A surgical system comprising: at least two modular units, the modular units each comprising: a surgical arm; and a motor unit configured for actuating movement of the surgical arm, the motor unit configured to be operably attached to the surgical arm, where a first face of a motor unit housing generally defines a plane which is at an angle of 60-120° to a long axis of the surgical arm; wherein the motor unit is configured to be aligned adjacent a motor unit of at least one second modular unit; wherein a second face of a housing of the motor unit generally defines a plane which is at an angle to the first face and which comprises a connection geometry suitable for connecting the housing of the motor unit to a housing of the motor unit of the second modular unit.

A cutting grasper for valve leaflet laceration is described. The cutting grasper extends from a distal end of a flexible shaft so that the flexible shaft is configured to advance the cutting grasper through a vascular system of a patient. The cutting grasper includes a base member having a proximal end that is attached to the distal end of the flexible shaft. The cutting grasper also includes an actuating member. A proximal end of the actuating member is rotatably attached to the distal end of the base member forming a hinge of the cutting grasper. The actuating member is configured to rotate relative to the base member about the hinge between open and closed positions. The cutting grasper is configured to grasp a target leaflet in the open position, close into the closed position with the target leaflet disposed between the base and actuating members, and divide the target leaflet.

A medical instrument and method is described for facilitating lacrimal occlusion. The instrument has two arms for holding a plug being inserted through the punctum, each arm having a distal end and a proximal end. Attached to the proximal end of the arms is a dilator oriented in the opposite direction along the longitudinal axis of the instrument. The instrument is conveniently rotated in the hand of the practitioner to alternately present the functioning end of the instrument as either the distal end of the arms (for holding a plug) or the distal end of the dilator (for enlarging the punctum prior to attempting to inserting the plug). The instrument has a means for moving the two arms near to each other and away from each, and a means for holding the two arms near to each other without requiring closing pressure applied by the practitioner.

Disclosed is a medical instrument that includes a first elongated arm and a second elongated arm pivotally attached at a pivoting joint. The first and second elongated arms include a distal end, a proximal end, an inner surface and an outer surface. The first and second elongated arms define, along respective inner surfaces, opposing gripping portions and opposing cutting edges adjacent to the gripping portions. The first or second elongated arms also include a flange that outwardly deflects from either the first or second distal ends and the first and second elongated arms both include an outwardly deflecting flange. Embodiments enable the cutting of sutures at surgical sites possessing numerous sutures in an expedient manner without the instrument catching the sutures. The instrument also includes functionality to remove staples at a surgical site.

A surgical device controllable by a surgical robotic system is provided. The surgical device includes a housing capable of being coupled to the surgical robotic system, a drive system at least partially mounted in the housing; and a shaft rotatably coupled to the drive system at a first end of the shaft. The surgical device further includes a tissue-removal assembly coupled to the second end of the shaft. The tissue-removal assembly includes a first cutting member having a plurality of rotatable blades. The first cutting member is coupled to a second end of the shaft. The tissue-removal assembly further includes a second cutting member, one or more support elements slidably or fixedly coupled to the second cutting member, and one or more extendable elements slidably or fixedly coupled to the second cutting member.

A sterile interface assembly configured to operably engage a robotic surgical instrument includes an adapter, a surgical drape, and a clip. The adapter includes a body having a first end portion and a second end portion, inputs disposed at the first end portion of the body, outputs disposed at the second end portion of the body, connectors coupling each of the inputs with a corresponding one of the outputs, and a seal disposed within the body and configured to establish a fluid-tight seal with an interior surface of the body and about the connectors. The surgical drape defines a sleeve of material having a proximal end portion and a distal end portion. The proximal end portion is attached to an exterior of the body of the adapter. The clip is configured to engage the distal end portion of the surgical drape to a shaft.

A tool has a handle and an elongate shaft that extends distally from the handle. A distal portion of the shaft is inserted into a subject during a surgical procedure. An optical fiber delivers laser energy to a tip at the distal portion of the shaft. The tip includes a mechanical cutting mechanism including a moving part that absorbs the laser energy, thermally conducts the absorbed energy to tissue that is disposed between the moving part and another part, and moves with respect to the other part in order to cut tissue that is disposed between the parts using a mechanical force that is lower than a mechanical force that would be required to cut the tissue in the absence of the laser energy. Other embodiments are also described.

The present invention relates to devices and methods for separating tissues to create an anatomical access space in the body, in particular, for providing an access to the space between the pericardium and the epicardium.

There is provided a surgical instrument having a plurality of methods of use and reducing the number of times that treatment portions are detachably replaced. The surgical instrument includes a treatment unit having a first treatment portion on an end portion thereof and a second treatment portion on another end portion thereof, and a holder that supports the treatment unit so as to allow the states of use of the first treatment portion and the second treatment portion to be switched. The holder supports the holder so as to be rotatable around a switching shaft for switching the states of use of the first treatment portion and the second treatment portion, and supports the treatment unit such that, while one of the first treatment portion and the second treatment portion is in a usable state, the other is in a standby state.

An enhanced trocar for laparoscopic surgery has a proximal end, a distal end, and a tubular trocar body connecting and extending between the ends. The trocar body is shaped and sized to receive inline and retain therein tissue isolated and divided during a laparoscopic surgical procedure, to permit a surgeon to remove such tissue from the surgical site and dispose of the removed tissue without an additional dedicated disposal device.