Abstract: A cryoadhesion apparatus includes a remote control assembly, a valve assembly, a needle catheter assembly, and a gas cylinder, the remote control assembly includes a sheath structure and a remote control, the sheath structure is provided with a catheter channel for the needle catheter assembly to pass through, two ends of the valve assembly are respectively connected to the needle catheter assembly and the gas bottle; the sheath structure is capable of squeezing the needle catheter assembly, when squeezing is maintained, the needle catheter assembly is capable of moving along with the sheath structure under a frictional force between an inner wall of the catheter channel and the needle catheter assembly; the remote control is configured to, when triggered, send a trigger signal to the valve assembly; the valve assembly is configured to transport, when receiving the trigger signal, a gas from the gas cylinder to the needle catheter assembly.

Abstract: The present disclosure relates to systems and methods for image processing. The system may obtain at least one image of an object. For each of the at least one image, the system may determine a recognition result of the image. The recognition result may include an image type of the image, a type of a lesion in the image, a region of the lesion in the image, and/or an image feature of the image. Further, the system may process the at least one image of the object based on at least one recognition result corresponding to the at least one image.

Abstract: An apparatus for supply of coolant, particularly CO2 that is preferably provided in bottles, to cryosurgical instruments. The device may be a mechanical or thermal compression device. A pump may supply the CO2 taken from the bottle in a buffer container with a desired operation pressure. The pressure in the gas bottle can be less than the desired operation pressure. The apparatus includes a tempering device that is configured to bring the coolant to a desired temperature, particularly a temperature that is higher than the temperature in the gas bottle or in another storage container.

Abstract: An exhaust collection bag for cryogenic treatment is described herein and may generally comprise a first layer and a second layer attached along a periphery and forming an enclosed volume. The periphery defines four radiused corners and an extension member. A tubing connector may be positioned along the first layer and extend through the first layer and may also be located along a centerline of the first layer and in proximity to a bottom edge of the first layer. A drain closure may also be positioned along the first layer and located away from the centerline and in proximity to the bottom edge.

Abstract: Various embodiments of the present disclosure can include a medical device for providing therapy to heart tissue. The medical device can comprise a balloon, a movable manifold, wherein the movable manifold comprises a first plurality of openings and the movable manifold is inside the balloon and the movable manifold is configured to distribute a fluid within the balloon, an elongate shaft with a proximal end portion and a distal end portion, wherein the distal end portion of the elongate shaft is coupled with the balloon, a central lumen, wherein the movable manifold is movably coupled with the central lumen, and a supply lumen comprising a supply lumen proximal end and a supply lumen distal end, wherein the supply lumen is longitudinally movable and in fluid communication with the movable manifold, wherein the movable manifold is configured to move longitudinally in response to an actuation of the supply lumen proximal end.

Abstract: The present is directed to improved systems, methods, and devices for providing skin cooling treatment. The skin cooling treatment system can include a mechanical arm and a cryospray applicator coupled to a distal end of the mechanical arm. The skin cooling treatment system can include a processor that can receive imagery of a portion of skin of a patient for receiving a skin cooling treatment and automatically identify boundaries from the received imagery to designate portions of the skin of the patient for receiving the skin cooling treatment. The processor can determine an instantaneous treatment footprint and can generate a treatment path based on the treatment footprint. The processor can control the cryospray applicator to deliver the skin cooling treatment to the skin according to the treatment path.

Abstract: A navigation-assisting flexible elongate member, a navigation-assisting system, and a navigation-assisting method for use in navigating within a body to a treatment site. A navigation-assisting sensor, such as an optic fiber, an inductive sensor, a piezoelectric sensor, or a camera, is provided within the wall of the flexible elongate member, so as not to occupy space within a working channel defined by and through the flexible elongate member. When the distal end of the flexible elongate encounters an obstacle/another object (e.g., body tissue or a lumen wall), the navigation-assisting sensor generates a signal indicative of such encounter. Such signal is converted into information (such as by a control unit) usable to navigate the flexible elongate member away from the obstacle and on course to the treatment site.

