Abstract: Connector assemblies for connecting a robotic arm with a medical end effector are disclosed. An example apparatus for connecting a robotic arm with a medical end effector may include a connector housing. An actuation mechanism may be disposed within the connector housing. The actuation mechanism may include a plurality of linkage members and a gear assembly coupled to the linkage members. Each of the plurality of linkage members may be configured to shift between a locked configuration and an unlocked configuration. At least one of the plurality of linkage members may include a first linkage member having an end region. A roller member may be disposed adjacent to the end region of the first linkage member. An actuator may be coupled to the actuation mechanism.

Abstract: The invention provides compositions comprising multipotent progenitor cells isolated from tonsillar tissue and differentiated cells derived therefrom and methods for using the cells for the treatment of diseases or disorders.

Abstract: The present invention is directed to a battery pack including improved temperature sensing features. The battery pack includes a plurality of battery cells, a battery cell holder holding the battery cells in a fixed position relative to each other, a printed circuit board attached to the battery cell holder and a thermistor attached to the printed circuit board in a position between the printed circuit board and at least one of the plurality of battery cells to sense a temperature of at least one of the plurality of battery cells. The printed circuit board includes a cutout to retain heat in the thermistor.

Abstract: A surgical visualization and medical imaging device and related computer based imaging methods and systems are disclosed. The surgical devices of the present invention use indocyanine green dye combined with a plastic, and are used in enhanced surgical imaging in applications such as robotically assisted surgeries. A near infrared light source, such as an 805 nm laser, may be used to excite the surgical device so that the device emits 835 nm light. Both the excitation and emission wavelengths penetrate tissue and blood, and provide enhanced imaging of surgical procedures. The resulting fluorescence image allows a user to readily determine relative tissue depth, to identify tissue inhomogeneity, to detect masses or tissue irregularities, to pinpoint anatomical holes, and to visualize tears.

Abstract: A medical instrument can include a wrist, an end effector, pull wires that extend through the wrist toward for controlling a motion of the end effector, and a conductive cable that extends through the wrist to the end effector. The wrist can have proximal and distal clevises and proximal and distal pulleys through which the conductive cable passes. The conductive cable can extend over one or more redirect surfaces of the distal and/or proximal clevises.

Abstract: A robot-assisted surgical system has a user interface operable by a user, a first robotic manipulator having a first surgical instrument, and a second robotic manipulator having a second surgical instrument. The system receives user input in response to movement of the input device by a user and causes the manipulator to move the first surgical instrument in response to the user input, determines a vector defined by the position of the first surgical instrument relative to the second surgical instrument, generates dynamic control signals based on the determined vector, and causes the manipulator to move the second surgical instrument in response to said dynamic control signals.

Abstract: A robotic surgical tool includes an elongate shaft extendable through a handle, a drive cable extending along a portion of the shaft, and an actuation system housed within the handle and including an input stack having first and second ends. The input stack includes a drive input arranged at the first end, and an accumulator arranged between the first and second ends and including a differential body defining upper and lower redirect surfaces, and a redirect feature offset from the upper and lower redirect surfaces, wherein the drive cable is threaded through the upper and lower redirect surfaces and the redirect feature, and wherein actuating the actuation system rotates the input stack and thereby acts on the drive cable to cause one or more operations of the surgical tool.

Abstract: A medical device that includes a handle including a plurality of actuators. The handle defines a longitudinal axis extending through a distal end of the handle. The device includes a shaft extending from the handle and an end effector at a distal end of the shaft. A first actuator of the plurality of actuators is configured to actuate the end effector in response to translation of the first actuator relative to the handle along an axis parallel to the longitudinal axis. A second actuator of the plurality of actuators is configured to deflect the end effector relative to the shaft in response to pivoting the second actuator about an axis transverse to the longitudinal axis. A third actuator of the plurality of actuators is configured to rotate the end effector relative to the shaft in response to rotation of the third actuator relative to the handle about the longitudinal axis.

Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.

Abstract: A catheter having an internal advancing mechanism that can advance stiffening wires or other devices, has a catheter with a catheter body, a tip section distal the catheter body, a device extending through at least the catheter body, and a control handle proximal the catheter body, where the control handle has an advancing mechanism with a threaded member, an adjustment member, and a guided member to which the device is connected, and the advancing mechanism is configured to advance and retract the device along the catheter body as controlled by a user. Each of the threaded member and the adjustment member has a generally cylindrical configuration. The threaded member has an outer surface configured with a helical guide channel. The adjustment member is configured to guide the guided member to move within the helical guide channel to advance and retract the device. The adjustment member can be rotatable over the threaded member by the user to control advancement and retraction of the device.

