A surgical instrument assembly is provided. In some embodiments, an example surgical instrument assembly includes a surgical instrument configured to pass through a guide tube having a proximal end and a distal end. The surgical instrument can include one or more arms configured to extend from the intermediate position, each arm having one or more joints positioned along the arm and an end effector attached at the distal end of each arm. The surgical instrument assembly can include a control assembly positioned at the proximal end and configured to control the movement of the joints and the end effectors.

This invention is directed to a medical device having a longitudinal axis, and including a handle and a catheter. The handle can include a body having a proximal end and a distal end, an actuator moveably coupled to the body, and a handle control member coupled to the actuator, wherein the actuator can be configured to move relative to the body to move the handle control member. The catheter can include a shaft having a proximal end and a distal end, wherein the proximal end of the shaft and the distal end of the body can be configured for releasable coupling. The catheter can also include a steering section located along the shaft and a catheter control member coupled to the steering section, wherein the catheter control member can be configured to move relative to the shaft to move the steering section relative to the longitudinal axis. The medical device can also include a securing member configured to move relative to at least one of the handle and the catheter to releasably couple the handle control member to the catheter control member.

A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.

Disclosed is a flexible surgical instrument system comprising a flexible surgical instrument and a driving unit. The flexible surgical instrument can comprise a flexible continuous body structure composed of a distal structural body, a proximal structural body and a middle connecting body. The distal structural body can comprise a distal segment, comprising a distal spacing disk, a distal fixation disk and structural backbones. The proximal structural body can comprise a proximal segment comprising a proximal spacing disk, a proximal fixation disk and structural backbones. The middle connecting body can comprise channel fixing plates and a structural backbone guide channel. The driving unit can comprise a driving unit fixing plate. Linear motion mechanisms are provided between the driving unit fixing plate and the channel fixing plate near the proximal structural body, an output end of each of the linear motion mechanisms is securely connected to a first driving backbone.

An exemplary embodiment provides a steering gear (13) for a surgical instrument (1) which has two motorised drives and is designed to spatially align a swash plate (14) via the adjustment angles of the two drives, which is designed to control the distal bending mechanism (9) of the surgical instrument (1). The first drive has a first drive pinion (16) which can be driven by a first motor (17) via a first drive shaft (17a) which defines a first drive axis (C) and which is connected to a first drive wheel rim (19) of a first drive wheel (18) in operative connection. The second drive has a second drive pinion (16′) which can be driven by a second motor (17′) via a second drive shaft (17a′) which defines a second drive axis (C′) and is connected to a second drive wheel rim (19′) of a second drive wheel (18′) in operative connection. The first and the second drive wheel (18, 18′) are designed as double wheels (18, 18′), each of which has the corresponding drive wheel rim (19, 19′) and a deviation wheel rim (15, 15′), wherein between the two drive wheels (18, 18′) which have a common axis of rotation (A), the swash plate (14) is arranged, and the deviation wheel rims (15, 15′) are arranged facing each other on the axis of rotation (A). A surgical instrument (1) with such a steering gear (13) is also disclosed.

An exemplary embodiment relates to a bearing assembly (40) for a swash plate (14) in a steering gear component (33), wherein the swash plate (14) is arranged such that it can rotate about an axis of rotation (10) in a radial bearing which is located in a receiving opening (330) of the steering gear component (33). The radial bearing is a sliding bearing (35) and the bearing assembly (40) has at least one axial securing device (36) which is arranged axially adjacent to a first side of the swash plate (14) and engages with the steering gear component (33). Furthermore, a surgical instrument (1) is disclosed that has this bearing assembly (40) of a swash plate (14) in a steering gear component (33).

An end effector of an electrosurgical device may include a first body, a first electrode on the left side of the first body, and a second electrode on the right side of the first body. The first and second electrodes may be configured to receive electrosurgical energy to treat tissue in a target treatment zone. The end effector may also include a fluid aspiration port in fluid communication with a fluid path. The fluid aspiration port may be configured to remove a material from the target treatment zone.

A handheld surgical instrument having a handpiece and a shaft extending from the handpiece is provided. The instrument includes a cutting implement disposed at a distal end of the shaft and an articulation portion disposed proximate to the cutting implement. The articulation portion includes a set of first slits and a set of second slits opposite the first set of slits. The articulation portion also has first and second passageways disposed in the slits along with first and second flat pull wires disposed in the passageways. The instrument also has an articulation control assembly that includes an articulator having first and second anchor points coupled with the first and second flat pull wires. The articulator moves the first flat pull wire in a first direction and moves the second flat pull wire in a second direction opposite the first direction during actuation.

Systems and methods for treating cellulite including an apparatus that applies or a method involving separating septa to eliminate or reduce the appearance of cellulite. In one approach, an interventional tool is placed between tissue layers to engage and treat septa connecting tissue layers between which fat deposits are contained.

The disclosure provides a surgical apparatus comprising: a steerable member that is bendable and comprises a plurality of bending segments with channels therein; and a plurality of bending actuation wires that are arranged to pass through the steerable member and cause the steerable member to bend, the steerable member comprising at least one outwardly opening lumen through which the bending actuation wires pass.