Abstract: A portable ground picking collector includes a picking tool having two picking portions and a control arrangement equipped with a disposable bag. The disposable bag is constructed by two bag layers to define a storage cavity and an opening. The control arrangement is configured to detachably hold at the picking portions of the picking tool at the bag layers respectively. When the picking tool is actuated to move the picking portions thereof away from each other, the opening of the disposable bag is opened up for receiving ground waste in the storage cavity. When the picking tool is actuated to move the picking portions thereof toward each other for picking up the ground waste, the opening of the disposable bag is closed to retain the ground waste in the storage cavity, such that the disposable bag is detached from the picking tool for disposing the ground waste in the disposable bag.

Abstract: A lead assembly and associated process include a lead and an integrated feature that facilitates extraction of the lead from the associated body passage. The integrated feature in one embodiment is a sheath received between the associated body passage and received over the lead. The sheath has a first portion extending from adjacent the proximal end to adjacent the distal end of the lead, where the first portion has an inner surface facing with the lead outer surface and the first portion having an outer surface facing radially outward from the lead outer surface. A second portion of the sheath extends from adjacent the distal end to adjacent the proximal end of the lead. The second portion has an inner surface received over the outer surface of the first portion, and the second portion further having an outer surface abutting an inner surface of the associated body passage that receives the lead therein. The integrated feature is alternatively a wire, band, or spoke assembly.

Abstract: To make a flavored beverage, plant matter is inserted into a bottle through the neck of the bottle. Afterwards, a generally tubular strainer is inserted into the bottle. The tubular strainer has a flange that sealingly abuts against the neck of the bottle. The bottle is filled with a water-based liquid and capped. By inserting the plant matter before the strainer, the plant matter is trapped between the strainer and the bottle wall, making it visible from the outside if the bottle is clear. The strainer prevents the plant matter from being ingested by the user.

Abstract: A surgical clamp for laparoscopic or endoscopic surgeries provides autonomous adjustable pressure and placement with a releasable or integrated remote manipulator. Two jaws move simultaneously with respect to the main body of the clamp to open and close to secure or release tissue and/or organs. In a first embodiment, the instrument is made up of two separable components; a remote manipulator component, and a releasable adjustable pressure clamp component that is linked or separated at an interlocking connection point. The main body of the clamp includes a central tubular port through which a pressure bar passes. An assembly of cam arms connects the push rod to jaws, allowing for symmetrical and simultaneous actuation. A compression spring is positioned around the pressure bar and is secured by an adjustable nut on the threaded end of the pressure bar. Adjustment varies the compressive force of the spring and thereby the gripping force.

Abstract: An extraction tool for removing an installed artificial disc from a spine is provided. The extraction tool is impacted between the artificial disc and the vertebrae and engages the artificial disc to allow a surgeon to remove the artificial disc from the spine.

Abstract: A horological setting and/or adjustment mechanism, including a setting and/or adjustment module (400) for a horological setting machine (1000), for making a setting and/or adjustment on a horological assembly (1), including an elastic clamp (600) with clamp arms (601) arranged to drive or deform a mobile component or a component of this assembly (1), the clamp (600) including a bearing portion (602) subjected to the action of an actuator, spindle (407), eccentric or push-piece, any deformation of this bearing portion (602) modifying the relative mutual position of the arms (601), and this setting and/or adjustment module (400) includes setting and/or adjustment means which include a plurality of motorised axes which are arranged to move, open and close, in a plane perpendicular to a clamp rotation direction (DF), a said clamp (600).

Abstract: Steerable, elongated medical devices that are inserted into a patient's body are disclosed. The devices include first and second wires slidably extending longitudinally through a wall of a tube and attached adjacent a distal end of the tube. The devices also include a tension control member configured to selectively apply a tension force to the wires to bend the tube.

Abstract: A flexible support for a dental tool includes a distal holder configured to securely hold the dental tool which may be quickly released, the flexible support includes an anchoring member configured to fit snugly within a tool recess of a tool cradle, the flexible support includes a tightener member adapted to secure the anchoring member with the tool recess.