Abstract: A method for intraoperative planning and facilitating a revision arthroplasty procedure includes displaying a virtual model of a bone, capturing positions of a tracked probe as the tracked probe contacts points at a perimeter of a primary implant component coupled to the bone, generating a virtual representation of an interface between the primary implant component and the virtual model of the bone using the positions of the tracked probe, planning a bone resection using the virtual representation of the interface, and guiding execution of the bone resection.

Abstract: Surgical tools for use during scarless or near scarless surgical procedures. At least some of the surgical tools can include a handle portion and a working end removably connected to the handle portion.

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.

Abstract: A handheld system includes a housing, a motion-generating mechanism disposed within the housing, an attachment arm extending from the housing and having a first end coupled to the motion-generating mechanism and a second end configured to receive a user assistive device, a first sensor mounted to measure a first motion of the handheld system and generate a first signal indicative of the first motion, and a control system coupled to the motion-generating mechanism and the first sensor. The control system is configured to use the first signal to stabilize the user-assistive device and compensate for human tremors imparted to the housing.

Abstract: The invention relates to a device and a method for analyzing a substance (5), comprising an excitation transmitting device in the form of a laser device (3) for generating at least one electromagnetic excitation beam (8), a measuring body (1) having a detection region (4), which is adjacent to a measuring surface (2) of the measuring body (1) and has a pressure-dependent or temperature-dependent specific electrical resistance and/or generates electrical, in particular piezoelectric, voltage signals in the event of pressure or temperature changes, and comprising a device for analyzing the substance on the basis of detected signals.

Abstract: A computer-implemented method for clinical workspace simulation includes capturing a real-world environment by an imaging device of an augmented reality headset and generating a composite view by rendering a first virtual object relative to a surgical table in the real-world environment. Captured real-world environment and the rendered first virtual object are combined in the composite view, which is displayed on a display of the augmented reality headset worn by a user.

Abstract: An ultrasonic surgical instrument comprises a shaft assembly including a waveguide, and an end effector arranged at a distal end of the shaft assembly and including an ultrasonic blade and a clamp arm. The instrument also comprises a base translatably coupled to shaft assembly. The base includes a first mechanical input and a second mechanical input. The instrument further comprises a closure actuation mechanism operatively connected between the first mechanical input and the clamp arm and configured to actuate the clamp arm from an open position toward a closed position upon selective drive of the first mechanical input. The instrument also includes an insertion actuation mechanism operatively connected between the second mechanical input and the shaft assembly and configured to actuate the shaft assembly from a proximal position toward a distal position upon selective drive of the second mechanical input for insertion of the end effector.

Abstract: A polyaxial bone anchoring device includes a bone anchoring element having a head, a receiving part having a channel for receiving a rod and an accommodation space for pivotably holding the head, and a pressure member having a pressure exerting surface and a deformable portion with a free end. The deformable portion is adjustable from a first configuration where a first part of the deformable portion is supported at a first axial position relative to the receiving part while a second part of the deformable portion protrudes further radially into the channel than parts of the deformable portion positioned axially above the second part, to a second configuration where the second part of the deformable portion is deformed radially outwardly and the pressure exerting surface is shifted lower axially to exert pressure on the head while the first part of the deformable portion remains supported at the first axial position.

Abstract: A tissue-spreader assembly is configured to be selectively inserted into a patient having a first biological tissue and a second biological tissue, and to be maneuvered proximate to the second biological tissue. The tissue-spreader assembly is also configured to selectively engage, at least in part, an area of the second biological tissue without engaging the first biological tissue. The tissue-spreader assembly is also configured to selectively spread, at least in part, the area of the second biological tissue, and maintain the area of the second biological tissue in a spread-apart condition after the tissue-spreader assembly, in use, selectively engages, at least in part, the area of the second biological tissue.

Abstract: Methods and apparatus for holding and maneuvering a valve during preparation and attachment to patient, providing increased visibility of the prosthetic valve and the sewing ring to prevent suture entanglement. A handle attachment is spaced from the valve for improved visibility of the sewing ring and the outlet end of the valve during attachment. Commissure posts are bent inward at the tips while preventing crashing of the commissure posts into each other causing damage. A release force needed to remove the holder and unthread the holder sutures is reduced. The holder and related methods can provide a kink free holder suture path to reduce suture entanglement and prevent damage to the implanted valve during holder removal by reducing the release force needed to remove the holder sutures by up to 30%.