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

Abstract: The present invention relates to a plasma-generating device, comprising an anode, a cathode and at least one intermediate electrode, said intermediate electrode being arranged at least partly between said anode and said cathode, and said intermediate electrode and said anode forming at least a part of a plasma channel which has an opening in said anode. Further, the plasma-generating device comprises at least one coolant channel which is arranged with at least one outlet opening which is positioned beyond, in the direction from the cathode to the anode, said at least one intermediate electrode, and the channel direction of said coolant channel at said outlet opening has a directional component which is the same as that of the channel direction of the plasma channel at the opening thereof. The invention also concerns a plasma surgical device and use of such a plasma surgical device.

Abstract: Systems, devices, and methods generating a plasma flow are disclosed. A method may include applying energy that alternates between being at a base level for a first duration and at a pulse level for a second duration according to a controlled pattern, generating a plasma flow having a directional axis, and discharging the plasma flow alternating between a base configuration and a pulse configuration according to the controlled pattern. The plasma flow in the base configuration may have (1) a first temperature at the outlet and (2) a first flow front that advances along the directional axis. The plasma flow in the pulse configuration may have (1) a second temperature at the outlet that is greater than the first temperature and (2) a second flow front that advances along the directional axis at a speed greater than the first flow front.

Abstract: A catheter for debulking of an undesired deposit from an inner surface of at least one of a blood vessel wall and a stent located in a blood vessel, the catheter having a tip section comprising: circumferentially-directed laser optics; and a circular-action cutter, wherein said circumferentially-directed laser optics is configured to transmit laser radiation for modifying an area of the undesired deposit thereby preparing said area for penetration of said cutter, wherein said cutter is configured to cut through said modified area and thereby debulk at least a part of the undesired deposit. In addition, a catheter for pacemaker and ICD (Implantable Cardioverter Defibrillator) lead extraction is disclosed.

Abstract: A cryoablation tool may include a catheter. The catheter may have a shaft having: a proximal end, a distal end, a shaft wall extending between the proximal end and the distal end, the shaft wall having an outer surface and an inner surface and a vacuum gap defined therebetween that forms a vacuum chamber, the inner surface of the shaft wall being gas permeable, a shaft lumen bounded by the inner surface of the shaft wall, the shaft lumen for carrying a cryogen gas, and the vacuum chamber having a proximal opening connectable to a vacuum source, the proximal opening establishing vacuum communication between the vacuum chamber and the vacuum source.

Abstract: A method for anesthetizing a human patient undergoing surgery and/or pain block procedure, the method comprising sterilizing the patient's skin including a target region, the target region including a surgical site including the patient's spine; inserting at least one cryo-needle into a first tissue region, the cryo-needle having a distal end configured to cool surrounding patient tissue, the first tissue region comprising soft tissue superficial to the one or more vertebra and on a first lateral side of the patients spine; cooling the distal end of the cryo-needle to cause cooling of surrounding patient tissue thus inhibiting one or more sensory nerves in the surrounding patient tissue; thereafter, performing spinal surgery on the patient's spine at the surgical site; and, thereafter, performing an erector spinae plane block to further inhibit nerves post-operatively in the target region.

Abstract: A cryosurgical instrument having a cryosurgical probe, at least one electrode configured to generate products of electrolysis, and a protective member coupled to at least a portion of an exterior surface of the cryosurgical probe effective to substantially isolate the cryosurgical probe from the products of electrolysis is disclosed. Methods of providing combined cryosurgical treatment and electrolysis with the cryosurgical instrument are disclosed. A system having the cryosurgical instrument, a cryogenic power supply, an electrolysis power supply, and a controller configured to generate a cryogenic signal and an electric signal is disclosed. Methods of producing the cryosurgical instrument by selecting a cryosurgical probe, coupling at least one electrode to the cryosurgical probe, and fastening the protective member to at least a portion of an exterior surface of the cryosurgical probe are disclosed. Cryosurgical probe protective devices are also disclosed.