Abstract: A device to assist in securing a holding a portion of a suture during an intra-abdominal suturing procedure, the device including an elongated tubular body, a handle, an inner member element, and a push button. The inner member element may include at least one grasping element that expands as the at least one grasping element is extended beyond a distal end of the elongated tubular. The device may include a proximal spring disposed within the push button and abutting against a proximal end of the inner member element to allow the at least one grasping element to retract into the elongated tubular body in a proximal direction.

Abstract: A light installation tool configured to provide installation of clearance lights and brake lights on a trailer. The light installation tool of the present invention includes a body having a handle and a lever. The lever is pivotally movable with respect to the handle and is operably coupled with a drive mechanism. The drive mechanism is operably coupled with a plunger rod wherein the drive mechanism is operable to provide discrete movements of the plunger rod. A base plate is formed on the body and the base plate includes a light insertion member mounted thereto. The light insertion member has a bottom and a wall contiguously formed to define an interior volume wherein an opening is present distal to the bottom. The wall of the light insertion member is comprised of a plurality of segments wherein the segments are arranged in a longitudinal manner between the opening and the bottom.

Abstract: A catheter system for retrieving a leadless cardiac pacemaker from a patient is provided. The cardiac pacemaker can include a docking or retrieval feature configured to be grasped by the catheter system. In some embodiments, the retrieval catheter can include a snare configured to engage the retrieval feature of the pacemaker. The retrieval catheter can include a torque shaft selectively connectable to a docking cap and be configured to apply rotational torque to a pacemaker to be retrieved. Methods of delivering the leadless cardiac pacemaker with the delivery system are also provided.

Abstract: Particular embodiments disclosed herein provide a surgical instrument comprising a device having a functional end configured to be inserted into a body part, a shaft coupled to a proximal end of the device, and a shaft housing configured to receive a distal end of the shaft and operable to move along a central axis of the shaft. The surgical instrument further comprises a tube coupled to the distal end of the shaft housing and configured to partially house the device such that the functional end of the device at least partially extends beyond the distal end of the tube. The surgical instrument further comprises a plurality of arcuate levers such that pressing one or more of the plurality of arcuate levers moves the shaft housing and the tube toward the functional end of the device, causing the tube to transition the device from a deactivated state to an activated state.

Abstract: There is provided a gripper, a gripping device, and an industrial robot that can more reliably grip a workpiece without using a granular material. The gripper includes integrally: a palm portion; a plurality of finger portions protruding from a periphery of the palm portion and configured to fall toward the palm portion by deforming the palm portion in a thickness direction; a connecting portion formed in a position surrounding an outer edge of the palm portion on a side opposite to a side formed with the finger portions, the connecting portion connected to a case; and a high-strength portion provided between the palm portion and the connecting portion, the high-strength portion having a predetermined length from the outer edge of the palm portion in the thickness direction of the palm portion, and the high-strength portion being less likely to be deformed than the palm portion.

Abstract: A system includes thermally protective, narrow reverse-action tweezers with a self-aligning clamp for frictionless positioning with secure connection to a sample preparation system plunger for cryogenic transmission electron microscopy.

Abstract: A gripping device includes a bag-shaped gripping body, a plurality of elastic portions, and a shape holding portion. The gripping body includes a palm portion, and a plurality of finger portions protruding from a periphery of the palm portion and configured to fall toward the palm portion by deforming the palm portion in a thickness direction. The plurality of elastic portions is respectively provided in the plurality of finger portions, each of the plurality of elastic portions having a shape of each of the plurality of finger portions. The shape holding portion is provided in the gripping body to prevent contraction of an outer periphery of the palm portion. The shape holding portion includes a guide bore for receiving the palm portion when being deformed, and a curved portion provided on an outer side of a distal end of the shape holding portion in an axial direction of the guide bore. The distal end faces the plurality of finger portions.

