three-dimensional pouch by one or more openings. The one or more probes may be configured to enable polymer outflow.

Abstract: Provided herein is an adjustable implant configured to non-invasively guide bone growth in a patient. The adjustable implant includes a first portion configured to couple to a first bone segment and a second portion at least partially disposed within the first portion and configured to couple to a second bone segment. The adjustable implant includes a drive assembly configured to be transcutaneously actuated, and to drive rotation of a gear assembly configured to rotate about a first axis, and drive axial translation of the second portion along a second axis. Non-invasive actuation of the drive assembly therefore causes the adjustable implant to distract or retract along the second axis.

Abstract: A sternal closure device includes an insertion member, a receiver member and a joint locking mechanism. The joint locking mechanism includes a dual pawl assembly and a dual ratchet assembly. The dual pawl assembly includes a pair of pawl arms that include heads with outward facing teeth. The dual ratchet assembly includes a pair of ratchet arms with inward facing teeth that are configured for an intermeshed engagement with the teeth on the corresponding pawl arms. Alignment tabs on the ratchet arms are captured within guide channels on the receiver member. The configuration and number of the teeth contribute to the strength of the device. The locking mechanism contributes to efficiency, speed, and strength of the closure.

Abstract: The present application relates to apparatus and methods for securing a bone fracture using a bone plate with at least four pairs of screws layered in convergent, standard (divergent), convergent, and calcar trajectories. The orientation of the screw trajectories in the plate reduces the relative motion of the bone along the screws, increasing resistance to pull-out of screws and to bone collapse.

Abstract: The invention relates to a resorptive intramedullary implant between two bones or two bone fragments. The implant includes a single-piece body (1) having a generally elongate shape and having, at each end, areas for anchoring to the bone portions in question, characterized in that one of said areas (A1) has a cylindrical cross-section while the other area (A2) has a flat cross-section.

Abstract: A gouger grasper device including a handle at a proximal end of the device, the handle having a base and a trigger movably connected to the base, a chisel at a distal end of the device, a jaw at a distal end of the device and movable relative to the chisel, and a ratcheting assembly for moving the jaw relative to the chisel between an open position and a clamping position in response to movement of the trigger relative to the base.

Abstract: Implant delivery systems for delivering sheet-like implants include a delivery shaft, an implant expander, a sheath, and a sheet-like implant. In some embodiments, the delivery shaft has a proximal end and a distal end. The implant expander is mounted to the distal end of the delivery shaft. The implant expander includes a central portion and a plurality of leg portions radiating from the central portion. The implant expander is evertable between an unstressed configuration in which a distal surface of the implant expander defines a concave surface, and a first compact configuration in which the distal surface of the implant expander defines a convex surface. The implant expander has a first lateral extent when the implant expander is free to assume the unstressed configuration. The sheath defines a lumen having a lumen diameter. At least a portion of the delivery shaft is slidably disposed in the lumen.

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 method for controlling an output of an energy module of a modular energy system is disclosed. The modular energy system includes a header module, the energy module, and a secondary module communicably coupled together. The energy module configured to provide an output driving an energy modality deliverable by a surgical instrument connected thereto. The method includes causing the energy module to provide the output driving the energy modality delivered by the surgical instrument; sensing a parameter associated with the secondary module; receiving the parameter as sensed by the secondary module at the energy module; and adjusting the output of the energy module from a first state to a second state according to the received parameter.

Abstract: Multi-electrode ablation systems, methods, and controllers are described. In one example, a method of beginning an ablation procedure using a multi-electrode ablation system is described. The method includes selectively coupling the output of a power supply to a first electrode of a plurality of electrodes to increase a temperature at the first electrode to a first temperature set-point and limit a rate of increase of the temperature at the first electrode to a predetermined first rate.