Abstract: Methods and apparatus for the treatment of a body cavity or lumen are described where a heated fluid and/or gas may be introduced through a catheter and into treatment area within the body contained between one or more inflatable/expandable members. The catheter may also have optional pressure and temperature sensing elements which may allow for control of the pressure and temperature within the treatment zone and also prevent the pressure from exceeding a pressure of the inflatable/expandable members to thereby contain the treatment area between these inflatable/expandable members. Optionally, a chilled, room temperature, or warmed fluid such as water may then be used to rapidly terminate the treatment session.

Abstract: A method of preparing cryogenic air for use in cryotherapy procedures, characterized in that liquid nitrogen (1) is fed from a cryogenic nitrogen tank (2) via a cryogenic duct (3) to at least one exchanger (4), wherein at the same time a breathing mixture (6), containing oxygen in a concentration of 17% to 100%, is fed, via an oxygen duct (7), from a breathing mixture (6) source (5), through the filter (8), to at least one exchanger (4), then in at least one exchanger (4), by means of a heat exchange between the breathing mixture (6) and liquid nitrogen (1), the breathing mixture (6) is cooled to the set temperature of minus 80° C. to minus 160° C., and then the cooled breathing mixture (6) is fed from at least one exchanger (4), via an upper pipe (9).

Abstract: The present invention is directed to improved systems, devices, and methods for delivery of a cryogen to the skin of a patient for skin treatment. A cryospray device configured to deliver a cryogen to a patient's skin can include an applicator, a supply channel, and a nozzle assembly. The applicator can include a head portion, and the supply channel can extend through at least a portion of the head portion. The nozzle assembly can be coupled to the head portion and can be fluidly coupled to the supply channel. The nozzle assembly can include a linear array of orifices that are configured to direct a planar spray of the cryogen to cool an area of a skin tissue of the patient in a linear cooling treatment.

Abstract: A system and method of use thereof are disclosed, the system including a treatment source, such as an electrosurgical generator and a plurality of treatment devices operable to be coupled to the treatment source, one or more of the treatment devices being associated with one or more device identifiers which can be, for example, physically present on the device or contained in device software.

Abstract: According to some embodiments, a medical instrument (for example, an ablation device) comprises an elongate body having a proximal end and a distal end, an energy delivery member positioned at the distal end of the elongate body, a first plurality of temperature-measurement devices carried by or positioned within the energy delivery member, the first plurality of temperature-measurement devices being thermally insulated from the energy delivery member, and a second plurality of temperature-measurement devices positioned proximal to a proximal end of the energy delivery member, the second plurality of temperature-measurement devices being thermally insulated from the energy delivery member.

Abstract: Proposed is a filter fixing module mounted to a handpiece cooling device having a connecting unit such that a refrigerant supply unit is coupled thereto, the filter fixing module including a body having a support surface formed in a plate shape, and a receiving surface formed on an edge of the support surface and protruding in a first direction relative to the support surface so as to prevent removal of a filter received in the support surface, and a grip unit connected to the body, wherein the grip unit comprises a first grip member and a second grip member extending in directions opposite to the protruding direction of the receiving surface relative to the body.

Abstract: A system and kit for using a source of low-pressure refrigerant for a cryotherapy procedure and for subcooling a cryotherapy refrigerant. The system may generally include a fluid reservoir and a fluid flow path in thermal exchange with the fluid reservoir, the fluid flow path including a first thermal exchange device in thermal exchange with the fluid reservoir, a compressor in fluid communication with the first thermal exchange device, a condenser, a reversing valve located between the compressor and the condenser, a second thermal exchange device located between the reversing valve and the compressor, and an expansion valve located between the condenser and the thermal exchange device. The third thermal exchange device may be configured to be in fluid communication with the cryotherapy console and configured to place a secondary refrigerant within the first fluid flow path in thermal communication with a secondary refrigerant of the cryotherapy system.

