Device, systems, and methods for cryoablation are described herein. In some implementations, the devices and systems are used to for cryoneurolysis or cryoablation of nerves. An example cryoablation probe includes a tubular member having a proximal end and a distal end. The tubular member has a probe tip arranged at the distal end. The probe also includes one or more energy elements arranged along an axial direction of the tubular member, and one or more sensor elements arranged along the axial direction of the tubular member.

A surgical instrument includes a housing having an elongated shaft extending distally therefrom configured to support an end effector at a distal end thereof. A handle operably couples to a drive assembly and is moveable to actuate the end effector. The drive assembly includes: front and rear drive tubes, the rear drive tube including a front washer disposed at a distal end thereof, the front drive tube including a rear washer disposed at a proximal end thereof; a stopper slidably disposed atop the front tube, the stopper and the rear washer defining a dead space therebetween; and a spring operably associated with the stopper. Initial actuation of the handle moves the front and rear drive tubes to close the end effector to grasp tissue and, once closed, further movement of the handle moves the rear drive tube to slide the stopper to eliminate the dead space.

A surgical instrument comprises a shaft assembly comprising a shaft and an end effector coupled to a distal end of the shaft; a handle assembly coupled to a proximal end of the shaft; a battery assembly coupled to the handle assembly; a radio frequency (RF) energy output powered by the battery assembly and configured to apply RF energy to a tissue; an ultrasonic energy output powered by the battery assembly and configured to apply ultrasonic energy to the tissue; and a controller configured to, based at least in part on a measured tissue characteristic, start application of RF energy by the RF energy output or application of ultrasonic energy by the ultrasonic energy output at a first time.

A surgical instrument includes a handle assembly; a shaft assembly and an end effector. The shaft assembly includes an exterior shaft, a first clutch positioned within the exterior shaft to drive a first function of the surgical instrument when engaged. A second clutch within the exterior shaft to drive a second function when engaged. A rotary driver is positioned within the exterior shaft and configured to rotate within the exterior shaft. The rotary driver includes a first clutch engagement mechanism to engage the first clutch and a second clutch engagement mechanism configured to engage the second clutch independent of the first clutch engagement mechanism engaging the first clutch, such that, at different times both the first clutch and the second clutch are engaged simultaneously only the first clutch is engaged only the second clutch is engaged and neither the first clutch nor the second clutch is engaged simultaneously.

A system comprising a surgical instrument is disclosed. The surgical instrument includes a handle, a shaft, a plurality of magnets, a plurality of sensors configured to determine a distance away from one or more of the plurality of magnets, and a processor communicatively coupled to the plurality of sensors. The processor is configured to determine a three dimensional change in position of the shaft by computing a three dimensional change in position of the one or more magnets, using the change in the distances determined by the one or more plurality of sensors.

A method and system for preventing a collision between mechanical arms (21), and a medical robot, belonging to the field of medical robot technology. The method includes: arranging (S10) discrete points (m, n) at a mechanical arm (21); acquiring (S40) an interaction force (F.sub.m,n) corresponding to each discrete point (m, n) according to a calculated relative distance (L) between the discrete points (m, n) respectively on different mechanical arms (21), to obtain (S50) a resultant force of the interaction forces (F.sub.m,n) each of which corresponds to each discrete point (m, n), and then obtaining a Cartesian force (F.sub.d) corresponding to each mechanical arm (21), and making (S60) an operator perceive the Cartesian force (F.sub.d) in real time, thereby effectively reducing the risk of interference and collision between the mechanical arms (21).

Systems, devices and methods of determining orientation of a distal end of a medical instrument (e.g., electrode-tissue orientation of an RF ablation catheter) are described herein. One or more processors may be configured to receive temperature measurements from each of a plurality of temperature-measurement devices distributed along a length of the distal end of the medical instrument and determine the orientation from a group of two or more possible orientation options based on whether temperature measurement values or characteristics of temperature response determined from the temperature measurement values satisfy one or more orientation criteria.

Various systems and methods for controlling an ultrasonic surgical instrument according to the location of tissue grasped within an end effector are disclosed. A control circuit can be configured to apply varying power levels, via a generator, to an ultrasonic transducer driving an ultrasonic electromechanical system to oscillate an ultrasonic blade. Further, the control circuit can measure impedances of the ultrasonic transducer corresponding to the varying power levels and determine a location of tissue positioned within the end effector according to a difference between the impedances of the ultrasonic transducer relative to a threshold.

An illuminated energy device comprising a handle, an illumination element coupled to the handle and disposed continuously and circumferentially about an electrosurgical tip, the electrosurgical tip at a distal end of the handle. The illumination element is preferably adjustably coupled to the handle, and adjustment of the illumination element moves a distal end of the illumination element closer to or further away from a target such as tissue in a surgical field.

An ablation device including an ablation applicator having a first applicator end portion, a second applicator end portion, and an elongate portion, a first catheter having a first distal end portion and a first proximate end portion, the first distal end portion being coupled to the first applicator end portion, and a second catheter having a second distal end portion and a second proximate end portion, the second distal end portion being coupled to the second applicator end portion to supply an ablation medium to the ablation applicator, the ablation applicator forms an applicator shape having an applicator size in a plane perpendicular to a longitudinal axis of the first catheter, and the coupling between the first distal end portion and the first applicator end portion transfers a rotational force applied to the first proximate end portion to the ablation applicator and thereby cause the applicator size to change.