Abstract: A medical device for treating a tumor includes an elongate body having a proximal portion, a distal portion, and an outer diameter. The medical device includes a steering mechanism configured to deflect the distal portion of the elongate body. A plurality of ablation electrodes are located on the distal portion. The ablation electrodes are adapted to deliver RF energy to the tumor. A tip electrode is located on the distal portion and the tip electrode is adapted to deliver sufficient RF energy to puncture the tumor. The distal portion is sufficiently stiff to enable the tip electrode to puncture the tumor.

Abstract: Various aspects of a generator, ultrasonic device, and method for estimating a state of an end effector of an ultrasonic device are disclosed. The ultrasonic device includes an electromechanical ultrasonic system defined by a predetermined resonant frequency, including an ultrasonic transducer coupled to an ultrasonic blade. A control circuit measures a complex impedance of an ultrasonic transducer, wherein the complex impedance is defined as Zg(t)=Vg(t)/Ig(t). The control circuit receives a complex impedance measurement data point and compares the complex impedance measurement data point to a data point in a reference complex impedance characteristic pattern. The control circuit then classifies the complex impedance measurement data point based on a result of the comparison analysis and assigns a state or condition of the end effector based on the result of the comparison analysis.

Abstract: A treatment tool includes: a tubular portion including a tubular portion main body having a long tubular shape and an opening section provided in the tubular portion main body, the tubular portion being configured to suck a tissue piece from the opening section; a blade portion provided in a part of an opening edge in the opening section; and a non-blade portion provided in at least a part other than a region where the blade portion is provided in the opening edge, the non-blade portion being configured to slide the tissue piece. The blade portion includes an edge having a smallest sectional area in a cross section of the blade portion taken along a plane including a central axis of the tubular portion main body, and only the edge is located on an imaginary plane obtained by extending an opening surface of the opening section.

Abstract: A scissor style vessel sealer having a first shaft interconnected to a first jaw by a pivot plate that pivotally couples the first shaft to the first jaw by the pivot and also by a spring that is secured at one end to the first shaft and an opposing end to the pivot plate at a location offset from the pivot and a second shaft connected to a second jaw and pivotally coupled to the first jaw by the pivot. The first shaft and the second shaft are then pivotable from a jaws open position to a jaw closed position. Any further application of force results in the first shaft pivoting relative to the first jaw so that the additional force is not transmitted to the jaws. The first shaft pivoting relative to the first jaw may actuate a button associated with the second shaft.

Abstract: A medical device may include a handle, a sheath fixed relative to the handle, a longitudinal actuator movable relative to the handle, an end effector, a member extending proximally from the end effector through the sheath, with a portion of the member being fixed relative to the longitudinal actuator, and a rotation actuator. Movement of the rotation actuator may cause rotation of the member relative to the sheath, and movement of the longitudinal actuator may cause longitudinal movement of the member relative to the rotation actuator.

Abstract: A medical device includes a handle, a shaft, an electrode, and at least one inflatable balloon. The handle includes an electrical connection and a balloon fluid port. The shaft extends from a distal portion of the handle. The electrode is positioned at a distal end of the shaft. The electrode is electrically connected to the electrical connection via one or more conductive elements extending through the handle and the shaft. The at least one inflatable balloon is positioned on a portion of shaft. The at least one inflatable balloon is fluidly coupled to the balloon fluid port via one or more tubes extending through the handle and the shaft.

Abstract: An electrosurgical instrument for use in minimally invasive surgical techniques that provides a small scale localized microwave field capable of precisely ablating tissue, e.g. in the lungs, through suitable selection of geometry and material for a radiating distal tip thereof. The instrument may be used with a bronchoscope having a power delivery structure formed within the instrument cord thereof. A vision system may be incorporated into the energy delivery structure. The instrument includes a coaxial cable for conveying microwave energy to a radiating tip portion that comprises a dielectric tip and a distal conductive portion that extends longitudinally therein. The dielectric tip has a dielectric constant greater than a dielectric material within the coaxial cable. The distal end of the device is designed to facilitate efficient microwave energy delivery into lung tumour tissue to achieve a localized volume of ablation.