Abstract: One example method for improving the efficiency of robotic surgical procedures by integrating applications into the surgeon console user interface is presented. The method includes generating a surgeon console user interface for displaying at a surgeon console associated with a robotic surgical device during a robotic surgical procedure. The surgeon console user interface includes a main region configured for displaying a video signal of the robotic surgical procedure, a left side region for displaying data related to the surgical tools controlled by a left hand controller; and a right side region for displaying data related to the surgical tools controlled by a right hand controller. The method further includes displaying the graphical user interface on a display device of the surgeon console and integrating applications into the surgeon console user interface in response to determining that the surgeon console switches to an application mode.

Abstract: A tool actuation connector includes a tool activation interface, a longitudinal lock interface and a rotation lock interface. The tool actuation connector includes a latching spring, an inner sleeve and an outer sleeve. The latching spring includes a plurality of spring hooks, for coupling with the tool activation interface. The inner sleeve is operable to longitudinally move relative to the latching spring. The inner sleeve couples the latching spring to the activation interface when the inner sleeve is located over the latching spring and releases the latching spring from the activation interface when the inner sleeve moves away from the latching spring toward the proximal direction. The outer sleeve is rotationally locked with the inner sleeve and is operable to longitudinally move relative to the inner sleeve. The outer sleeve is further operable to rotationally lock with the tool via the rotation lock interface.

Abstract: A system for holding and controlling medical instruments during procedures includes an end effector configured to hold a medical instrument and a rotational and translational (RT) mechanism configured to rotate and translate the medical instrument along an insertion axis. The system further includes a platform coupled to the RT mechanism and a pair of parallel five-bar planar linkages configured to translate, pitch, and yaw the platform with respect to a principal axis that is parallel to the insertion axis.

Abstract: Systems and methods for retractor interference avoidance is provided. At least one retractor includes a base and one or more elongate members extending from the base. The one or more elongate members are movable. A position of the at least one retractor may be determined and a trajectory of a surgical device may be received. At least one elongate member of the one or more elongate members positioned to interfere with movement of the device along a trajectory may be identified based on the position of the retractor and the trajectory of the surgical device.

Abstract: A robotic surgical tool includes a drive housing having a lead screw extending from a first end of the drive housing, a carriage movably mounted to the lead screw at a carriage nut secured to the carriage, and an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof and comprising a proximal shaft portion releasably coupled to a distal shaft portion at a releasable interface. Proximal and distal portions of one or more mechanisms of the surgical tool extend from the carriage to the end effector within the proximal and distal shaft portions, respectively, and the one or more mechanisms are operable to operate or articulate the end effector.

Abstract: Methods, apparatuses, and systems for providing updates to a surgical robot in which a surgical robot receives a notification that there is an update available or detects a new hardware component that has been attached to the surgical robot. The surgical robot then determines if it is currently in use or is inactive and if inactive the surgical robot downloads the latest update. Additionally, the system provides a process of remote monitoring of telesurgical robots for safety and redundancy, in which the surgical robot collects data representing at least one assistance parameter of the surgical robot during a surgical procedure. The data is assessed, and it is determined if non-surgical assistance is required and connecting the medical professional to a technician to resolve the potential issue.

Abstract: The present disclosure provides a pulmonary artery stent. The pulmonary artery stent includes: a metal stent capable of circumferential expansion; and an isolation membrane wrapping the metal stent to isolate the metal stent from an external environment, and the isolation membrane having a circumferential tensile strength less than an axial tensile strength. The embodiments of the present disclosure can not only expand the diameter of the stent according to a change in the diameter of a blood vessel to meet a support performance requirement after the blood vessel enlarges but also isolate the metal portion of the stent from a vascular environment, thus effectively solving a problem of in-stent restenosis.

Abstract: Example embodiments relate to surgical systems and methods. The system includes an arm assembly and end-effector assembly. The arm assembly includes a first drive portion and wrist drive portion. The end-effector assembly is securable to and removable from the arm assembly. The end-effector assembly includes an instrument assembly and wrist assembly. The instrument assembly includes a first instrument, first instrument driven portion, and first instrument insulative portion. The first instrument driven portion is configured to move the first instrument relative to a first axis when the first instrument driven portion is driven by the first drive portion. The wrist assembly includes a wrist driven portion. The wrist driven portion is configured to move the first instrument relative to a second axis when the wrist driven portion is driven by the wrist drive portion. The end-effector assembly is secured to and removable from the arm assembly via a wrist connector portion.

