A system for controlling a robotic end-effector is disclosed. The system includes a robotic arm, a surgical tool including an end-effector with articulatable arm and a clamp jaw. A tool driver is coupled to the surgical tool and a motor is coupled to the tool driver and is configured to drive the surgical tool. A sensor is configured to sense external forces applied to the end-effector. A central control circuit is configured to control the tool driver. The central control circuit is configured to receive a sensed parameter from the sensor, receive a sensed motor current (I) from the motor, and control the tool driver based on the sensed parameter and the motor current (I).

An ultrasonic surgical instrument includes a handpiece casing and an electromechanical transducer assembly disposed inside the handpiece casing, where the transducer assembly includes a front driver and the transducer assembly has a longitudinal axis. A probe is operatively connected to the front driver at an acute angle to the longitudinal axis of the transducer assembly. A sheath surrounds the probe and is connected at a proximal end to the handpiece casing. The sheath is attached to the casing by a twist quick release coupling. A diaphragm seal inside the proximal end of the sheath blocks liquid irrigant in a cylindrical space between the sheath and the probe from penetrating proximally of a port feeding irrigant to the space. The front driver is geometrically configured to enable an angled connection of probe to handpiece proximate a nodal plane.

Balloon/infusion catheters comprise internal corewires within a single lumen structure in which the corewire can slide relative to the catheter tube within limits, and the balloon is attached to the catheter tube on one end and to the sliding corewire on the other end. The lumen provides fluid to inflate the balloon and to infuse fluid into the vessel proximal to the balloon. The infusion ports can have a polymer valve to limit infusion to lumen pressures at which the balloon is appropriately inflated. The balloon/infusion catheter can have an integral flow meter near its proximal end. Corresponding methods for use of the balloon/infusion catheter are described, such as for the delivery of hydraulic forces when used in conjunction with an aspiration catheter.

A workspace device including (a) a body having a wall defining an internal volume, collapsible to fit through a laparoscopic passageway in an abdominal wall to an abdominal cavity and expand therein; (b) a first opening defined in said body; (c) a tool channel contiguous with said first opening and extending from said body and configured to remain, at least in part, outside of abdominal wall and sized to receive a laparoscopic tool therein therein; and (d) the body defining an orifice configured to lie in said abdominal cavity when said body is inserted therein, said orifice sized to receive tissue with a minimal cross-sectional area that is twice a minimal cross-sectional area of said first opening, thereby defining a workspace volume to process said tissue in said cavity while said body is not collapsed, using a tool inserted through said first opening.

A work tip for a surgical hand piece has a solid blade connected to a source of ultrasonic energy in the hand piece. The knife has grooves in its surfaces. The work tip further including an irrigation and aspiration tubes extending along opposite surfaces of the blade and being at least partially within the grooves. The blade has a collar adjacent its distal end and at least the aspiration tube extends ends at a distance from the collar. The edges of the collar are made sharp enough to emulsify cataract tissue when vibrated at ultrasonic frequencies so that occlusion of the aspiration tube is prevented.

Systems and methods for removing a material from a lumen or duct include a guide wire to navigate to the material and a cutting assembly that can then be guided along the guide wire to reach the material. A proximal wire end can be connected to a pump device configured to provide an irrigation substance along a delivery channel of the guide wire and release the irrigation substance at a distal wire end. A power source can apply a current to the guide wire to magnetize a coupling assembly disposed on the guide wire. The cutting assembly can couple to the guide wire by engaging a locking mechanism of the cutting assembly with a coupling assembly of the guide wire. The locking mechanism can receive torque provided by a motor coupled to the proximal wire end of the guide wire to rotate the cutting tool of the cutting assembly to remove the material.

Trocar retractor apparatus and methods for use are described where an apparatus for positioning an instrument may generally include a substrate having a first surface and a second surface opposite to the first surface, an instrument positioning guide projecting from the first surface of the substrate, and one or more suction assemblies positioned along the second surface and in fluid communication with an interior of the substrate. The one or more suction assemblies may be attachable to a tissue region via a vacuum force applied through the one or more suction assemblies. The apparatus may also have the substrate configured to maintain a predetermined configuration when the vacuum force is applied.

A smoke evacuator for use with a surgical access device includes an evacuation ring having an inner peripheral surface defining one or more channels therein disposed in fluid communication with an operating cavity. A connection port is disposed thereon in fluid communication with the channel(s) and adapted to connect to a smoke evacuation system. The evacuation ring includes a profile having an inner flange that forms part of the inner peripheral surface of the evacuation ring and one or more lower flanges, the inner flange is configured to mechanically engage a rim of an access device and the lower flange(s) is adapted to mechanically engage a wound guard, wherein engagement of the inner flange of the evacuation ring atop the access device and engagement of the lower flange(s) with the wound guard secures the access device, the wound guard and the smoke evacuation ring within the operating cavity.

Some suturing devices include a pair of flexible arms configured to force two pieces of tissue together and form a protrusion defined by the two pieces of tissue. Some suturing devices include a third flexible arm including a movable needle configured to apply a suture through both pieces of tissue of the protrusion. Some suturing devices include an actuator configured to move each flexible arm of the pair of flexible arms independently relative to the tissue and move the third flexible arm relative to the tissue. Some suturing devices include a pump configured to generate a suction force through the pair of flexible arms to force the tissue towards the pair of flexible arms.

A medical device system includes an insertion device and a medical device. The insertion device includes an insertion device handle, including a port on a handle body. The insertion device also includes an insertion device shaft extending from the insertion device handle. The insertion device shaft includes a working channel connected to the port. The medical device includes a medical device handle, including a movable handle portion and a stationary handle portion. The movable handle portion includes a ball portion movably positioned within a cavity in the stationary handle portion. The medical device also includes a medical device shaft. The medical device shaft is configured to be delivered through the port in the insertion device handle and through the working channel in the insertion device shaft. Movement of the movable handle portion relative to the stationary handle portion controls movement of a distal portion of the medical device shaft.