Abstract: A process for respiratory rehabilitation treatment, the process comprises treating a patient with a laser, resurfacing the treatment location by applying pulses of laser light. The process comprises treating a patient with administering an injection, injecting a primary injection solution into an injection location and injecting a secondary injection solution comprises at least a concentrate solution into an injection location. This process treats patients with breathing difficulties with injection of PRP and/or PRF into the soft palate and surrounding tissue. The treatment may be combined with CO2 and/or Nd-YAG laser treatment.

Abstract: A cricothyrotomy trainer has a case housing a patient model having laryngeal and skin analogues. A case cover slides relative to a base to expose the model and represent the patient's sternum. The base's proximal end is higher than the laryngeal analogues to represent the patient's chin. A hyoid/thyroid structure has lateral struts with notches that engage articulating connections of a cricoid analogue, which has (i) a flat extension representing the trachea's posterior surface and (ii) lateral ridges that engage lateral rails of a horseshoe-shaped tracheal analogue having anterior tracheal rings. The skin analogue has an absorbent middle layer between base and top layers to represent bleeding. The adhesive base layer enables the skin analogue to be removably applied to the laryngeal analogues. The laryngeal analogues have lateral mobility within the base representing side-to-side mobility of the patient's larynx, even with the skin analogue applied to the laryngeal analogues.

Abstract: The present disclosure includes methods for improving surgical precision and outcomes in medical procedures through the use of an augmented reality system. The method involves generating a preoperative plan by visualizing a holographic representation of a patient's anatomy within an augmented reality environment, recording procedure data based on the preoperative plan, updating the augmented reality system using the recorded data, and applying the updated system to establish a continuous improvement feedback loop. This approach enhances surgical accuracy and patient outcomes by integrating real-time data feedback into the surgical process, thereby optimizing surgical procedures and promoting continuous improvement in medical practices.

Abstract: An anatomy visualization device may include a display, an optical sensor, and processing circuitry. The processing circuitry may be configured to capture, via the optical sensor, body registration points on a body of an individual, receive external anatomical measurements of the body, apply the external anatomical measurements to a body shape model, and determine an organ placement prediction for the body based on the application of external anatomical measurements to the body shape model. The organ placement prediction may include organ position information, organ size information, and organ shape information for a plurality of organs. The processing circuitry may also align the organ placement prediction with the body registration points and render, on the display, the organ placement prediction in alignment with the body registration points as an augmented reality object on the body.

Abstract: A system and method for remote monitoring of a hypertension patient including enrolling a hypertension patient in a remote patient monitoring application configured for a smartphone of the patient, receiving by the remote patient monitoring application patient blood pressure data from a blood pressure monitor, transmitting via the remote patient monitoring application the patient blood pressure data to a medical professional's application, receiving via the remote patient monitoring application one or more tasks from the medical professional's application, and transmitting results of the one or more tasks via the remote patient monitoring application to the medical professional's application.

Abstract: A system and method provide feedback to guide a user to arrange components of a surgical robotic system in a suitable arrangement for the surgical procedure to be performed. An image of a medical procedure site at which a robotic manipulator and a second object such as a second robotic manipulator, patient table, patient, and bedside staff are located. The image is displayed for a user. The system uses computer vision to recognize the robotic manipulator and second object in the image and determine their relative positions. Based on the type of surgical procedure that is to be performed, the system determines a target position for the robotic manipulator and/or the second object, and displays, as an overlay to the displayed image, a graphical indication of the target position.

Abstract: One or more devices, systems, methods and storage mediums for performing ablation planning and/or ablation performance are provided. Examples of applications for such devices, systems, methods and storage mediums include imaging, evaluating and diagnosing biological objects, such as, but not limited to, lesions and tumors, and such devices, systems, methods and storage mediums may be used for radiotherapy applications (e.g., to determine whether to place seed(s) for radiotherapy). Preferably, a medial axis or a center line for a predetermined biological object (e.g., a lesion or tumor) is determined/found, one or more target points are picked along the medial axis or center line, and the ablation or radiotherapy zones are defined and optimized. Security checks may be performed in one or more embodiments to ensure proper use of the equipment and patient information.

