An atraumatic microsurgical forceps may include an actuation structure, an actuation sleeve having an actuation sleeve distal end and an actuation sleeve proximal end, a surgical blank, and atraumatic forceps jaws of the surgical blank having atraumatic forceps jaws distal ends and atraumatic forceps jaws proximal ends. The surgical blank may be disposed within the actuation sleeve wherein at least a portion of the atraumatic forceps jaws extends from the actuation sleeve distal end. A compression of the actuation structure may be configured to gradually extend the actuation sleeve over the atraumatic forceps jaws proximal ends. An extension of the actuation sleeve over the atraumatic forceps jaws proximal ends may be configured to gradually close the atraumatic forceps jaws wherein the atraumatic forceps jaws initially contact at the atraumatic forceps jaws distal ends.

Surgical devices and methods are described herein that provide improved motor control and feedback, thereby combining advantages of manually-operated and powered surgical devices. In one embodiment, a surgical device includes a proximal handle portion that includes a motor, a distal end effector coupled to the handle portion, and a cutting element configured to cut tissue engaged by the end effector, wherein the motor is configured to supply power that moves the cutting element. The device also includes a motor control mechanism configured to cause the amount of the power to dynamically change in response to a manual user input when the cutting element is moving.

A medical device includes a handle with a proximal arm and a distal arm. The proximal arm and the distal arm are pivotable via a joint. The medical device also includes a tube coupled to the distal arm and a drive wire. A distal portion of the drive wire includes an expandable end effector. A portion of the drive wire is positioned within the tube, and a different portion of the drive wire extends proximally of the distal arm and is coupled to the proximal arm.

A parallel kinematic mechanism apparatus includes a frame, a handle and an input joint that connects having at least two independent and functionally parallel paths for transmission of motion coupling the handle to the frame. A first path includes a first intermediate body connected to the frame by a first connector and to the handle by a third connector while the second path that is independent from the first path includes a second intermediate body that is connected to the frame by a second connector and to the handle by a fourth connector. The first connector and the fourth connector both allow rotation in a first rotational direction and restrict rotation in a second rotational direction and the second and third connectors allow rotation in the second rotational direction and restrict rotation in the first rotational direction.

An ultrasonic instrument for use during a surgical procedure includes a body, a shaft assembly, an ultrasonic blade, and an actuation assembly. The body is configured to receive an ultrasonic transducer for selectively generating a first or a second predetermined oscillation. The shaft assembly projects from the body and includes an acoustic waveguide connected to the ultrasonic blade. The actuation assembly includes an activator ring and an activation mechanism. The activator ring is selectively movable along the body such that the activator ring is accessible to be gripped by an operator around an entirety of an outer circumferential surface of the activator ring. The activation mechanism is connected to the activator ring such that the activation mechanism selectively moves along the body in conjunction with the activator ring. At least a portion of the activation mechanism is configured to selectively direct the ultrasonic transducer to oscillate the ultrasonic blade.

Surgical devices and methods are described herein that provide improved motor control and feedback, thereby combining advantages of manually-operated and powered surgical devices. In one embodiment, a surgical device includes a proximal handle portion that includes a motor, a distal end effector coupled to the handle portion, and a cutting element configured to cut tissue engaged by the end effector, wherein the motor is configured to supply power that moves the cutting element. The device also includes a motor control mechanism configured to cause the amount of the power to dynamically change in response to a manual user input when the cutting element is moving.

An ultrasonic instrument includes a body, an actuation assembly, a shaft assembly, and an ultrasonic blade. The body defines a longitudinal axis and is configured to receive an ultrasonic transducer. The actuation assembly includes at least one annular activation member and at least one circuit. The at least one annular activation member extends angularly about the body along a 360 degree angular range. The at least one annular activation member is configured to move laterally relative to the longitudinal axis of the body. The at least one circuit corresponds to the at least one annular activation member. The shaft assembly includes an acoustic waveguide. The ultrasonic blade is in acoustic communication with the acoustic waveguide. The at least one activation circuit is configured to activate the ultrasonic blade in response to lateral movement of the activation member relative to the longitudinal axis of the body.

A surgical tool assembly is disclosed. The surgical tool assembly includes a forceps instrument including a proximal handle portion with an actuator, and a distal forceps portion including jaws. The actuator selectively moves the jaws. The surgical tool assembly includes an infusion assembly including a tube configured to be connected to a fluid source at a primary tube end and connected to a fitting at a paracentesis tube end. The fitting defines a passage configured to receive the distal forceps portion of the forceps instrument. An infusion sleeve extends away from the fitting. The infusion sleeve is arranged concentric around an outer surface of the distal forceps portion to define a fluid pathway. The jaws extend beyond a terminal end of the infusion sleeve such that the jaws are arranged outside of the infusion sleeve.

A surgical instrument with improved end-effector gripping force. The instrument comprises a shaft, which may be inserted into a body of a patient. The articulated end-effector is mounted on the distal extremity of the instrument shaft and comprises a plurality of links interconnected by a plurality of joints, whose movements are remotely actuated by the surgeon's hands. This remote actuation is accomplished through mechanical transmission, mainly along flexible elements, which are able to deliver motion from a set of actuation elements, placed at a proximal extremity of the shaft, to the instrument's articulated end-effector. The articulated end-effector further comprises one or more cam-and-follower mechanisms that are able to amplify the force transmitted by the flexible elements so that the actuation force at the instrument jaws is maximized and the tension on the transmission elements minimized, thus increasing the fatigue resistance and life of the instrument.

A microsurgical handle and instrument may include an actuation structure having an actuation structure distal end and an actuation structure proximal end, a plurality of actuation arms of the actuation structure, and an actuation structure base. A compression of the actuation structure may be configured to extend the actuation structure distal end relative to the actuation structure proximal end. A compression of the actuation structure may be configured to expand an extension joint of an actuation arm of the plurality of the actuation arms. A decompression of the actuation structure may be configured to retract the actuation structure distal end relative to the actuation structure proximal end. A decompression of the actuation structure may be configured to collapse an extension joint of an actuation arm of the plurality of actuation arms.