Abstract: An apparatus and method for holding a lug nut. The apparatus includes a base (150), a barrel (140), a lug nut engagement assembly (130), a plunger and a cam guide (170). The barrel (140) is coupled with the base (152) in a manner allowing the barrel (140) to move upwardly or downwardly within the base (150). The barrel (140) has an internal cam track portion (145). The lug nut engagement assembly (130) includes retractable fingers (132). The lug nut engagement assembly (130) is removeably affixed to the barrel (140). The plunger (160) is disposed within a portion of the lug nut engagement assembly (130), the barrel (140) and the cam guide (170). The plunger (160) has a tip for engagement with the retractable fingers (132). The cam guide (170) is disposed and moveable within a bottom portion of the barrel (140). The cam guide (170) has longitudinal rails (172) for engagement with the internal cam track (145) of the barrel (140).

Abstract: The suture passer includes a body, from which two mechanisms protrude: a hollow needle through which a suture is guided, the suture exiting at the surgical site; and a sliding hollow tube with a distal opening, with a pincer/clamp/jaws held within the sliding hollow tube. The two primary parts of the suture passer are the hollow needle and the retrieval member.

Abstract: A bit puller incorporates an inner element with a longitudinal axis and having a central shaft, a base with external threads and an engagement mechanism internal to the inner element adapted to engage a drill bit. An outer element is concentric with the inner element and has a foot portion for engaging a work piece. Internal threads in the outer element are adapted to engage the external threads of the base wherein rotation of the inner element with respect to the outer element withdraws the inner element along the longitudinal axis.

Abstract: A micro-gripper includes a support to which are articulated fingers and an actuating diaphragm, adjusting the spacing of the fingers. The support being circular, the fingers may be arranged in any number around it, and the diaphragm delimits a chamber with the support assembled to an equipment for distributing fluids, the pressure of which elastically deforms the diaphragm and controls a simultaneous movement of variations in spacings of the fingers. If the diaphragm is conical and the fingers link up all around, an independence of the movements of the fingers remains.

Abstract: A lead assembly and associated process include a lead and an integrated feature that facilitates extraction of the lead from the associated body passage. The integrated feature in one embodiment is a sheath received between the associated body passage and received over the lead. The sheath has a first portion extending from adjacent the proximal end to adjacent the distal end of the lead, where the first portion has an inner surface facing with the lead outer surface and the first portion having an outer surface facing radially outward from the lead outer surface. A second portion of the sheath extends from adjacent the distal end to adjacent the proximal end of the lead. The second portion has an inner surface received over the outer surface of the first portion, and the second portion further having an outer surface abutting an inner surface of the associated body passage that receives the lead therein. The integrated feature is alternatively a wire, band, or spoke assembly.

Abstract: A mechatronic device includes two arms extending from a base in a first direction and shaped to be handheld by an operator, the two arms having free ends forming a gripper and arranged to move closer together by rotation from a rest position to an active position, a motor housed in the base, an actuator mounted between the arms, and a means for controlling said actuator, the actuator connected to the motor so as to be driven in movement in translation in the first direction. The actuator also has a first contact surface that forms a cam with a respective second contact surface on each arm, the first contact surface remaining engaged with the second contact surface. The control means controls the movement in translation of the actuator to produce a movement in rotation of the arms that applies a chosen force of the gripper in its active position.

Abstract: A mechanical end effector comprising at least two movable parts, wherein each of the movable parts is mounted on at least two supports, wherein a relative position of the movable parts with respect to each other is variable by changing the relative position of the supports with respect to each other, and wherein the supports of the movable parts comprise bendable members, wherein the bendable members are equipped with mechanical properties that arrange for flexing of the bendable members when a force applied by the supports of the movable parts exceeds a predefined value and the bendable members are embodied as cooperating bands to arrange that flexing of the cooperating bands provides a visual feedback to a user.

Abstract: Apparatus and methods for tissue reduction are described where one embodiment of the tissue resection device may generally comprise an external clamping mechanism having at least two distally extending members shaped with an atraumatic distal end and defining a confined region between the distally extending members sized to receive a tissue region therebetween. Additionally, an elongate coring needle defining a lumen and having a proximal end attached to a handle and a distal end which defines a cutting mechanism may also be included, wherein the coring needle is translatable adjacent and/or relative to the external or internal clamping mechanism defined by the confined region.