Abstract: Apparatus, consisting of a probe, containing a lumen and having a distal end configured to contact tissue of a living subject. A temperature sensor is located at the distal end, and a pump, having a pump motor, is coupled to deliver a cryogenic fluid through the lumen to the distal end of the probe and to receive the cryogenic fluid returning from the probe. There is a separator, coupled to separate the returning cryogenic fluid into a returning cryogenic liquid and a returning cryogenic gas, and a flow meter, coupled to measure a rate of flow of the returning cryogenic gas. A processor is configured to control a rate of pumping of the pump motor in response to a temperature measured by the temperature sensor and the rate of flow of the returning cryogenic gas.

Abstract: A method for anesthetizing a human patient undergoing surgery and/or pain block procedure, the method comprising sterilizing the patient's skin including a target region, the target region including a surgical site including the patient's spine; inserting at least one cryo-needle into a first tissue region, the cryo-needle having a distal end configured to cool surrounding patient tissue, the first tissue region comprising soft tissue superficial to the one or more vertebra and on a first lateral side of the patients spine; cooling the distal end of the cryo-needle to cause cooling of surrounding patient tissue thus inhibiting one or more sensory nerves in the surrounding patient tissue; thereafter, performing spinal surgery on the patient's spine at the surgical site; and, thereafter, performing an erector spinae plane block to further inhibit nerves post-operatively in the target region.

Abstract: A thermal regulation catheter system and method of use are disclosed, for moderating the temperature and other parameters of tissue surrounding a target tissue for an ablation procedure, or for performing a thermal treatment procedure. In an embodiment, the device includes a catheter having a shaft with a fluid supply line and a fluid return line disposed therein, and an inflatable heat exchange vessel at a distal end of the shaft. The fluid supply line supplies fluid to inflate the heat exchange vessel, and the fluid return line conducts fluid away from the heat exchange vessel.

Abstract: An additive manufacturing system includes an extruder that includes a drive mechanism, a nozzle, and a pressure sensor. The drive mechanism is configured to feed a molten consumable material. The nozzle is attached at a distal end of the extruder and includes a nozzle tip, through which the molten consumable material is discharged as an extrudate. A pressure interface is fluidically coupled to an interior cavity of the nozzle. The pressure sensor is configured to operably measure a pressure within the interior cavity of the nozzle through the pressure interface.

Abstract: Medical devices and related methods, and, more specifically, cryogenic surgical systems and related methods are disclosed. Some example cryogenic surgical systems may include a cryosurgical control unit configured to cool a cryosurgical probe to a temperature colder than a temperature at which flow of cryogenic fluid to the probe is stopped. Some example tank level indicating systems may utilize the pressure of the fluid in the tank and a temperature of the exterior wall of the tank to indicate liquid level.

Abstract: The present disclosure is directed to systems and methods that removing exogenous particles from a target region of the skin of a patient. The systems and methods can employ dermal lavage to remove the exogenous particles from the target region. In some instances, the exogenous particles can be residual tattoo ink after a tattoo removal process. A conduit can be sized and dimensioned for insertion into or around the target region to inject an irrigation fluid that defines an irrigation area. The exogenous particles can be suspended in the irrigation fluid. A device can be configured to form one or more channels in the irrigation area so that the exogenous particles are removable from the irrigation area.

Abstract: A trocar assembly including an obturator, an access cannula, and a reservoir is provided. The access cannula defines a lumen therethrough configured to selectively receive the obturator. The reservoir is configured to be selectively coupled to the obturator such that the reservoir is in fluid communication with a hollow interior portion of the obturator. An obturator is also provided including an elongate body and a connection point. The elongate body extends between proximal and distal portions and is configured to be received within an access cannula. The elongate body defines a hollow interior portion therein. The connection point is disposed on an exterior portion of the elongate body and is configured to be selectively coupled to a fluid reservoir. Rapid expansion of fluid within the hollow interior portion causes tissue in contact with the access cannula to freeze thereto. A method of performing surgery is also provided.

Abstract: Disclosed is a cryotherapy device comprising at least one inflow channel, at least one outflow channel, control means for controlling the evacuation of expanded cryo-fluid from a body lumen, wherein the control means receive data from at least one sensor that gathers data regarding at least one parameter of the body lumen and wherein the cryotherapy device is introduced into the body lumen via an endoscope.

