Systems and methods for minimally invasive tele-surgery are described. For example, the disclosure describes methods for independently controlling motions of the robotic manipulator, cannula, and surgical instrument in various surgical contexts.

An invention for transfixing a plurality of cannulas 14 through a tissue 25 for providing a plurality of entry-ports 33 to a surgical site 26, comprising: a base 10; and a plurality of cannulas 14 connected to said base 10; wherein each said cannula 14 includes an access-port 3, is provided. Also, the invention for transfixing a plurality of cannulas 14 through a tissue 25 for providing a plurality of entry-ports 33 to a surgical site 26, comprising: a sleeve 9 including a base 10; said sleeve 9 including a plurality of cannulas 14 connected to said base 10; a mandrel 1 including a handle 7; and said mandrel 1 including a plurality of piercing tips 2 connected to said handle 7; wherein said mandrel 1 detachably engage said sleeve 9 forming a single punch assembly; wherein said cannula 14 includes an access-port 3 to a surgical site 26, is provided.

A cannula and method include a shaft portion having a proximal end, a distal end, a longitudinal axis and a lumen extending from the proximal end to the oppositely disposed distal end along the longitudinal axis. A hub is attached to the proximal end of the shaft portion and includes a transverse portion, which extends transversely relative to the longitudinal axis of the shaft portion. An opaque marker is disposed on the transverse portion at a position corresponding to an expanded size of an expandable element such that the opaque marker indicates the expanded size in an imaging system image.

A surgical kit includes a cannula assembly and a sheath. The cannula assembly includes a housing, an elongate shaft defining a lumen and extending from the housing, a fluid port adapted to be coupled to a fluid source, and an expandable body in fluid communication with the fluid port. The sheath is configured to be disposed over the expandable body of the cannula assembly to apply a compressive force to the expandable body. The sheath is transitionable between a contracted configuration and an expanded configuration.

Embodiments of a surgical access port system that comprises a retractor that is adapted for being coupled to a cap and that is particularly useful in natural orifice surgery are described. The retractor comprises an outer ring, wherein the outer ring is configured to be disposed proximate the natural orifice of the patient and substantially surround the orifice; a tubular body; and various stabilizing mechanisms surrounding the tubular body, sized and configured to stabilize and retain the retractor within the orifice. The stabilizing embodiments described herein are useful in all natural orifices and are of particular use in the vaginal surgery.

A surgical access device has a cannula tube with a collar coupled to a proximal region of the cannula tube. A balloon is attached to the cannula tube. The collar includes a receptacle and an inflater is insertable into the receptacle. The inflater has a body with a chamber and a first compound. A cap is attached to one end of the body and has a cavity containing a second compound. A membrane is disposed between the body and the cap and is configured to keep the first and second compounds separate. A button extends through an opening of the cap and a piston is coupled to the button. The piston includes a spike extending away from the button and is translatable in the cap between a rest position and an actuated position. The actuated position is defined by a portion of the spike penetrating the membrane such that the first compound interacts with the second compound generating a gas that is communicated to the balloon via a groove of the cannula tube.

The present disclosure relates to novel and advantageous systems and methods for deploying a surgical tool or guidewire. Particularly, the present disclosure relates to novel and advantageous systems and methods for deploying a surgical tool for use in changing the shape of portions of luminal systems. More particularly, the present disclosure relates to novel and advantageous systems and methods including an access catheter to direct an implement, such as a guide wire, off axis into a wall of a vessel or a wall of a tissue structure.

A tissue specimen removal device comprises a specimen bag; a flexible ring, the flexible ring configured to form a top opening of the specimen bag; a cannula assembly comprising: an inner tube portion and an outer tube portion. The device may further comprise a connector carrier, the connector carrier configured to retain at least one connector housing, the at least one connector housing comprising one or more connector portions and reside within an interior of the connector carrier, and wherein the connector carrier can be moved from a position within the cannula assembly to outside the cannula assembly.

A surgical access device includes a cannula having a variable length. The cannula may include a shaft assembly including an outer shaft, an intermediate shaft disposed within and longitudinal slidable relative to the outer shaft, and an inner shaft disposed within and longitudinal slidable relative to the intermediate shaft. The shaft assembly is movable between an unextended position, a fully extended position, and a semi-extended position between the unextended and fully extended positions. The cannula may include a shaft having annular folds formed therein. The annular folds are axially movable relative to each other such that the shaft is longitudinally movable between an unextended position and a plurality of extended positions.

A fluid stream is directed toward tissue to generate a plurality of shedding clouds. The fluid stream can be scanned such that the plurality of shedding clouds arrive a different overlapping locations. Each of the plurality of shedding clouds can remove a portion of the tissue. In many embodiments, an apparatus to ablate tissue comprises a source of pressurized fluid, and a nozzle coupled to the source of pressurized fluid to release a fluid stream, in which the fluid stream generates a plurality of shedding clouds.