Abstract: A food product gripping mechanism is provided. The food product gripping mechanism includes a shaft connected to a hub. A release mechanism has a first passage in fluid communication with a second passage. The second passage is configured to allow the shaft to pass therethrough. A tension member is positioned partly within the first passage of the release mechanism. A guide spool is configured to receive a portion of the tension member and further configured to allow the shaft to pass therethrough and a plurality of tongs is connected to the hub. The plurality of tongs are configured for a contracted orientation and further configured for rotation to an expanded orientation. The plurality of tongs are further configured to grip a food product without piercing a skin of the food product.

Abstract: A delivery device 10 for a collapsible prosthetic heart valve includes a catheter assembly 16 including a shaft 26 around which a compartment 23 is defined, the compartment 23 being adapted to receive the valve in an assembled condition, and a retainer 30 including a pusher 32 and a holder 34 adapted to retain a stent portion 106 of the valve. The catheter assembly 16 also includes a distal sheath 24 adapted to selectively cover and uncover the compartment 23 and the valve, the distal sheath 24 extending around the shaft 26 at least when the distal sheath 24 covers the compartment 23. The pusher 32 includes one or more recesses 40 in a retention edge 33 thereof, each recess 40 being adapted to receive a junction 107 at an end of the stent portion 106 of the valve. The holder 34 includes one or more elongated ribs 50, each rib 50 being adapted to fit into a cell opening 108 of the stent portion 106 of the valve.

Abstract: A flexible support for a dental tool includes a distal holder configured to securely hold the dental tool which may be quickly released, the flexible support includes an anchoring member configured to fit within a tool recess of a tool cradle, the anchoring member includes a diameter that may decrease or increase depending on movement of a central member within the anchoring member that actuates displaceable members such that the anchoring member quickly conforms to grip sides of the tool cradle and quickly releases therefrom.

Abstract: The present embodiments provide systems and methods for deploying at least a portion of a stent, comprising a retaining member having a main body. At least one slot is formed into the main body. The at least one slot comprises a circumferentially enclosed segment and an axial opening. A portion of a stent is restrained from moving radially outward when disposed within the circumferentially enclosed segment, and the portion of the stent is self-expandable radially outward when aligned with the axial opening.

Abstract: An apparatus includes a shaft, a slide lock, and a pin. The shaft includes a first end, a second end opposite the first end and a middle portion between the first end and the second end. The first end includes an enclosure. The middle portion includes a tapered hole. The tapered hole is tapered in a direction from the first end to the second end. The slide lock is disposed over the shaft. The pin is disposed through the tapered hole and coupled to the slide lock. The movement of the slide lock is coupled to movement of the pin within the tapered hole of the shaft. The position of the pin within the tapered hole corresponds to an amount of opening of the enclosure.

Abstract: An apparatus and method for syringe plunger positioning employing an actuator for linear advancement and retraction of the support member along a predetermined axis, and a plurality of arm members each interconnected to the support for movement therewith, and each moveable relative to the support member in corresponding different directions towards and away from the predetermined axis. The actuator may be operable to advance the support member to an advanced position for movement of the arm members from an open position to a closed position, and to retract the support member from the advanced position so that of the arm members engage an inside surface of a plunger button of syringe having a barrel located in a fixed, axially aligned position on the predetermined axis. The apparatus and method may be employed in conjunction with syringe plunger positioning (e.g. for filling operations) that accommodates a variety of syringe plunger configurations.

Abstract: A puller including a plurality of pivoted lever members carrying gripper members for securely gripping a mat, pad, carpet or the like for ease in sliding movement and placement thereof. An adjustable handle including a pair of hollow shafts which receive therein slidable shafts each carrying a spring loaded button which can be positioned in a series of openings in the hollow shafts for adjusting the length of the handle so the user can work from a standing position.

Abstract: Disclosed herein are instruments and methods for delivery of substrates, including cell-seeded substrates, to target tissues requiring treatment for various diseases that induce cell death, damage or loss of function. The substrates are configured to provide cells, including stem cells, with a structural support that allows interconnection with and transmission of biological signals between the cells and the target tissue.

Abstract: A medical grasping device is disclosed. The medical grasping device may be configured to retrieve an object from within a body lumen. A medical grasping device assembly, wherein a portion of the medical grasping device is disposed within a lumen of a delivery sheath, and methods of using the medical grasping device assembly are also disclosed.

