The devices and methods relate to devices for stabilizing and/or positioning tissue (e.g., heart) within a surgical area. The device may include an articulating arm and a tissue stabilizing member. The device may include one or more stabilizing segments disposed along at least a portion of the length of the articulating arm. Each stabilizing segment may be configured to compress and expand with respect to an internal channel of the arm. The articulating arm may be configured to move between a fixed state and movable state based on a state of the one or more stabilizing segments. In the fixed state, the one or more stabilizing segments may be compressed against the internal channel. In the movable state, the one or more stabilizing segments may be expanded with respect to the internal channel.

A reconfigurable tool carries suction pods adapted for robotic surgery wherein a distal end with the suction pods is insertable through a small port incised in a living body to reach a working space for performing cardiac repairs. The tool has an articulating hub with a base part and a sliding part, wherein the suction pods pivot from the sliding part. The base part has a keyed surface configured to interlock with a keyed surface of the pods. A pullcord for retracting the suction pods toward a support tube of the tool has a loosened state wherein the first and second keyed surfaces can be spaced apart so that the suction pods can be spread for grasping a tissue to be stabilized at desired locations. The pullcord has a tightened state wherein the first and second keyed surfaces are interlocked so that the suction pods are inhibited from pivoting.

Disclosed embodiments include apparatuses, systems, and methods for facilitating anastomosis between bodily passages. In an illustrative embodiment, an eversion mechanism is configured to engage a first external surface of a receiving passage adjacent a first opening in the receiving passage in order to create a receiving flange presenting a first interior face. A donor support mechanism is configured to support a donor passage with an opening in an end in an everted position that forms a donor flange presenting a second interior face. The donor support mechanism is further configured to present the second interior face of the donor flange against the first interior face of the receiving flange to present a passage juncture. A suturing mechanism is configured to motivate a filament through a helical path around the passage juncture to suture the second interior face of the donor passage to the first interior face of the receiving passage.

A reconfigurable tool carries suction pods adapted for robotic surgery wherein a distal end with the suction pods is insertable through a small port incised in a living body to reach a working space for performing cardiac repairs. The tool has an articulating hub with a base part and a sliding part, wherein the suction pods pivot from the sliding part. The base part has a keyed surface configured to interlock with a keyed surface of the pods. A pullcord for retracting the suction pods toward a support tube of the tool has a loosened state wherein the first and second keyed surfaces can be spaced apart so that the suction pods can be spread for grasping a tissue to be stabilized at desired locations. The pullcord has a tightened state wherein the first and second keyed surfaces are interlocked so that the suction pods are inhibited from pivoting.

The present disclosure relates to negative pressure-based gripping system for gripping and retaining a target, preferably a moving target, such as a heart of a human or animal, in a fixed position, comprising: a catheter having a tubular body; a proximal end; and a remotely operable and flexible distal end section with a distal opening; a negative pressure generator, such as a vacuum pump, in connection with the tubular body; and a control unit configured to position the distal end of the catheter, wherein said control unit is further configured to control an operation of the negative pressure generator such that a negative pressure is generated in the tubular body to grip the target by the distal opening of the catheter upon positioning of the distal opening adjacent to the target. The disclosure further relates to method for gripping and retaining a target, preferably a moving target, such as a heart of a human or animal, in a fixed position in relation to the device.