Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least two degrees of freedom of movement, and an end effector coupled to the wrist. The end effector can include an upper jaw, a lower jaw, and a firing mechanism configured to form staples in tissue. Actuation of the firing mechanism can be decoupled from the movement of the wrist in the at least two degrees of freedom.

Systems and methods are provided for identifying and locating a plurality of reflector markers implanted within a target tissue region within a patient's body. A probe is provided that is activated to transmit electromagnetic signals into the patient's body, receive reflected signals from the patient's body, and in synchronization with transmitting the electromagnetic signals, deliver light pulses into the patient's body. The markers reflector tags modulate reflected signals from the respective markers based on orthogonal code sequences opening and closing respective switches of the markers to modulate the reflective properties of the markers. The probe processes the return signals to separate the reflected signals based at least in part on the code sequences to identify and locate each of the plurality of reflector tags substantially simultaneously.

In an example, a surgical retractor includes an elongated shaft extending from a first end to a second end, and a retractor blade extending from the second end of the elongated shaft. The elongated shaft defines an internal chamber. The elongated shaft includes a handle portion at the first end of the elongated shaft, a suction conduit in a first lateral portion of the internal chamber, and a light conduit in a second lateral portion of the internal chamber. The suction conduit extends from a suction port at the first end to a suction aperture at the second end. The light conduit extends from a light-input port at the first end to a light aperture at the second end. The suction conduit and the light conduit are substantially coplanar. The surgical retractor also includes an optical waveguide in the light conduit of the elongated shaft.

The present invention relates to a suction instrument, more particularly a bipolar mapping suction instrument, for surgical purposes and to a system for suctioning fluids and tissue and for monitoring nerve tissue. The suction instrument comprises a cannula unit, which comprises an electrically conductive outer cannula tube, an electrically conductive inner cannula tube, and insulation. The electrically conductive inner cannula tube is electrically connected to a first pole of the bipolar electrical connection of the second interface. The electrically conductive inner cannula tube is arranged concentrically in the outer cannula tube which optionally can be insulated from the exterior. The electrically conductive inner cannula tube is mechanically connected to the handpiece and/or the first interface. The electrically conductive outer cannula tube is electrically connected to a second pole of the bipolar electrical connection of the second interface. The insulation is concentrically arranged between the outer cannula tube and the inner cannula tube. The insulation is configured to fully electrically isolate the outer cannula tube and the inner cannula tube in relation to one another.

A medical observation system includes: a plurality of types of sensor units that measure information regarding an internal environment; an acquisition unit (131) that acquires individual sensor values of the plurality of types of sensor units; a comparison unit (132) that compares the individual sensor values of the plurality of types of sensor units acquired by the acquisition unit (131); and a determination unit (134) that determines a sensor unit to be used for observing the internal environment among the plurality of types of sensor units based on a comparison result obtained by the comparison unit (132).

A trocar is provided that is adapted to insert a lighting attachment into a body cavity. The trocar connects at its distal end to the lighting attachment such that it can be pushed into the body cavity. An endoscope may then be inserted through the trocar into the body cavity. The lighting attachment is configured to detach from the trocar and attach to the endoscope head to provide additional lighting to the endoscope. The lighting attachment includes foldable lighting panels that expand when in use in order to light a wider field of view. The lighting attachment may be powered by induction coil from the endoscope.

A skin imaging and diagnostic method and apparatus comprising, a frame, configured to circumscribe a target tissue on the skin of a patient. An electro-optics unit of the apparatus comprising: an illuminator assembly comprising illuminating elements, configured to provide illumination light on the target tissue; an imaging optics assembly; and an image sensor assembly, comprising an image sensor, wherein the imaging optics assembly is configured to collect backscattered said illumination light from the target tissue and focus the collected backscattered illumination light on the image sensor; and the image sensor is disposed to consequently sense an image of the target tissue. A controller configured to activate illuminating elements and to capture each image from the image sensor.

Certain aspects relate to biopsy apparatuses, systems and techniques for biopsy using a biopsy pattern. Some aspects relate to moving a distal portion of a medical instrument to one or more sample locations of the biopsy pattern and guiding the instrument to obtain tissue samples from the sample locations within the biopsy pattern. Some aspects relate to obtaining the biopsy pattern and adjusting the sample locations within the biopsy pattern based on various factors such as anatomical features.

A stretch-measurement probe includes an elongate outer sleeve, expansion feature associated with a distal portion of the outer sleeve, and an elongate inner rod disposed at least partially within the outer sleeve. The expansion feature is configured to allow a longitudinal distance between a proximal end of the outer sleeve and the distal end of the outer sleeve to be varied.

A cannula with a proximally mounted camera and proximally mounted light sources. The lighting sources have beam axes directed distally, toward a workspace at the distal end of the cannula. The light sources are coupled with focusing lenses, to reduce the beam angle of the lighting sources and reduce glare within the cannula tube.