Abstract: Robotic systems and methods for preparing a humerus to receive a shoulder implant involve a robotic manipulator and first and second cutting tools configured to be interchangeably coupled to the robotic manipulator. A controller controls the robotic manipulator and the first cutting tool to resect a head of the humerus along a resection plane to define a resection surface for supporting the shoulder implant. The controller controls the robotic manipulator and the second cutting tool to form at least one bore below the resection surface to receive at least one attachment feature of the shoulder implant.

Abstract: Systems and methods for planning and performing image free implant revision surgery are discussed. For example, a method for generating a revision plan can include collecting pre-defined parameters characterizing a target bone, generating a 3D model, collecting a plurality of surface points, and generating a reshaped 3D model. Generating the 3D model of the target bone can be based on a first portion of the pre-defined parameters. Generating the reshaped 3D model can be done based on the plurality of surface points collected from a portion of the surface of the target bone.

Abstract: A navigated pelvic implant system includes a robot with a control unit and an end effector, at least one patient position sensor in electronic communication with the robot, and a database of anatomical information, including anatomical features, that is in electronic communication with the control unit; where the control unit receives patient imaging information and determines variance between a patient and other patients found in the database, and then the control unit selects at least one implant and an associated trajectory for surgery, then the control unit determines position of the patient through input imaging data and input from the at least one patient position sensor, the control unit will then proceed with the previously determined implant and trajectory, followed by the end effector using a drill to create an opening and holding an implant insertion mechanism to secure the implant within the opening in the patient's pelvis.

Abstract: A system and method for arriving at a biopsy or therapy site including receiving one or more images from optical sensor on a catheter, signaling a drive mechanism to articulate a distal portion of the catheter based on analysis of the one or more images, and determining that a distal portion of the catheter has reached a desired location.

Abstract: An instrument registers and tracks a portion of a patient's anatomy by an Augmented Reality (AR) device worn by a surgeon during a surgical procedure. The instrument may be attached to the patient's anatomy. The instrument may be a tripod with a platform. A target plate having front and back faces may be securely attached to the platform. A two-dimensional (2D) code detectable by the AR device may be presented on the front and back faces of the target plate. The 2D code may define a coordinate system having a known relationship to a coordinate system for the patient's anatomy, e.g., through a transformation matrix. The AR device may utilize the coordinate system for the detected 2D code and the transformation matrix to present holograms in predetermined positions relative to the patient's anatomy.

Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.

Abstract: A computer-implemented method for generating and presenting an electronic display of guidance for performing a robotic medical procedure may include receiving a plurality of prior procedure data sets; receiving or identifying objective data defining one or more of a duration or a patient outcome of the robotic medical procedure; executing an algorithm to identify a pattern across the plurality of prior procedure data sets; receiving information about an instance of the robotic medical procedure to be performed in the future for a patient outside the population; automatically generating guidance for performing the robotic medical procedure; and generating and presenting an electronic display of the guidance for performing the robotic medical procedure.

Abstract: A robotic device for manipulation of an arrangement of a plurality of elongate surgical tools, comprising: a first unit and a second unit, each unit configured to receive at least one elongate surgical tool of the arrangement, where an elongate surgical tool received by the first unit is different from an elongate surgical tool received by the second unit; each unit comprising a driving assembly and motors configured for actuation of the driving assembly to move the at least one elongate surgical tool; and a coupler attached to the first unit and to the second unit, the coupler configured so that movement of the two or more portions relative to each other allows movement of at least one of the first and second units relative to the other unit, while in each of the first and second units the elongate surgical tool remains in operable engagement with the driving assembly.