A camera device having a handpiece; a shaft having a proximal end coupled to the handpiece; and a distal end; and a probe coupled to the distal end of the shaft, the probe having a proximal portion extending from the distal end of the shaft along a longitudinal axis, and a distal portion extending at an angle of between about 70 degrees and about 110 degrees relative to the longitudinal axis, the distal portion having an image sensor assembly.

A process of making a diverging-light fiber optics illumination delivery system includes providing a micro-post comprising a glass-ceramic light-scattering element that includes at least one of a ceramic, a glass ceramic, an immiscible glass, a porous glass, opal glass, amorphous glass, an aerated glass, and a nanostructured glass; and fusion-splicing the glass-ceramic micro-post to the optical fiber by pulling an arc between electrodes across a gap formed by the optical fiber and the glass-ceramic micro-post; maintaining the arc for a time sufficiently long to make facing surfaces of the optical fiber and the micro-post one of malleable and molten; and pushing and thereby fusing together the facing surfaces of the optical fiber and the micro-post. Some embodiments can include fusing the glass-ceramic micro-post to the optical fiber by applying a laser beam to heat up at least one of the facing surfaces of the optical fiber and the glass-ceramic micro-post.

A catheter system includes a catheter having an elongate shaft, a balloon and a light guide. The balloon expands from a collapsed configuration to a first expanded configuration. The light guide is disposed along the elongate shaft and is in optical communication with a light source and a balloon fluid. A first portion of the light guide extends into a recess defined by the elongate shaft. A protection structure is disposed within the recess and is in contact with the first portion of the light guide. The light source provides pulses of light to the balloon fluid, thereby initiating plasma formation and rapid bubble formation within the balloon, thereby imparting pressure waves upon a treatment site. The protection structure can provide structural protection from the pressure waves to the first portion of the light guide.

The present disclosure provides a balloon dilation catheter that includes a handle (102), a substantially rigid inner guide member (108) coupled to the handle, a shaft (118) arranged over the inner guide member, a balloon (120) coupled to the inner guide member, and a polymer ball tip (122) positioned at a distal end of the balloon. To treat a sinus drainage pathway of a subject using the balloon dilation catheter, the substantially rigid inner guide member is positioned into the drainage pathway of the sinus of the subject via a nasal passageway. The balloon is then inflated to expand or otherwise remodel the drainage pathway.

Connectors for connecting or linking one instrument or object to one or more other instruments or objects are disclosed herein. In some embodiments, a connector can include a first arm with a first attachment feature for attaching to a first object, such as a surgical access device, and a second arm with a second attachment feature for attaching to a second object, such as a support. The connector can have an unlocked state, in which the position and orientation of the access device can be adjusted relative to the support, and a locked state in which movement of the access device relative to the support is prevented or limited. Locking the connector can also be effective to clamp or otherwise attach the connector to the access device and the support, or said attachment can be independent of the locking of the connector.

A medical apparatus can include an instrument comprising a shaft and a jaw assembly coupled to an end of the shaft; an image capture device; and a controller operably coupled to the image capture device to receive image data from the image capture device. The image data is from images of material gripped between jaw members of the jaw assembly and captured by the image capture device, with the controller programmed to process the received image data using at least one of optical flow and digital image correlation. A medical apparatus can include an instrument comprising a shaft, and a jaw assembly coupled to an end of the shaft, the jaw assembly comprising a pair of jaw members having opposing surfaces configured to grasp material between the opposing surfaces, wherein at least a portion of the opposing surface of a first jaw member of the pair of jaw members is transparent.

Systems and methods for estimating instrument location are described. The methods and systems can obtain a first motion estimate based on robotic data and a second motion estimate based on position sensor data. The methods and systems can determine a motion estimate disparity based on a comparison of the first and second motion estimates. Based on the motion estimate disparity, the methods and systems can update a weighting factor for a location derivable from the robotic data or a weighting factor for a location derivable from the position sensor data. Based on the updated weighting factor, the methods and systems can determine a location/position estimate for the instrument. The methods and systems can provide increased accuracy for a position estimate in cases where the instrument experiences buckling or hysteresis.

The disclosed technology relates to closed-loop medical imaging for a medical environment. Various embodiments provide for a surgical camera, such as an endoscopic camera, comprising one or more image sensors. The image sensors may be configured to capture multispectral image data including one or more images of biological tissue (e.g., surfaces), and may be specifically configured to capture imagery within a surgical environment. For some embodiments, different biological tissues may be visible when illuminated by different wavelengths of a multispectral light source. The wavelength setting for the multispectral light source may be determined based upon a first wavelength setting associated with a first set of multispectral image data and a second wavelength setting associated with a second set of multispectral image data.

A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.

A surgical illumination apparatus comprises a fiber optic input, and illuminated surgical instrument, and an optical coupling bracket for coupling the fiber optic input to the illuminated surgical instrument. The coupling bracket comprises an elongate frame having a proximal end, a distal end, and a central channel extending therebetween, wherein the central channel is sized to receive and support optical fibers of the fiber optic input. The proximal end of the bracket is coupled to the fiber optic input, and the distal end of the bracket is coupled to an illumination element of the illuminated surgical instrument. The apparatus may further comprise a shroud disposed around the illumination element that is coupled to the bracket.