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.

Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

Abstract: An electrosurgical apparatus including a robotic tip is provided. The electrosurgical apparatus includes a plurality of actuators and hinging members. The robotic tip includes a retractable electrode. The actuators are coupled to the hinging members via a plurality of pulling mechanisms, such that, one or more of the actuators is rotated to selectively pull one or more of the plurality of pulling mechanisms to pivot and rotate the robotic tip and/or extend and retract the electrode. The electrode is coupled to a gas source and an energy source, such that, the electrode can produce plasma for use in surgical applications.

Abstract: A method may include identifying a time window of a procedure. The method may also include obtaining operational information of the time window. The operational information may include a limit of pulse repetition frequency (PRF) acceleration and a plurality of preliminary radio frequency (RF) PRFs. The method may also include determining a plurality of updated RF PRFs by updating the plurality of preliminary RF PRFs. A rate of variation between any two adjacent updated RF PRFs may be less than or equal to the limit of PRF acceleration. The method may also include causing an RF source to generate electromagnetic waves at the plurality of updated RF PRFs in the time window.

Abstract: A handle apparatus comprising void regions or attachment devices that accommodate the shape of surgical devices and imaging units such that the device is held securely and mechanically fixed to the imaging unit within the handle assembly.

Abstract: Devices for removing implanted objects from body vessels are provided. A device includes a sheath assembly having a cutting tip. The cutting tip includes a cutting surface that is adapted to cut tissue coupled to an implanted object as the cutting tip rotates. The sheath assembly further includes an outer shield carried outside of the cutting tip. The outer shield includes a distal opening, and the outer shield is translatable relative to the cutting tip from a first position to a second position and vice versa. In the first position the cutting surface of the cutting tip is disposed within the outer shield, and in the second position the cutting tip extends through the distal opening and the cutting surface is at least partially disposed outside of the outer shield.

Abstract: Surgical instruments that have articulation joints that include a distal joint member and a central joint member that is selectively articulatable relative to the central joint member about a distal articulation axis that is transverse to a shaft axis. The articulation joints may further include a proximal joint member that operably interfaces with the central joint member such that the central joint member is selectively articulatable relative to the proximal joint member about a proximal articulation axis that is transverse to the shaft axis and the distal articulation axis.

Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.

Abstract: Disclosed embodiments include apparatuses, systems, and methods for facilitating surgical anastomosis between bodily passages. In an illustrative embodiment, an eversion mechanism is configured to partially evert a distal portion of an opening of a receiving passage and further configured to leave a proximal portion of the opening of the receiving passage in a non-everted position. A donor support mechanism is configured to partially evert a distal portion of an opening at an end of a donor passage and further configured to leave a first proximal portion of the end of the donor passage in a non-everted position. The donor support mechanism is further configured to form a passage juncture at the end of the donor passage and the opening of the receiving passage. A suturing mechanism is configured to motivate a filament through a generally helical path around the passage juncture to suture the donor passage to the receiving passage.

Abstract: A method of performing a procedure includes preparing a subject, gaining access to a portion of the subject with a first instrument, removing a first portion of the portion of the subject with the first instrument, gaining access to the portion of the subject with a tracked instrument, moving the tracked instrument to a surface revealed by removal of at least the first portion from the portion of the subject, tracking the tracked instrument while moving at least the tracked instrument to the surface, and determining a representation of the surface based on the tracking the tracked instrument.

Abstract: An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.

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: The present disclosure provides a surgical instrument, such as a tissue sealing instrument, with an elongate shaft and an end effector movably coupled to the shaft with a joint or wrist assembly. The wrist assembly includes a first outer link, a second outer link, and an inner link. The first outer link is connected to the elongated shaft and movably coupled to the second outer link by the inner link. The inner link includes a pair of posts, and the first and second outer links each include a recess configured to receive a respective one of the pair of posts. The posts and recesses defining a rocking hinge, which permits the wrist assembly to accommodate a reduction in the size of the rolling radius to reduce the likelihood of grabbing and pinching tissue during articulation of the end effector without sacrificing the internal bend radius of the hinge joint.

Abstract: Catheters, sheaths, or other tubular devices are provided that include a proximal end, a distal end sized for introduction into a patient's body, and a steerable distal portion. The tubular device includes a primary lumen extending between the proximal and distal ends; an auxiliary lumen adjacent the primary lumen; and one or more reinforcement members including windings extending helically along at least the distal portion, at least some of the windings passing between the primary and steering element lumens and at least some of the windings surrounding both the primary and steering element lumens. In one embodiment, a steering element is slidably disposed within the auxiliary lumen. Apparatus and methods for making such tubular devices are also provided.

