A vaginal device is described. A conformable vaginal insert is shaped for insertion into a vaginal cavity of a female human. A contact point is configured to change a shape of the insert. A sensor is configured to measure and to relay characteristics of the vaginal cavity and the surrounding and supportive structures of the vaginal cavity. A processor is configured to control the contact point to adjust the shape of the insert, generate a treatment for the vaginal cavity and the surrounding structures of the vaginal cavity and the supportive structures of the vaginal cavity comprising a vaginal cavity profile generated from the measured characteristics, store the measured characteristics and the vaginal cavity profile, and based on the stored measured characteristics and the stored vaginal cavity profile, automatically modify the shape of the insert by control of the contact point to provide the treatment to the vaginal cavity.

A tool for creating an incision at a surgical site includes a body for use with a robotic end effector having a proximal end and a distal end, and a blade positioned at the distal end of the body, the blade having a proximal end and a distal end, the blade having a cutting edge defining a first portion extending outwardly from or adjacent to the proximal end to a maximum width and a second portion extending inwardly from the maximum width to a sharp distal tip.

The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Systems and methods are provided for performing tensionable knotless cardiac valve procedures. A locking ferrule that includes a one-way locking mechanism may be utilized as part of the tensionable knotless cardiac valve procedure for tensioning and locking one or more strands of suture. In other implementations, the one-way locking mechanism may be integrated as part of a prosthetic device or other surgical device that can be utilized in combination with the prosthetic device.

The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

A method of cutting soft tissue in a hand to treat trigger finger involves advancing an introducer shaft into the hand to position a distal end of the introducer shaft beyond a pulley in a finger of the hand, advancing a blade along a guiding channel on an upper surface of the introducer shaft, to position a distal end of the blade at or near the distal end of the introducer shaft, and rotating a cutting surface of the blade to an orientation at or near perpendicular relative to the upper surface of the introducer shaft. The method further involves retracting the blade along the introducer shaft to cut the pulley and removing the introducer shaft and the blade from the hand.

A cleat for securing suture to tissue, the cleat comprising an elongated body having a distal end and a proximal end, the distal end having a distal slot extending proximally into the elongated body, and the proximal end having a proximal slot extending distally into the body; the distal slot comprising a wide section and a narrow section, wherein the wide section has a width such that the suture is slidably accommodated therein and the narrow section has a width such that the suture is bound therein, and further wherein the wide section is disposed distally of the narrow section. A method for securing a first object to a second object, the method comprising providing a suture and a plurality of cleats slidably mounted on the suture; passing one end of the suture and a first cleat through the first object and the second object; tensioning the suture so as to secure the suture to the first cleat; passing a subsequent portion of the suture and a second cleat through the first object and the second object; and tensioning the suture so as to secure the suture to the second cleat.

An anchor for securing suture to tissue, the anchor comprising: an elongated body having a distal end and a proximal end, the distal end having a distal slot extending proximally into the elongated body, and the proximal end having a proximal slot extending distally into the body; the distal slot comprising a wide section and a narrow section, wherein the wide section has a width such that the suture is slidably accommodated therein and the narrow section has a width such that the suture is bound therein, and further wherein the wide section is disposed distally of the narrow section.

An occlusion device for occluding a left atrial appendage extending from a lateral wall of a left atrium of a heart including a first clamping portion and a second clamping portion movably connected to one another and configured for positioning along opposed sides of the left atrial appendage. The first clamping portion and the second clamping portion each may include an inner side configured to face toward the left atrial appendage when the device is in a deployed configuration, an outer side disposed opposite the inner side and configured to face away from the left atrial appendage when the device is in the deployed configuration. A pair of sleeves may be coupled to the outer side of each clamping portion. Each sleeve defines a channel configured to accept a medical tool to facilitate moving the device between an open and closed configuration.

A female insertion system is provided. The system includes a conformable insert shaped for insertion into one or more structures of a female human that are associated with at least one of reproduction and one or more erogenous zones; one or more sensors, at least one of the sensors included in the insert, and configured to measure and to relay data, wherein the data is acquired on one of a one-time basis and a multiple-time basis included one of a non-continuous period, a continuous period, and an intermittent temporal period; and a processor configured to: control the insert; generate a treatment for one of the structures of the female human; store the data; and based on the data, automatically affect one or more of the structures via the insert.