An electromechanical robotic surgical instrument is provided and includes a flexible shaft defining a lumen therethrough; an end effector pivotally supported by the flexible shaft; at least one cable translatably disposed within the lumen of the flexible shaft, wherein a distal end of each cable is operatively connected to the end effector to affect a movement of the end effector in response to translation of the at least one cable, wherein the at least one cable includes metrical markings along an outer surface thereof, which metrical markings are located adjacent to the end effector; and at least one linear encoder supported by the flexible shaft and being in operative registration with the metrical markings of a respective one of the at least one cable, wherein the at least one linear encoder is configured to measure changes in the metrical markings.

A system for performing a medical procedure on mucosal tissue in an intestine of a patient is provided. The system including a catheter a catheter for insertion into the intestine, and a console. The catheter comprises: a shaft including a distal portion, and a functional assembly on the distal portion of the shaft. The functional assembly is configured to receive fluid. The console comprises: at least one pumping assembly configured to deliver the fluid to the functional assembly; and a connector configured to operably attach the catheter to the console. The functional assembly is configured to treat target tissue of the intestine of the patient. Methods of treating intestinal mucosal tissue are also described.

A surgical robot system includes a slave unit and a computing unit. The slave unit includes a robotic arm, a surgical instrument, a cannula and a sensing element. The robotic arm drives the surgical instrument to rotate about a remote center of motion (RCM). The cannula is detachably coupled to a terminal of the robotic arm and defines an axis passing through the RCM. The surgical instrument is detachably connected with the terminal of the robotic arm and extends distally through the cannula, and the sensing element is disposed on the cannula and senses an axial deformation of the cannula. The computing unit determines a radial force acting on the terminal of the surgical instrument, from a force on the cannula sensed by the sensing element, according to the principle of torque balance. This surgical robot system has force feedback capabilities and obtains the radial force acting on the terminal of the surgical instrument directly from a measurement with higher accuracy and not requiring any additional component, providing for reduced structural complexity of the surgical instrument.

An example system is disclosed for generating a model of a tubular anatomical structure. The system includes an anatomical measurement wire (“AMW”), a tracking system and a computing device. The AMW is configured to be navigated through the anatomical structure of a patient, and the AMW includes at least one sensor. The tracking system is configured to provide tracking data representing multiple positions of the sensor in a spatial coordinate system. The computing device is configured to generate a data point cloud based on the tracking data, generate a parametric model corresponding to at least a portion of the vessel based on the data point cloud and store the parametric model in non-transitory memory.

A sphincter sizing instrument includes a body that defines a lumen and a shaft that longitudinally translates through the lumen relative to the body. The body includes opposing proximal and distal ends. The distal end includes a first magnetic coupling feature and a first mechanical coupling feature. The shaft includes opposing proximal and distal ends and a coupler coupled with the distal end. The coupler includes a second magnetic coupling feature and a second mechanical coupling feature. The second magnetic coupling feature is configured to attract and couple with the first magnetic coupling feature to form a magnetic connection. The second mechanical coupling feature is configured to couple with the first mechanical coupling feature to form a mechanical connection.

In various embodiments, a surgical instrument, systems including the surgical instrument, and methods of use of the surgical instrument are disclosed. The surgical instrument includes a handle body extending from a proximal end to a distal end substantially along a longitudinal axis. The handle body defines a first channel sized and configured to receive a guide element therein. A plurality of indicators are formed on the handle body. Each of the plurality of indicators correspond to a size of one of a plurality of fixation elements sized and configured for insertion into a bone. A countersink element is coupled to a distal end of the body. The countersink element defines a second channel sized and configured to receive the guide element therethrough that is circumferentially located with and coupled to the first channel. The countersink element includes a head sized and configured to form a countersink in the bone.

Embodiments of a simulated valve device can be used to determine whether a valve device would fit within a particular airway. The simulated valve device can include a shaft having at least one strut extending radially therefrom. The strut and at least part of the shaft can be surrounded by a membrane for viewing through a bronchoscope. In some embodiments, the membrane can include markings for viewing by a user.

A spinal construct comprises at least one member that defines a first implant cavity and a second implant cavity oriented transverse to the first implant cavity. The at least one member has a surface that includes a lock disposed with the first implant cavity. Systems, implants, surgical instruments and methods of use are disclosed.

A method for disengagement detection of a surgical instrument of a surgical robotic system, the method comprising: determining whether a user's head is unstable prior to disengagement of a teleoperation mode; determining whether a pressure release has occurred relative to at least one of a first user input device or a second user input device for controlling a surgical instrument of the surgical robotic system during the teleoperation mode; and in response to determining the user's head is unstable or determining the pressure release has occurred, determining whether a distance change between the first user input device and the second user input device indicates the user is performing an unintended action prior to disengagement of the teleoperation mode.

A presbyopia diagnosis apparatus includes: a measurement bar that is elongated along an axis in one direction, has a front end arranged to face the eyes of a subject for presbyopia measurement, and a rear end connected to a support, wherein a scale for measuring a distance is marked on the measurement bar; and a sliding unit that is movably installed on the measurement bar and has an installation groove formed therein, the installation groove for mounting a card for measuring presbyopia.