Abstract: There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode. In generalized inverse dynamics, the control system sets a motion purpose and a constraint condition in an operation space describing an inertia of force acting on a multi-link structural body and an acceleration of the multi-link structural body, and for implementing an operation space acceleration indicating the motion purpose, calculates a virtual force acting on the operation space on the basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to inclination information of the surgical arm device, and calculates a torque command value for a joint unit on the basis of a real force converted from the virtual force.

Abstract: A suture anchor for knotless fixation of tissue. The suture anchor includes an implant configured to hold a suture to be anchored in bone without requiring suture knots. The suture is secured in bone by inserting the implant holding the suture into a hole in the bone, and advancing a fixation device, such as a cannulated interference screw, over a shaft at the proximal end of the implant.

Abstract: A surgical system is disclosed. The surgical system can include a sensor configured to detect a property of airborne particles in a fluid within a patient's cavity. The surgical system can also include a surgical device and a control circuit configured to adjust a surgical function of the surgical device in response to an input signal indicative of the property of airborne particles in the fluid.

Abstract: Devices, systems, and methods for generating and displaying large bowel information. In at least one embodiment of a method of generating a gastrointestinal model, comprising the steps of obtaining size data within a mammalian gastrointestinal tract using a device configured to fit within the mammalian gastrointestinal tract, and modifying a model colon using the obtained size data to generate a patient-specific colon model.

Abstract: Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Abstract: A robotic surgical tool includes a handle having a first end and a second end opposite the first end, an exoskeleton extending between the first and second ends and having a non-circular cross-section and a carriage movably arranged within the exoskeleton and having a non-circular cross-section compatible with the non-circular cross-section of the exoskeleton. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof The carriage is movable between the first and second ends to advance or retract the end effector relative to the handle where the exoskeleton guides the carriage between the first and second ends.

Abstract: A robotic catheter procedure system is provided. The robotic catheter procedure system includes a bedside system and a remote workstation. The bedside system includes a percutaneous device and a drive mechanism configured to engage and to impart an axial force to the percutaneous device and to advance and retract the percutaneous device. The bedside system includes an actuator providing torque to the drive mechanism to impart the axial force to the percutaneous device, and the torque provided by the actuator is variable. The remote workstation includes a user interface configured to receive a first user input and a control system operatively coupled to the user interface. The control system is configured to communicate a control signal to the actuator. The control signal is based upon the first user input and a second input, and the actuator provides torque to the drive mechanism in response to the control signal.

Abstract: A tool for removing fecal impaction in a patient includes a housing having a front portion, a main body, and a rear portion. The front portion is configured for at least a partial insertion into the patient. The housing includes an internal repository and an inner duct extending from the rear portion to the front portion. The tool further includes a screw trocar having a front end and a rear end, the screw trocar can be rotatably and removably inserted into the housing to extend along the inner duct of the housing, and a suppository trocar having a front end and a rear end, the suppository trocar can be removably inserted into the housing to extend along the inner duct of the housing. The housing is configured to receive one of the screw or suppository trocars at a time to effectuate removal of fecal impaction in the patient.

Abstract: A medical robotic system includes a control system and a manipulator assembly including actuators to manipulate a flexible elongate body, including a rotation actuator to bend the flexible elongate body. The control system is configured to perform: determining an operational state of the system; detecting a fault in one or more components of the system; classifying the fault with one or more classifications of a plurality of classifications according to heuristics; and imposing a fault reaction state on the system based on the classifications to mitigate the fault. The control system is configured to impose a first fault reaction state for a motion actuation fault and impose a second fault reaction state for a non-motion actuation fault. The first fault reaction state includes controlling the rotation actuator to cause the elongate body to become compliant to external forces placed upon the elongate body by walls of an anatomical passageway.

Abstract: Described herein are durable coatings, i.e. for medical devices, and methods of forming the coatings.

Abstract: Systems and methods for safe operation of a device include a control system having a memory and a processor coupled to the memory. The processor is configured to determine, using one or more sensors, whether an operator is in contact with an input control of a console coupled to the system. The processor is further configured to affect commanded motion of the device using the input control in response to the determination of operator contact with the input control. In some embodiments, affecting the commanded motion includes limiting commanded motion of the device using the input control in response to determining the operator is not in contact with the input control. In some embodiments, the limited commanded motion is an insertion motion of the elongate device, a retraction motion of the elongate device, or a steering motion of a distal end of the elongate device.