Abstract: Embodiments of the present invention relate to cryogenic systems and methods useful to cool objects, including living tissue, to freezing or cryogenic temperatures by placing the object in thermal communication with sub-cooled supercritical nitrogen.

Abstract: Cryogenic biopsy assemblies are described herein that comprise a tissue acquisition device and cryogenic probe. Also disclosed are systems containing such cryogenic biopsy assemblies and methods cryogenic biopsy that employ such cryogenic biopsy assemblies.

Abstract: An electrosurgical apparatus for generating a plasma discharge beam is provided. In one aspect, the electrosurgical apparatus includes a first fluid flow housing, a second fluid flow housing, and an electrode. A first gas is provided to the distal end of the first fluid flow housing, where the electrode is energized to ionize the first gas and generate a plasma discharge beam. A second gas is provided to the distal end of the second fluid flow housing, where the distal end of the second fluid flow housing injects the second gas into the plasma discharge beam. In another aspect, the electrosurgical apparatus includes a single fluid flow housing having an external electrode and an internal electrode. In another aspect, the electrosurgical apparatus includes a transformer assembly having a plurality of serially-connected transformers.

Abstract: A cryosurgery system for application of medical-grade liquid nitrogen to a treatment area via a small, low pressure, open tipped catheter. The system includes a console, including a touch panel computer, a cryogen module, a suction module and an electronics module, and a disposable spray kit. Features include optional low cryogen flow setting to reduce the cryogen flow rate by 50%, improved cryogen flow consistency reducing pressure pulses and peaks, an integrated suction pump for improved consistency and self-checks, specified vent tube areas and corresponding maximum expected pressures during cryospray procedure; optional pressure sensing capability to monitor pressure during a treatment, and novel catheter designs of multilayer and flexible construction providing a variety of spray patterns.

Abstract: A system and kit for using a source of low-pressure refrigerant for a cryotherapy procedure and for subcooling a cryotherapy refrigerant. The system may generally include a fluid reservoir and a fluid flow path in thermal exchange with the fluid reservoir, the fluid flow path including a first thermal exchange device in thermal exchange with the fluid reservoir, a compressor in fluid communication with the first thermal exchange device, a condenser, a reversing valve located between the compressor and the condenser, a second thermal exchange device located between the reversing valve and the compressor, and an expansion valve located between the condenser and the thermal exchange device. The third thermal exchange device may be configured to be in fluid communication with the cryotherapy console and configured to place a secondary refrigerant within the first fluid flow path in thermal communication with a secondary refrigerant of the cryotherapy system.

Abstract: A liquid nitrogen dispenser for frozen treats comprises an anodized mount, an anodized cover attached onto the anodized mount, an inlet integrated into the anodized cover, an outlet integrated into the anodized cover, a dispensing tube, a primary flow valve mounted in between the anodized cover and the anodized mount and in fluid communication with the inlet and the outlet, a phase separator externally mounted to the anodized cover and in fluid communication with the outlet by the dispensing tube, an access hole traversing through the anodized cover, an annular gasket penetrating the access hole and peripherally pressed against the anodized cover and an insulating layer positioned around the primary flow valve, mounted across the anodized cover and pressed in between the anodized cover and the annular gasket.

Abstract: An endoscope having a distal electrical feed-through, the endoscope including: an endoscope shaft having a distal objective unit comprising an electromagnetic actuator and a distal optical assembly that can be shifted in a longitudinal direction by actuation of the actuator, the endoscope shaft having a proximal unit having a proximal optical assembly arranged after the distal optical assembly in the direction of incident light, the objective unit is rotatable relative to the proximal unit about a longitudinal axis during assembly of the endoscope and is fixed rotationally relative to the proximal unit after assembly; and a cable for supplying current to the actuator, the cable being fed from the proximal unit to the objective unit, the cable having an excess length at a transition from the proximal unit to the objective unit, such excess length being at least half of the outer circumference of the objective unit.