Abstract: An apparatus comprising a vibrating finger device useful in a medical setting includes a device body configured to fit on a finger of a wearer, a vibrating unit, a touch sensitive sensor, and a control module including a computerized processor. The control module includes programming configured to monitor an activation input to the device, determine the monitored activation input to indicate a threshold desired vibration activation input, and activate a vibration cycle within the vibrating unit based upon the determination.

Abstract: An endoscopic deployment device includes a body mountable on an endoscopic device, a communication interface, and a motor. The body has a movable carrier couplable to an elongated end effector device. The effector device has an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the shaft. The sheath is sized and shaped for insertion through a working channel of an endoscopic shaft of the endoscopic device. The body has a carrier channel sized for the carrier to slide therein. The end effecter is actuatable between open and closed positions by sliding the carrier in the carrier channel which in turn slides the sheath over the end effector shaft to uncover/cover the end effector. Rotation of a drive shaft of the motor is sliding the carrier in the carrier channel and actuating the end effector in response to a signal.

Abstract: An interactive control unit is disclosed. The interactive control unit includes an interactive touchscreen display, an interface configured to couple the control unit to a surgical hub, a processor, and a memory coupled to the processor. The memory stores instructions executable by the processor to receive input commands from the interactive touchscreen display located inside a sterile field and transmit the input commands to the surgical hub to control devices coupled to the surgical hub located outside the sterile field.

Abstract: A surgical instrument including an end effector that has a selectively reciprocatable implement movably supported therein. The implement is selectively advanceable in a distal direction upon application of a rotary actuation motion thereto and retractable in a proximal direction upon application of a rotary retraction motion thereto. An elongate shaft assembly is coupled to the end effector and is configured to transmit the rotary actuation motion and rotary retraction motion to the reciprocatable implement from a robotic system that is configured to generate the rotary actuation motion and said rotary retraction motion.

Abstract: Methods, apparatuses, and systems for performing robotic surgery in an extended-reality (XR) surgical simulation environment are disclosed. A patient anatomical model is generated. An XR surgical simulation environment is generated that includes the patient anatomical model. The XR surgical simulation environment is configured to enable the user to virtually perform surgical steps on the patient anatomical model. Anatomical mapping input is received from a user viewing the patient anatomical model. Confidence-score augmented-reality (AR) mapping is performed to meet a confidence threshold for a procedure to be performed on the patient. A portion of the received anatomical mapping data is selected for AR mapping to an anatomy of the patient. The selected anatomical mapping data is mapped to corresponding anatomical features. An AR environment is displayed to the user, wherein the AR environment includes the mapping of the selected anatomical mapping data to the corresponding anatomical features.

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: Tubes (e.g., catheters, endotracheal or chest tubes and bypass grafts) are provided, comprising a catheter and a plurality of sensors.

Abstract: A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

Abstract: A method of determining a location of a user input device of a surgical robotic system within a surgical workspace using a virtual workspace including determining, by one or more processors communicatively coupled to a user input device, that a user is engaging with the user input device within a surgical workspace; in response to determining the user is engaging with the user input device, displaying a virtual user input device within a first virtual workspace boundary, wherein at least a portion of the first virtual workspace boundary is operable to move in response to a movement of the user input device; displaying a second virtual workspace boundary that represents a second workspace limit beyond which the user input device is inoperable to control the surgical robotic instrument in the teleoperation mode; and determining a location of the user input device within the surgical workspace.

Abstract: In general, data modules for surgical instruments and methods of using data modules for surgical instruments are provided. In an exemplary embodiment, a data module is configured to be removably attached to a powered surgical tool such as an electrosurgical tool. The data module is a standalone device including electronic components that are configured to, with the data module attached to the electrosurgical tool, interact with the electrosurgical tool.

Abstract: A power cord holder has a storage body formed of a flexible material which extends to a perimeter that forms an opening, the storage body further being shaped to form an internal compartment. The power cord holder further includes a fastening system for constricting the perimeter so that the power cord is substantially contained within the internal compartment of the storage body; and a securing system for securing the power cord holder to the tool. The invention further includes a method for storing a hair styling tool having a power cord using the power cord holder, so that the power cord does not become tangled with other power cords or other items.