Abstract: The triple endoscopic loop for laparoscopic appendectomy includes an elongated cannula having a proximal end and a distal end. A first loop is located at the distal end and secures the base of the appendix at a first point. A second loop is spaced apart from the first loop at the distal end, and secures the base of the appendix at a second point. A third loop is spaced apart from the second loop at the distal end, and secures the body of the appendix at a third point. A handle is located at the proximal end. The handle is connected to the first loop, the second loop and the third loop such that when the handle is pulled away from the cannula, the loops further secure the appendix at the first point, the second point, and the third point, respectively.

Abstract: A modular surgical system is disclosed includes a header module including a power supply, a first surgical module, a second surgical module, and a segmented power backplane. The first surgical module is arrangeable in a stack configuration with the header module and the second surgical module. The segmented power backplane includes a first backplane segment in the header module, a second backplane segment in the first surgical module, and a third backplane segment in the second surgical module. The second backplane segment is detachably coupled to the first backplane segment in the stack configuration and the third backplane segment is detachably coupled to the second backplane segment in the stack configuration. The first backplane segment, the second backplane segment, and the third backplane segment are configured to cooperate to transmit energy from the power supply to the second surgical module in the stack configuration.

Abstract: Various devices are provided for allowing multiple surgical instruments to be inserted through a single surgical access device at variable angles of insertion, allowing for ease of manipulation within a patient's body while maintaining insufflation. Safety shields and release mechanisms are also provided for use with various surgical access devices.

Abstract: A suture anchor for knotless fixation of tissue. The suture anchor includes an implant configured to hold a suture to be anchored in bone without requiring suture knots. The suture is secured in bone by inserting the implant holding the suture into a hole in the bone, and advancing a fixation device, such as a cannulated interference screw, over a shaft at the proximal end of the implant.

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract: A method for monitoring consumables during a medical procedure, wherein unused consumables are provided in a supply area, consumables are used in a surgery area, and used consumables are deposited in a collection area. The method including: observing the supply area and the collection area with at least one first camera, registering, by a first automatic image processing method, when unused consumables are removed from the supply area, registering, by a second automatic image processing method, when used consumables are deposited in the collection area, and balancing the consumables removed from the supply area and the consumables deposited in the collection area.

Abstract: A biopsy device includes a cutting cannula mechanism having a cutting cannula and an inner stylet mechanism having an inner stylet coaxial with the cutting cannula. A cocking mechanism is configured to cock the cutting cannula mechanism and the inner stylet mechanism by retracting each of the cutting cannula and the inner stylet in a proximal direction to a cocked position. A trigger device is configured to fire at least one of the inner stylet mechanism and the cutting cannula mechanism to advance a respective at least one of the inner stylet and the cutting cannula from the cocked position in a distal direction. A selector assembly includes a selector switch having an exterior tab accessible by a user. The selector assembly is configured to select between at least two user selectable operating modes and at least two user selectable firing distances.

Abstract: Methods and apparatuses (e.g., devices, instruments and systems, including applicator handles for use with pulse generators) for automatically and/or mechanically setting impedance matching for connecting the applicator handle with different electrode tips. These methods and apparatuses may be useful for applying therapeutic energy, including but not limited to short, high field strength electric pulses, while avoiding the risk of arcing or otherwise harming the tissue.

Abstract: An adapter assembly is provided and includes a housing for connection with a surgical device and for operative communication with at least one rotatable drive shaft of the surgical device; an outer tube having a proximal end supported by the housing and a distal end for connection with a selected end effector, wherein the distal end of the outer tube is in operative communication with each of the at least one force receiving drive member of the end effector; at least one drive transmitting/converting assembly for interconnecting a respective one of the at least one rotatable drive shaft of the surgical device and one of the at least one force receiving drive member of the end effector; and a circuit board supported in the housing and storing at least one of operating parameters and life cycle information which are unique to the adapter assembly.

Abstract: A delivery apparatus for a medical device implant can include an outer catheter and a flexible delivery catheter. The outer catheter can have an axially extending shaft and a first lumen extending co-axially through the axially extending shaft. The flexible delivery catheter can have an elongate shaft having a flexible section extending along a distal portion of the elongate shaft, and the flexible section of the elongate shaft can be positioned or adjusted between a first, delivery configuration and a second, activated configuration. The delivery catheter can have a pull wire extending co-axially through a second lumen axially extending through the elongate shaft. A distal end of the pull wire can be fixedly secured or attached to the distal end of the elongate shaft.