Abstract: Peritoneal heat exchange provides the benefit of extremely rapid cooling of the patient's target organs such as the heart and brain as well as facilitating global patient body temperature reduction to therapeutically effective temperatures. The heat exchange medium of the present invention is a chilled gaseous fluid suspension of frozen ice particles.

Abstract: A system and method for providing greater control over the temperature of a thermal treatment element of a medical device, enabling an operator to extend a thawing period of a cryoablation procedure. The system may include a fluid flow path that bypasses a subcooler, giving the operator selective control over the temperature of refrigerant delivered to the treatment element and, therefore, treatment element temperature. Additionally or alternatively, the system may include a fluid delivery conduit that is in communication with a liquid refrigerant and a gaseous refrigerant. Adjustment of the ratio of liquid to gaseous refrigerant also offers control over the treatment element temperature. Additionally or alternatively, the system may include one or more valves and/or heating elements in the fluid delivery and recovery conduits to control the treatment element temperature.

Abstract: Methods and apparatus for the treatment of a body cavity or lumen are described where a heated fluid and/or gas may be introduced through a catheter and into treatment area within the body contained between one or more inflatable/expandable members. The catheter may also have optional pressure and temperature sensing elements which may allow for control of the pressure and temperature within the treatment zone and also prevent the pressure from exceeding a pressure of the inflatable/expandable members to thereby contain the treatment area between these inflatable/expandable members. Optionally, a chilled, room temperature, or warmed fluid such as water may then be used to rapidly terminate the treatment session.

Abstract: Methods and apparatus for the treatment of a body cavity or lumen are described where a heated fluid and/or gas may be introduced through a catheter and into treatment area within the body contained between one or more inflatable/expandable members. The catheter may also have optional pressure and temperature sensing elements which may allow for control of the pressure and temperature within the treatment zone and also prevent the pressure from exceeding a pressure of the inflatable/expandable members to thereby contain the treatment area between these inflatable/expandable members. Optionally, a chilled, room temperature, or warmed fluid such as water may then be used to rapidly terminate the treatment session.

Abstract: The present invention relates to an optical apparatus for skin treatment and to a method for controlling the optical apparatus. The optical apparatus includes a radiating part for radiating light generated in a light-generation part onto a target position of the skin, a cooling part for spraying cooling gas onto the target position to cool the surface of the skin, and a control part for controlling operations of the radiating part and cooling part. The control part controls the radiating part and the cooling part such that the radiating part radiates a first light onto the target position, the cooling part sprays the cooling gas onto the target position, and then the radiating part radiates a second light onto the target position.

Abstract: A system and method for controlling the inflation, ablation, and deflation of a balloon catheter. The system includes a balloon catheter, a console, a pressurized gas or liquid inflation source, and an umbilical system to deliver pressurized coolant to the balloon catheter. The system may include controller that monitors the amount of pressure and volume within the balloon catheter. During inflation, the pressure and/or volume of fluid within the balloon is maintained at a target amount in order to provide sufficient mechanized pressure against the desired target region. The system limits the inflation pressure such that a safe quantity of gas would be released should a leak occur. If the amount falls below a certain threshold level, gas or fluid egress is presumed and the inflation process is halted.

Abstract: A method of expanding a narrowed region inside a living body involves positioning a liquid introducer in the narrowed region in the living body and introducing liquid into the narrowed region by way of the liquid introducer. The liquid applies an outwardly directed force on the narrowed region to expand the narrowed region. The narrowed region includes the renal pelvis, the entrance to the lower calix, the ureter, etc.

Abstract: An electrosurgical system to generate a pulsed plasma stream and method thereof are provided. The system includes an electrosurgical generator coupled to an electrical power source to supply power for the electrosurgical system; a plasma generator including a noble gas conduit and an electrode disposed with the noble gas conduit, the electrode operatively coupled to the electrosurgical generator to selectively receive electrical energy therefrom such that the electrode at least partially ionizes a carrier gas feed to the noble gas conduit to create a plasma discharge; and a flow controller coupled to the noble gas conduit to pulse the flow of the carrier gas from a gas source to the noble gas conduit such that when the electrode is energized pulses of plasma discharge are generated at the surgical site.

