An improved flexible endoscopic instrument to precisely and efficiently obtains samples of flat polyps and multiple polyps from a patient by debriding one or more polyps and retrieving the debrided polyps without having to alternate between using a separate cutting tool and a separate sample retrieving tool and may be used with an endoscope. In one aspect, the cutting tool is coupled to a flexible torque coil or torque rope that is configured to transfer rotational energy from a powered actuator through the length of the endoscope onto the cutting tool.

A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

A positioning device is provided for delivering or guiding a surgical device into a lumen of a body vessel to a position adjacent target tissue. The device includes a housing, an elongate sleeve, and a source of pressurized fluid. The sleeve has a first end coupled to a delivery side of the housing, a second end positioned on a return side of the housing, and an inverted distal portion positioned between the first and second ends. One second end of the sleeve can be furled about a support member supported on the housing. A distal portion of the sleeve defines a cavity that communicates with a pressure chamber within the housing. When pressurized fluid is directed into the pressure chamber, the pressurized fluid flows into the cavity of the distal portion of the sleeve to advance the sleeve away from the housing.

A workspace device comprising: (a) a workspace body having a workspace inner wall defining an internal volume, including one or more expandable segments, said workspace body is: collapsible to a collapsed state where said body fits through a laparoscopic passageway in an abdominal wall, which passageway extends to an abdominal cavity; and expandable, to increase said internal volume, to an expanded state within said cavity, where, in said expanded state said workspace body: has an opening to said internal volume; and extends axially from a proximal to a distal direction defining a workspace axis; (b) one or more channels sized and shaped to supply inflation fluid to said workspace body; (c) said workspace body including: a plurality of circumferentially extending inflatable segments; a fluid pathway connecting at least one of said one or more channels to at least one of said segments.

A device that, when implanted in the heart, closes the wound and complies with wall motion (i.e., expands and contracts with the myocardium).

An expandable, intervertebral spacer includes a top component and a base component in engagement with the top component, the base component defining at least one channel for receiving a hardening material, and placement of the hardening material within the channel causes the top component to move between a first position in which the top component is a first distance from the base component and a second position in which the top component is a second distance from the base component, the second distance being greater than the first distance. The hardening material can be removed from the channel by a flexible coring tool, and the top component forced toward the base component to collapse the spacer.

The present invention provides a robotic locomotive device (1) that is capable of driving itself forwards and backwards, anchoring and steering itself whilst inside a tubular structure (200), for example, the human colon, or any structure comprising two opposing walls (202, 204). In this respect, the device is made up of two or three segments (102, 104, 106) covered in an elastic material and driven by an internal actuating mechanism. All of the segments (102, 104, 106) have a concertina configuration that enable a shortening and lengthening motion. As well as contracting and extending in length, at least one of the end segments (102, 106) is capable of bending at an angle away from the longitudinal axis such that it becomes wedged or jammed between the walls (202, 204) of the tubular structure (200). That is, the end segments (102, 106) are capable of both a bending action and a contracting and extending action. The device (1) moves by alternately jamming a segment (102, 104, 106) between the walls (202, 204) of the tubular structure (200), and then contracting or extending the segments (102, 104, 106) to inch the device (1) forward with a more effective locomotive action. As such, the present invention provides a simplified design that is more robust to harsh or unclean environments, whilst still maintaining the level of performance required from such a device.

A device for applying external pressure on a surface of an anatomical object, such as a blood vessel, comprises at least two jaws, a closing force generating device for applying compressive or closing force to the jaws so to driving said jaws against each other. The device also comprises an actuating device for applying counterforce against said compressive force, and a control unit. The control unit controls the operation of the actuating device to apply said counterforce so that said external pressure applied by said jaws into the surface of said anatomical object, such as a blood vessel, is applied in a way to manipulate a flow rate of a fluid circulation in the anatomical object as a function of time in a controllable manner.

A robotic rod bender is disclosed. The robotic rod bender includes an autoclavable top assembly that includes a rod feeding subassembly, a brake subassembly, and a bending subassembly. The rod bending subassembly, the bending subassembly, and the brake assembly are disposed on a top plate. The robotic rod bender also includes a motor housing that includes one or more motors, a spline shaft, and a linear actuated elevator assembly. The linear actuated elevator assembly includes a linear actuator, a movable plate, and a mid-plate. The spine shaft extends from the moveable plate. The autoclavable top assembly is removably disposed atop the mid-plate.

A surgical robotic cart assembly includes a vertical column supporting a robotic arm thereon, a base, and a plurality of casters attached to the base and adapted to allow the surgical robotic assembly to move. The surgical robotic cart further includes at least one vacuum cup on the base for sealingly engaging the base to the floor thereby immobilizing the surgical robotic cart assembly.