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 manual retraction tool for use with a surgical tool assembly of a surgical device includes a shaft, a rotation mechanism, and a trigger. The shaft is dimensioned to be inserted into a rotational connector of a surgical tool assembly and to effect rotation of the connector upon rotation of the shaft. The rotation mechanism configured to rotatably support the shaft. The trigger is operably connected to the rotation mechanism such that when the trigger is actuated from a first position to a second position, the rotation mechanism rotates the shaft about a longitudinal axis in a first direction to effect rotation of the rotational connector of the surgical tool assembly.

Abstract: A needle for use with an endoscopic stitching device includes a first end portion that is movable relative to a second end portion to allow the needle to convert from a first, mis-aligned orientation to a second, aligned orientation, thereby allowing the length of the needle in the aligned orientation to exceed the height of an end effector.

Abstract: An additive manufacturing (AM) device for biomaterials comprises a reservoir, a shaft, and a material delivery head. The device can be used for intracorporeal additive manufacturing. Material within the reservoir can be expelled by a mechanical transmission element, for example a syringe pump, a peristaltic pump, an air pressure pump, or a hydraulic pressure pump. The reservoir can be a barrel, a cartridge, or a cassette. The reservoir can narrow into the shaft, and the shaft can terminate into the nozzle. The shaft can house an inner tube. The device can have an actuator joint capable of being mechanically linked to a robotic surgical system. The actuator joint can have a motor that drives the mechanical transmission element.

Abstract: A neurosurgical robotic system for bilateral stereotaxy that integrates intraoperative MRI guidance is provided. The robotic system can be implemented in regular diagnostic MRI facilities. Navigation for bilateral brain targets can be performed independently and simultaneously. The robotic system includes a plurality of manipulators, a needle guide (31), a needle (12) disposed within the needle guide (31); and a mounting base (39) with a plurality of screw holes for bone mounting.

Abstract: An energy delivery probe and method of using the energy delivery probe to treat a patient is provided herein. The energy delivery probe has at least one probe body having a longitudinal axis and at least a first trocar and a second trocar. Each trocar comprises at least two electrodes that are electrically insulated from each other, and each electrode is independently selectively activatable. An insulative sleeve is positioned in a coaxially surrounding relationship to each of the first trocar and the second trocar. The probe also has a switching means for independently activating at least one electrode. The method involves independently and selectively activating the first and second electrodes to form an ablation zone, then repeating the ablation by delivering energy to a second set of electrodes, producing one or more overlapping ablation zone, and eliminating the need to reposition the ablation probes.

Abstract: Devices and methods for treating obesity are provided. More particularly, intragastric devices and methods of fabricating, deploying, inflating, monitoring, and retrieving the same are provided.

Abstract: A vascular graft configured for occluding a vasculature of a patient including a biocompatible polymeric textile structure formed of a plurality of filaments spaced to enable blood flow through spaces between the filaments. The textile structure forms a tubular body having a first longitudinally extending opening. An inner element has a proximal end and a distal end, the inner element composed of an open pitched metal coil having a second longitudinally extending opening and is positioned within the longitudinally extending opening of the textile structure.

Abstract: The installation according to the invention has a practical and effective arrangement, comprising an operating table, a robot for posterior spine surgery, as well as a bridge table that comprises, in part, two uprights designed to be separated from the operating table when the installation is in use, while being arranged and rising from the ground on either side of a patient recumbent on the operating table and, in part, a support platform for the robot, this platform resting on the uprights so that, during use, it lies over the patient recumbent on the operating table and being designed, during use, to support the robot extending directly above the spine of the patient recumbent on the operating table.

Abstract: In certain embodiments, the systems, apparatus, and methods disclosed herein relate to robotic surgical systems with built-in navigation capability for patient position tracking and surgical instrument guidance during a surgical procedure, without the need for a separate navigation system. Robotic based navigation of surgical instruments during surgical procedures allows for easy registration and operative volume identification and tracking. The systems, apparatus, and methods herein allow re-registration, model updates, and operative volumes to be performed intra-operatively with minimal disruption to the surgical workflow. In certain embodiments, navigational assistance can be provided to a surgeon by displaying a surgical instrument's position relative to a patient's anatomy.

Abstract: Embodiments of a method for removing a tattoo through patterned trans-epidermal pigment release includes determining first treatment area of skin of a patient through a primary template including primary apertures, marking the first treatment area of skin of the patient along borders of the primary apertures to outline a grid of primary tegulae, and delivering a tattoo removal fluid to the marked first exposed skin. In an alternate embodiment, a template, which may be adhered to the skin, is used during a microneedling process to create a structured, patterned procedure to remove skin irregularities. The template has a plurality of needle apertures, an adhesive layer, and a release liner. The release liner may be removed, exposing the adhesive layer, so that the template, with the plurality of needle apertures, may be positioned over the skin irregularity.