Abstract: An apparatus includes a cart having a vertical adjustment element configured to adjust a distance between the platform and a ground supporting the cart, the cart defining a surface for supporting an arm of the patient. The apparatus includes a manipulation device including a plurality of motors each configured to operably couple to a different one of a needle, a catheter, and a guidewire to selectively advance one or more of the needle, the catheter, and the guidewire, and a robotic arm having a first end mounted to the cart and a second end coupled to the manipulation device, the robotic arm having a plurality of segments joined together via a plurality of joints such that the robotic arm can be moved to position the needle, the catheter, and the guidewire for insertion into a target vessel in the arm.

Abstract: Methods, apparatuses, and systems for transcribing and performing analysis on patient data are disclosed. Data is collected from one or more medical professionals as well as sensors and imaging devices positioned on or oriented towards a patient. An analysis is performed on the patient data and the data is presented to a medical professional via a verbal interface in a conversational manner, allowing the medical professional to provide additional data such as observations or instructions which may be used for further analysis or to perform actions related to the patient's care.

Abstract: Certain aspects relate to systems and techniques for an articulating monopolar medical instrument. In one aspect, the medical instrument includes a wrist comprising a proximal clevis and a distal clevis; an end effector coupled to the distal clevis via a distal axle; at least one proximal pulley in the proximal clevis; at least one distal pulley in the distal clevis and coupled to the distal axle; a first cable configured to engage with the at least one proximal pulley and the at least one distal pulley; and a second cable configured to engage with the at least one proximal pulley without engaging the at least one distal pulley.

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure describes computer-assisted teleoperated surgery instruments with cable-actuated joint mechanisms Some such joint mechanisms include linkages that maintain the joints in operable configurations without relying on cable tension to do so.

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: A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.

Abstract: Disclosed herein are a minimally invasive electrode and delivery device, along with various related components, devices, methods, and technologies. The delivery device comprises a proximal elongate shaft, a paddle coupled to a distal end of the proximal shaft, and an irrigation/suction sleeve disposable over the paddle. Disclosed also is a fan-like cortical electrode device comprising at least two electrode segments, wherein each of the at least two electrode segments comprises a thin film pad, a plurality of electrode contacts disposed on the thin film pad, and a proximal connector attached to a proximal end of the thin film pad.

Abstract: An instrument access device of a teleoperated surgical system includes an envelope, a clamp, and a plurality of ports. The envelope includes a distal opening and a cavity. The clamp is in the distal opening of the envelope. The plurality of ports are coupled to the envelope. The plurality of ports are proximal to the clamp and the distal opening of the envelope. Each of the plurality of ports includes a seal, which is sized and shaped to seal an outer surface of a cannula and to fix a position of the cannula relative to the port and the envelope.

Abstract: A left atrial appendage (LAA) occluder, and a method of application are provided. The LAA occluder includes a plugging portion, a connecting portion, and a covering portion that are connected sequentially along an axial direction, where the plugging portion includes a first support mesh that can be transformed to have a reduced radial profile, and a first gathering member; a plurality of anchoring members for grasping LAA tissues are arranged on an outer peripheral surface of the first support mesh; the first gathering member is detachably connected to the connecting portion, such that the plugging portion can be provided individually at an LAA; the covering portion includes a second support mesh that can be transformed to have a reduced radial profile, and a second gathering member; and the second gathering member is provided at an end of the second support mesh away from the connecting portion.

Abstract: A fiber optic force sensing assembly for detecting forces imparted at a distal end of a catheter assembly. The structural member may include segments adjacent each other in a serial arrangement, with gaps located between adjacent segments that are bridged by flexures. Fiber optics are coupled to the structural member. In one embodiment, each fiber optic has a distal end disposed adjacent one of the gaps and oriented for emission of light onto and for collection of light reflected from a segment adjacent the gap. The optical fibers cooperate with the deformable structure to provide a change in the intensity of the reflected light, or alternatively to provide a variable gap interferometer for sensing deformation of the structural member. In another embodiment, the gaps are bridged by fiber Bragg gratings that reflect light back through the fiber optic at central wavelengths that vary with the strain imposed on the grating.

Abstract: Devices, systems, and methods for therapeutically treating tissue. The devices and methods are suitable for minimally invasive surgery or open surgical procedures. More particularly, methods and devices described herein permit accessing and/or treating areas of tissue with a therapeutic device having a hood member with a plurality of channels located therein for applying a vacuum and cooling the areas of tissue as energy is delivered through electrodes located adjacent to or in the hood member.