Abstract: A calculus removing device includes an elongated member and a retrieval part fixed to the elongated member. A discharge force is produced in a lumen in the elongated member to discharge fluid in the lumen into the renal pelvis, and a suction force is produced in the lumen to draw fluid into the lumen from the renal pelvis. An outlet communicates with the lumen, and fluid in the lumen is discharged into the renal pelvis through the outlet in the presence of the discharge force. An inlet communicates with the lumen, and fluid in the renal pelvis is drawn into the lumen through the inlet in the presence of the suction force. The retrieval part includes an interior that communicates with the lumen and the renal pelvis, and the interior is configured to receive the calculus in the renal pelvis in the presence of the suction force.

Abstract: A method of moving a device toward a target site in a living body involves introducing an endoscope into the living body, wherein the endoscope has an instrument channel, with the device located at the distal end of the endoscope, and an elongated shaft connected to the device and positioned in the instrument channel. The method includes moving the endoscope and the device within the living body toward the target site, changing the shape of the elongated shaft while moving the device in the living body, and moving the device within the living body while the device is in the second orientation to position the device in the second orientation at the target site.

Abstract: A method of retrieving calculus in a renal pelvis of a living body involves positioning an enclosure in the renal pelvis, creating convection in the renal pelvis by introducing liquid into the renal pelvis from outside the living body to lift the calculus from a surface of the renal pelvis, retrieving the calculus in the renal pelvis by creating a vacuum in the enclosure while the enclosure is located in the renal pelvis so that the calculus are drawn into the enclosure, wherein the vacuum also draws the liquid into the enclosure, and withdrawing the enclosure from the renal pelvis while the calculus is in the enclosure.

Abstract: A method of removing/retrieving calculus in a ureteral lumen involves moving a ureteral plug part along the ureter lumen to position the ureteral plug part between the calculus and the kidney. The method additionally includes occluding the ureteral lumen at a location at which the ureteral plug part is located, and introducing fluid into the ureter lumen at a point between the location of the occlusion and the calculus so that the fluid washes the calculus toward the bladder. Another aspect involves a method in which an drainage tube is positioned in the ureteral lumen so that a ureteral plug part and an irrigation port are positioned distally of the calculus while an operation part of the drainage tube is positioned proximally of the calculus. The method includes occluding the ureteral lumen, washing the ureteral lumen, and releasing the occlusion and uncoupling the operation part from the ureteral plug.

Abstract: A surgical instrument kit comprising: (a) a robotic arm comprising a first jaw including a first bipolar electrode and a second jaw including a second bipolar electrode, wherein at least one of first jaw and second jaw is repositionable with respect to the other jaw; (b) a first surgical tool head including a first electrical load in electrical communication with a first pair of electrical terminals, the first surgical tool head adapted to be removably coupled to the robotic arm; and, (c) a second surgical tool head including a second electrical load in electrical communication with a second pair of electrical terminals, the second surgical tool head adapted to be removably coupled to the robotic arm, where the first pair of electrical terminals of the first surgical tool head are adapted to engage the first bipolar electrode and the second bipolar electrode to establish electrical communication between the first bipolar electrode and a first of the first pair of electrical terminals and between the second bi

Abstract: A calculus retrieving device for retrieving calculus in a renal pelvis includes an elongated member positionable in and movable along a ureter, and having a lumen opening at the distal end of the elongated member. A tubular member is movably positioned inside the elongated member and includes a lumen which opens to a discharge nozzle at a distal end of the tubular member. A space exists between the elongated member and the tubular member to receive a first fluid, and an expandable renal cover part fixed to the elongated member is positionable in the renal pelvis. The renal cover part interior communicates with the space so that the first fluid flows into the renal cover part to expand the renal cover part into covering relation to one part of the renal pelvis while another part of the renal pelvis containing the calculus is not covered by the renal cover part.