A tool path generator utilizes a solid body model of a volume to generate a tool path for a manipulator to remove material of the volume with an energy applicator in a semi-autonomous mode. A material logger monitors movement of the energy applicator according to a cutting path taken by a practitioner in the manual mode, identifies material of the volume to which the energy applicator has been applied in the manual mode, and updates the solid body model based on the identified material. The tool path generator modifies the tool path based on the updated solid body model such that, for the semi-autonomous mode, the modified tool path accounts for the identified material of the volume to which the energy applicator has been applied in the manual mode.

An arthroscopic cutting probe includes an elongated shaft assembly having a distal end, a proximal end, and a longitudinal axis therebetween. A working end at the distal end of the elongated shaft assembly includes a first active electrode and a second active electrode The shaft assembly is rotates the first electrode relative to the second electrode about the longitudinal axis, and a return electrode is carried on the shaft assembly proximal of the working end. The first and second active electrodes are electrically coupled to each other and electrically isolated from the return electrode.

Ablation systems of the present disclosure facilitate the safe formation of wide and deep lesions. For example, ablation systems of the present disclosure can allow for the flow of irrigation fluid and blood through an expandable ablation electrode, resulting in efficient and effective cooling of the ablation electrode as the ablation electrode delivers energy at a treatment site of the patient. Additionally, or alternatively, ablation systems of the present disclosure can include a deformable ablation electrode and a plurality of sensors that, in cooperation, sense the deformation of the ablation electrode, to provide a robust indication of the extent and direction of contact between the ablation electrode and tissue at a treatment site.

A multi-layer, super-planar laminate structure can be formed from distinctly patterned layers. The layers in the structure can include at least one rigid layer and at least one flexible layer; the rigid layer includes a plurality of rigid segments, and the flexible layer can extend between the rigid segments to serve as a joint. The layers are then stacked and bonded at selected locations to form a laminate structure with inter-layer bonds, and the laminate structure is flexed at the flexible layer between rigid segments to produce an expanded three-dimensional structure, wherein the layers are joined at the selected bonding locations and separated at other locations. A layer with electrical wiring can be included in the structure for delivering electric current to devices on or in the laminate structure.

A method is disclosed for the treatment of a thoracic region of a patient's body. Embodiments of the method comprise positioning an energy delivery portion of an electrosurgical device to face a segment of a thoracic vertebra at a distance from the segment; and cooling the energy delivery portion and delivering energy through the energy delivery portion.

The present invention relates to methods of removing a lesion from a patient. A method of removing a lesion from a patient includes positioning wire loops of a probe device relative to the lesion. The wire loops are simultaneously rotated and expanded to cut material from the lesion. Irrigation fluid is supplied, via the probe device, to irrigate the material cut from the lesion. The supplied irrigation fluid is aspirated, via the probe device, to facilitate removal of the material cut from the lesion.

A coaxially-driven tissue aspiration instrument having a hand-supportable housing with a stationary tubing connector provided at the rear of the housing and receiving a length of flexible tubing connected to a vacuum source. A twin cannula assembly is coupled to a an electromagnetic cannula drive mechanism disposed within a guide tube structure mounted in the hand-supportable housing and powered by electrical power signals so as to periodically exert forces on the a front-loaded cannula base device slidably supported within the guide tube structure, and to which the inner cannula is releasably connected. The coaxially exerted forces cause the front-loaded cannula base device, and thus inner cannula, to reciprocate within the guide tube structure, while tissue is being aspirated along the inner cannula lumen, through the reciprocating front-loaded cannula base device, and through the stationary tubing connector, and along the flexible tubing towards the vacuum source.

A modular handpiece having a proximal handle module with a handle unit having at least one interior fluid cavity, having an exterior gripping surface, defining a fluid control port enabling fluid communication between the atmosphere and the interior fluid cavity, and capable of accommodating at least one waveguide for carrying optical radiation and capable of accommodating at least one RF electrode. The handpiece further comprises a cannula module having a distal portion with a distal tip, a central portion, and a proximal portion connectable with the handle module. All three cannula portions are capable of at least one of (a) defining a waveguide conduit, (b) carrying at least one RF electrode, and (c) defining a fluid passageway between the distal tip and the interior fluid cavity of the handle unit.

A fluid management system includes a pump connectable to a fluid source. An inflow line removably connects to a cannula for delivering a fluid flow from the pump into a surgical site, such as a joint cavity. A flow pressure sensor is coupled to measure flow pressure in the inflow line and produce a measured pressure value, A controller is connected to the pump and the flow pressure sensor, and the controller maintains a pressure set point by controlling a pump speed based on a backpressure-adjusted pressure value calculated by subtracting a backpressure value selected from a backpressure table from the measured pressure value. The BAPV is monitored to determine whether the BAPV deviates outside an initial BAPV range, and corrective measure are taken should such deviations occur.

Methods, apparatuses and systems for ablation therapy. A configurable ablation probe includes at least two electrodes, the surface areas of which can be manipulated and then fixed by the user. Some methods include adjusting the relative surface areas during a sequence of ablation steps to preferentially create lesions closer to one electrode or the other. Some methods include adjusting the position of one of the electrodes during therapy delivery to create elongated lesions.