Abstract: Devices and implantation methods utilizing subcutaneous placement into a patient are disclosed for the insertion, advancement and positioning of a subcutaneous implantable medical device (SIMD) such as a medical electrical lead. The SIMD is releasably-engaged with a device in accordance with embodiments of this disclosure, and advanced from an incision of the patient to an implant location. The implantation device may be disengaged from the SIMD without moving the SIMD from the implant location.

Abstract: A container clamping and holding arrangement for moving containers, such as bottles, cans, and similar containers, for holding products, such as beverages. The abstract of the disclosure is submitted herewith as required by 37 C.F.R. § 1.72(b). As stated in C.F.R. § 1.72(b): A brief abstract of the technical disclosure in the specification must commence on a separate sheet, preferably following the claims, under the heading “Abstract of the Disclosure.” The purpose of the abstract is to enable the Patent and Trademark Office and the public generally to determine quickly from a cursory inspection the nature and gist of the technical disclosure. The abstract shall not be used for interpreting the scope of the claims. Therefore, any statements made relating to the abstract are not intended to limit the claims in any manner and should not be interpreted as limiting the claims in any manner.

Abstract: A spout holding device for holding a spout part having a communication hole, includes an elastic part capable of elastically deforming in a direction orthogonal to a first direction when compressive force or tensile force is applied to the elastic part in the first direction, wherein the elastic part applies elastic force to the spout part in three or more different directions orthogonal to the first direction to hold the spout part.

Abstract: A plant draw-in device and a plant body transplantation system that can draw roots of plant bodies into holes reliably with a simple structure, so that there is no need of monitoring or manual operation for roots insertion and the production efficiency can be improved. The plant draw-in device 110 includes a draw-in tube 111 that can be disposed below a hole 121, a draw-in member 113 provided such as to be capable of protruding from the draw-in tube 111, and a drive unit 114 that reciprocally moves the draw-in member 113 such as to come out from, and retract into, the draw-in tube 111. The draw-in member 113 is formed such that a portion thereof protruding from the draw-in tube 111 deforms and spreads outward.

Abstract: A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.

Abstract: The medical device disclosed here is configured to remove a plurality of objects at a time from an interior of a living body by restricting the objects from dropping out from an interior of a basket and is capable of treating objects in a body tissues having different structures efficiently with the same device. A treatment portion of a medical device includes an outer basket and an inner basket. A plurality of outer leg portions of the outer basket and a plurality of inner leg portions of the inner basket are arranged so as to be staggered in a circumferential direction. The medical device may be used by being switched between a mode of using only the outer basket and a mode of using both of the outer basket and the inner basket.

Abstract: Devices and systems are provided that comprise a reaching apparatus removably coupled with a mobility device such that an individual can couple, uncouple, and/or use the reaching apparatus while concurrently using the mobility device for stability and/or mobility assistance. Related devices, systems, and kits further comprise a sheath for coupling with a mobility device using one or more attachment means, the sheath configured to slidably receive at least part of the reaching apparatus therein. Furthermore, methods for using such devices and systems are provided, providing both retrofit options and otherwise.

Abstract: A core conveying device includes a plurality of holding devices, a support section, a moving device, and a mounting table. The support section has a hole formed at a position corresponding to a positioning pin and is connected so as to slide in a horizontal direction with respect to the moving device. A size of a lower end opening of the hole is larger than a size of an upper end of the positioning pin. The support section is configured such that, when the support section is moved downward so as to grip the core, as the positioning pin abuts against an inner surface of the hole and the support section slides in the horizontal direction with respect to the moving device, a position of the support section in the horizontal direction with respect to the core is determined.

Abstract: There is provided a holding apparatus for a robot including: two or more finger sections disposed opposite to each other so as to face toward a holding center; a work pressing section on which a work abuts when the work is inserted between the finger sections; and a driving unit that moves respective distal ends of the finger sections toward the holding center, wherein each of the finger sections includes a finger section main body formed of at least two plate-like elastic bodies, and a reinforcing member that is disposed along an outer surface of the main body, is joined to a distal end of the main body, and has higher rigidity than the main body, and the reinforcing member is swingably provided around an axis perpendicular to a longitudinal direction of the main body, and parallel to a surface of the main body.

