An imaging needle apparatus includes a body, a needle coupled to the body, a probe, and an imager. The needle includes a needle body and a sharp tip. The probe can be exposed from the needle or housed within the needle body according to an operation being performed with the image needle apparatus. The imager is disposed inside of the probe, and includes a plurality of photocells.

A memory metal optical fiber puncture needle tubing includes an optical fiber, a body tube, a metal casing and a split-shaped needle. The optical fiber has a body portion and a head portion. The head portion has a cylindrical head portion and a tapered head portion. The body tube surrounds the body portion. The metal casing is wrapped around the cylindrical head portion. The split-shaped needle is made of memory metal surrounding a periphery of the tapered head portion. The split-shaped needle has a plurality of tapered petals. When a temperature of the split-shaped needle is T0, the tapered petals are in a closed state such that the split-shaped needle is conical. When the temperature of the split-shaped needle is T1, the tapered petals are in an opened state such that the tapered head portion of the optical fiber is exposed.

A guide catheter for use in treating sinuses, the catheter including a catheter shaft configured to provide suction about a balloon catheter and a distal portion shaped for navigating body anatomy. In one embodiment, the guide catheter includes a valve for sealing the balloon catheter and a vent for controlling suction.

Example embodiments relate to surgical systems. The system includes an end-effector assembly having an instrument. The system includes a first arm assembly. A distal end of first arm assembly is securable to the end-effector assembly. The system includes an elbow joint assembly. A distal end of elbow joint assembly is secured to a proximal end of first arm assembly. A proximal end of elbow joint assembly is secured to a distal end of second arm assembly. The second arm assembly includes a first elbow drive assembly. The first elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to an axis. The second arm assembly also includes a second elbow drive assembly. The second elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to another axis.

Example embodiments relate to robotic arm assemblies. The robotic arm assembly may include forearm segment, upper arm segment, and elbow coupling joint assembly. Upper arm segment includes a motor. Elbow coupling joint assembly connects forearm and upper arm segments. Elbow coupling joint assembly includes distal and proximal elbow joint subassemblies. Distal elbow joint subassembly is connected to the forearm segment. Distal elbow joint subassembly includes gear train system having gear stages including first distal elbow gear stage, second distal elbow gear stage, third distal elbow gear stage, and fourth distal elbow gear stage. First distal elbow gear stage includes bevel gears. Second distal elbow gear stage includes spur gears. Third distal elbow gear stage includes bevel gears. Fourth distal elbow gear stage includes a planetary gear assembly. Proximal elbow joint subassembly connects the upper arm segment to the distal elbow joint subassembly.

A surgical access device includes a cannula and a housing assembly coupled to a proximal end of the cannula. A working channel defined by a cannula lumen and a housing interior extends between proximal and distal ends of the surgical access device along a central axis thereof. The working channel is configured to receive a surgical instrument, and an insufflation port is configured to direct insufflation fluid into the working channel. First and second needle ports open to the working channel through respective first and second side portions of the surgical access device. The first needle port is diametrically opposed from the insufflation port. Each of the first and second needle ports is configured to direct a suture passer needle through the surgical access device, across the working channel, at an oblique angle relative to the central axis.

A surgical obturator comprising an elongate shaft extending along an axis between a proximal end and a distal end includes a bladeless tip disposed at the distal end of the shaft. The tip has a blunt point and a pair of shorter side surfaces separated by a relatively longer pair of opposing surfaces to form in radial cross-section a geometric shape that has a longer length and relatively narrower width. The side surfaces and opposing surfaces terminate in end surfaces located proximally from the blunt point. The end surfaces extend radially outwardly from opposite locations of the outer surface. A conical surface facilitates initial insertion of the obturator and the geometric shape facilitates separation of consecutive layers of muscle tissue having fibers oriented in different directions and provides proper alignment of the tip between the layers of muscle.

Surgical device deployment apparatuses that include a cannula having a shaft with an exterior surface, and an interior surface forming a lumen within said cannula, the shaft having a distal portion with a plurality of apertures. An obturator configured to be used in conjunction with the aforementioned cannula has an obturator shaft with a distal portion having a reduced diameter, wherein said obturator shaft is insertable into said lumen of said cannula. In other embodiments, a surgical device deployment tool comprises a handle member with a shaft attached to a distal end of said handle member, said shaft extending distally and terminating at a shaft head. A hollow hood is attached to said shaft head, said hood having an inner surface formed such that a gap exists between said inner surface and an adjacent outside surface of said shaft head.

A port site closure instrument includes a pair of wings and a body having proximal, central, and distal portions. The proximal portion defines a proximal suture aperture and first and second needle apertures. The central portion defines third and fourth needle apertures. A first needle channel is defined through the body communicating the first and third needle apertures. A second needle channel is defined through the body communicating the second and fourth needle apertures. The distal portion defines distal suture apertures. A first suture channel is defined by the body communicating the proximal and distal suture apertures. The pair of wings is pivotally supported by the distal portion of the body. Each of the wings define a suture slot such that a suture exiting one of the distal suture apertures and positioned in the suture slots is aligned with one of the first or second needle channels.

Example embodiments relate to robotic arm assemblies. The robotic arm assembly may include upper arm segment and shoulder coupling joint assembly. Upper arm segment includes a motor. Shoulder coupling joint assembly connects upper arm segment to shoulder segment. Shoulder coupling joint assembly includes distal and proximal shoulder joint subassemblies. Distal shoulder joint subassembly is connected to the upper arm segment. Distal shoulder joint subassembly includes gear train system having gear stages including first distal elbow gear stage and second distal elbow gear stage. First distal elbow gear stage includes bevel gears. Second distal elbow gear stage includes a planetary gear assembly. Proximal shoulder joint subassembly connects the shoulder segment to the distal shoulder joint subassembly.