A user control device for a surgical system. The surgical system includes a robotic manipulator to support and move a surgical instrument that has an energy applicator. One or more controllers operate the robotic manipulator in a semi-autonomous mode and calculate an instrument feed rate, which is the velocity at which the energy applicator advances along a tool path in the semi-autonomous mode. The user control device includes a housing configured as a pendant configured to be held in one hand of a user. A first control member is mounted to the housing and can be depressed to initiate operation of the robotic manipulator in the semi-autonomous mode. A second control member is mounted to the housing and can be depressed to modify the instrument feed rate in the semi-autonomous mode.

A method of creating an anastomosis includes steps of advancing a distal tip of a catheter device through a first blood vessel into a second blood vessel, while simultaneously advancing a proximal base of the device into the first vessel, contacting a wall of the first vessel with a distal blunt surface on the proximal base. A further step is to retract the distal tip so that a proximal blunt base of the distal tip contacts a wall of the second vessel, thereby capturing the two vessel walls between the blunt surfaces of the proximal base and the distal tip. A controlled pressure is applied between the two blunt surfaces to compress and stabilize the captured tissue and approximate the vessel walls. A clip is deployed through the captured tissue to hold the tissue in place during the anastomosis procedure. The anastomosis is created by applying cutting energy to the captured tissue.

Ablation systems and methods of the present disclosure include a catheter including one or more image sensors. The one or more image sensors can facilitate, for example, positioning an ablation electrode at a treatment site of an anatomic structure and, additionally or alternatively, can facilitate controlling delivery of therapeutic energy to a treatment site of an anatomic structure.

An instrument (14) is suitable for treatment of lung tumors and other tissues and a respective apparatus (15) detects the correct positioning of instrument (14) and its two electrodes (19, 20) in a suitable target tissue by observation of two parameters (G1, G2) and particularly their time-dependent change. If the change (V1, V2) of the two parameters (G1, G2) exceeds defined thresholds (S1, S2) respectively, a contact between the instrument and the tissue to be treated and thus also the positioning of the instrument in a desired position can be derived therefrom. This remarkably increases treatment safety.

The present invention is an ablation device having an arcuate configuration for the ablation of tissue. The device includes a probe having a nonconductive elongated shaft including at least one lumen therethrough and a nonconductive distal portion extending from the shaft. The nonconductive distal portion includes a plurality distal ports and a plurality of proximal ports in communication with the at least one lumen of the shaft. The device further includes an electrode array including a plurality of independent conductive wires extending through the lumen and positioned along an external surface of the nonconductive distal portion, each of the plurality of wires passes through at least an associated one of the proximal ports and through at least a corresponding one of the distal ports.

A system for altering an energizable instrument for performing a procedure on the subject. The instrument may be tracked during a procedure and a controller may alter operation thereof during the selected procedure. The energizable instrument may have energy provided to a working end to heat a working end to a selected temperature for various procedures such as cutting, coagulation, vaporization, or the like.

Disclosed herein is a method of operating a medical instrument (100, 200, 400, 500). The medical instrument comprises a user interface (108) with a display. The method comprises receiving (300) an anatomical segmentation (122) identifying a location of an anatomical structure (416) and receiving (302) a target zone segmentation (124) identifying a location of a volume (416) at least partially within the anatomical segmentation. The method further comprises displaying (304) a planning graphical user interface (112) using the display. The planning graphical user interface comprises a first panel (130) configured for rendering a cross sectional view of the anatomical segmentation (136) and the target zone segmentation (138). The planning graphical user interface comprises a second panel (132) configured for displaying a first three-dimensional model (140) of the anatomical segmentation and the target zone segmentation. The planning graphical user interface further comprises a third panel (134) configured for displaying a second three-dimensional model (142) of a remaining portion of the target zone segmentation. The planning graphical user interface further comprises an ablation selector (144, 144′, 146) configured for providing an ablation zone. The method further comprises repeatedly: receiving (306) the ablation zone from the ablation selector; and updating (308) the remaining portion by removing the ablation zone from the remaining portion.

An electrocautery unit for connecting to a handle of an electrocautery device, the unit comprises a body, a light unit and an electrode. The body has a body proximal end and a body distal end, and a body axis extending lengthwise along the center of the body. The body's proximal end comprises a connecting element for connecting said body to a handle having a handle axis extending lengthwise along the center of the handle, so that said body axis is coaxial with said handle axis when said body is connected to said handle. The light unit may be constructed and arranged to emit a light having a central axis coaxial with said body axis. The electrode comprises a proximate end connected to the body distal end, and an electrode tip at a distal said. When the electrode is connected to the body, the electrode lays outside of the body axis and extends into said body axis such that the electrode tip is within said body axis, wherein said light and said electrode tip are coaxial to said body axis and said handle axis.

The present disclosure relates to an end effector for an electrosurgical instrument, comprising an electrode assembly for delivering a radio-frequency (RF) power signal to a surgical site, the electrode assembly comprising an active electrode, a return electrode, and an insulating element in between the active electrode and the return electrode, the active electrode comprising an aperture which provides access to a suction channel extending through the insulating element to a lumen for carrying fluid from the surgical site, wherein the lumen is at least in part defined by an inner surface of the return electrode, wherein the electrode assembly is configured to conduct electrical current between the active electrode and the return electrode via a first current path through the suction channel when the RF power signal is supplied to the electrodes.

Disclosed herein is an electrosurgical device including a handle at a proximal end and an elongate shaft coupled to the handle and extending distally from the handle. The device also includes a distal working end, including a return electrode and an active electrode supported by an insulative spacer, the insulative spacer separating the return and active electrode. The active electrode has a planar surface that is distal facing and defines a maximum planar surface length. The insulative spacer is generally tapered between the return electrode and active electrode. The insulative spacer has a planar stabilizing surface on a device first side that has a length that extends along the longitudinal axis, extending from a distal-most end of the return electrode to a leading edge surface of the active electrode. This length is at least as long as the maximum planar surface length.