Abstract: Embodiments of the present invention relate to surgical clamping devices and applicators for use therewith. Embodiments of the surgical clamping device comprise a body and a pair of clamping members extending from the body. An electronic controller housed within the body is coupled to control movement of at least one of the clamping members to control a pressure exerted by the clamping members on a blood vessel clamped therebetween. At least one blood flow sensor is mounted to at least one of the clamping members to detect blood flow in the blood vessel. The clamping members are locked in place when blood flow has been occluded or constricted to the desired extent.

Abstract: A bone screw extension assembly for use in placing a connecting rod percutaneously into tissue of a patient comprises a multi-axial bone screw and a screw extension releasably coupled to yoke of the bone screw. The screw extension includes coaxially disposed outer sleeve and inner sleeves that are rotatable relative to each other. A screw engaging member projects radially from the distal end of the inner sleeve and is configured to engage an extension coupling surface on the outer sleeve upon relative rotation of the inner and outer sleeves. A securement member including cooperative surfaces is defined adjacent the distal end of the inner and outer sleeves that is operable upon relative rotation of the inner sleeve and outer sleeve to radially secure the sleeves together to thereby maintain the engagement of the screw engaging member and the bone screw.

Abstract: A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.

Abstract: Methods and devices described herein facilitate improved access of locations within the body by providing a variety of dissection modes on a single access device.

Abstract: A robot gripping device has finger parts. Each finger part has a finger part body which is comprised of a plurality of plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of a front end side of the finger part body, and a reinforcing member which is arranged along an outer surface of the finger part body, is connected to the front end of the finger part body, and is higher in rigidity than the finger part body. The reinforcing member has a first rotary joint which makes the reinforcing member pivot about a first axis of rotation which is perpendicular to the longitudinal direction of the finger part body. The robot gripping device has a drive part which makes a base end of the finger part body move along the center of grip to make the finger parts open and close.

Abstract: An egg processing apparatus is provided. Such an apparatus includes a plurality of egg processing devices configured to interact with a plurality of eggs carried by an egg carrier. An egg support assembly is positioned beneath the egg processing devices such that an egg carrier is capable of being moved between the egg processing devices and the egg support assembly. The egg support assembly includes a plurality of pedestals, with each pedestal having a plurality of discrete egg support members cooperating to form a seating arrangement portion for contacting and supporting an end of an egg in the egg carrier. An associated assembly and method are also provided.

Abstract: An extractor for removing an implanted lead from a patient, the extractor comprising a proximal portion, a distal portion, a lumen dimensioned to receive the lead therein, a cutter at the distal portion for cutting tissue adjacent the implanted lead, and a first clamping member movable between a clamping position to clamp the lead and an unclamping position to unclamp the lead. The extractor and lead are relatively movable to remove the lead.

Abstract: The present technology provides a device for retrieving objects. The device has a proximate elongate member (120) extending from a handle (110) and a flexible elongate member (130) coupled with the proximate elongate member and slidable between a retracted configuration and an extended configuration. The device has a holding member (140) operatively coupled with the flexible elongate member. Some embodiments have an actuating system configured to operate certain types of holding members with an actuating member (113) to enable the holding member to hold/release an object. Some embodiments have a locking system configured to lock the flexible elongate member to the proximate elongate member.

Abstract: Tool for extracting annular carbon face seal from bore of equipment which seal is installed. Tool has extraction-tube for insertion into bore at entrance so, when extraction-tube is fully inserted into bore, multi-legged collet formed at distal-end of extraction-tube located within seal and proximal-end of extraction-tube accessible at entrance of bore. Tool has elongate-member extending along central passage of extraction-tube. Wedge element provided at distal-end of elongate-member located at mouth of collet. Proximal-end of elongate-member accessible at proximal-end of extraction-tube. Tool has support for reacting axial extraction force applied to extraction-tube to equipment. Tool has first-actuator at proximal-end of elongate-member. Tool configured so first-actuator causes wedge element to be pulled into collet, thereby expanding collet and causing to grip inner surface of seal.