An ultrasonic surgical system is disclosed including an end effector, an elongate shaft, an articulation joint, and an articulation system. The end effector is rotatable relative to the elongate shaft about the articulation joint. The articulation system includes a distal plate, a first cable, a second cable, and a gear. The distal plate is configured to articulate toward a first side of the gear based on the gear rotating in a first direction and articulate toward a second side of the gear based on the gear rotating in a second direction. The end effector is configured to articulate in a first articulation direction about the articulation joint based on the distal plate articulating toward the first side of the gear. The end effector is configured to articulate in a second articulation direction about the articulation joint based on the distal plate articulating toward the second side of the gear.

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

Medical delivery system for accessing a tricuspid valve via an inferior vena cava, including an outer guide catheter, an inner guide catheter and an interventional catheter. The first deflection portion of the outer guide catheter is steerable to define a first outer-guide-catheter curve and the second deflection portion of the outer guide catheter is steerable to define a second outer-guide-catheter curve and the first deflection portion of the inner guide catheter is steerable to define a first inner-guide-catheter curve.

System and methods for channeling a path into bone include a trocar having a proximal end, distal end and a central channel disposed along a central axis of the trocar. The trocar includes a distal opening at the distal end of the trocar. The system includes a curved cannula sized to be received in the central channel, the curved cannula comprising a curved distal end configured to be extended outward from the distal opening to generate a curved path extending away from the trocar. The curved cannula has a central passageway having a diameter configured to allow a treatment device to be delivered through the central passageway to a location beyond the curved path.

A catheter system may comprise an articulation joint including a first pair of links and a second pair of links. Each link may include a central channel enclosed at least in part by radially extending arcuate segments. The first pair of links may include a first link and a second link, and the second pair of links may include the second link and a third link. The system may also comprise a first pair of springs coupled between the first and second links. The system may also comprise a second pair of springs coupled between the second and third links. The system may also include control wires extending through the first pair of springs and a control wires extending through the second pair of springs. The spring walls may share a radial dimension with the link walls.

The invention concerns delivering paired magnetic anastomosis devices to either side of tissues to be joined. The magnetic anastomosis devices are coupled to a guide element that facilitates delivery and manipulation of the devices when using minimally-invasive techniques such as endoscopy and laparoscopy. Elongated manipulators and guide tubes ae also disclosed that improve a user's dexterity with the devices during placement.

A surgical instrument (100) for placement of a movement restriction device (10) for use in a surgical procedure for treating reflux disease in a patient. The instrument comprises a sleeve (113) and a holding device (111) configured to engage the movement restriction device, wherein the holding device is configured to be placed within the sleeve and be displaceable in relation to the sleeve. The instrument further comprises a first handling portion (101) connected to the sleeve, and a second handling portion (102) connected to the holding device. The handling of at least one of the first and second handling portion creates relative displacement of the holding device in relation to the sleeve, which disengages the holding device from the movement restriction device for performing the placement of the movement restriction device.

A deformable segment with combined motion includes a flexible center backbone, the tendons of deformable segment with combined motion, a connecting piece, a proximal disk and a distal disk. The proximal end of the flexible center backbone and the proximal ends of the tendons of deformable segment with combined motion are fixedly connected to the proximal disk. The distal ends of the tendons of deformable segment with combined motion are fixedly connected to the distal disk. The distal end of the flexible center backbone penetrates through the distal disk and then extends into the distal execution segment, and is connected with the end-effector. The deformable segment with combined motion is provided with the connecting piece. The proximal driving segment is provided with proximal driving tendons. The proximal driving tendons penetrate through the proximal disk, and then are fixedly connected with the connecting piece.

A surgical instrument may comprise an elongated shaft extending between a proximal end and a distal end and defining a longitudinal axis. The surgical instrument may also comprise a plurality of cables extending along the longitudinal axis and a first bending section positioned between the proximal end and the distal end of the elongated shaft. The first bending section may comprise links having pairs of articulation holes extending longitudinally through the links to permit the plurality of pull wires to pass therethrough. Each pair of articulation holes may comprise first and second articulation holes that are spaced apart from the longitudinal axis (i) at different radii and (ii) at a same rotation angle.

A tool for surgically removing tissue of a patient includes a body, a flexible rotating shaft that drives a distal cutting tool and is drivingly coupled to a motor supported by bearings in a flexible tubular sheath to allow the shaft to rotate and be shifted longitudinally. Steering cables in the sheath control the flexion of the sheath. A processor controls the operation to ensure that the cutting tool operates within a predetermined resection area, controlling a combination of motor speed, sheath flexion, and shaft retraction to assist surgery in the resection area.