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.

An apparatus includes a catheter shaft assembly, an end effector, a coupling member, and a position sensor assembly. The end effector includes at least one electrode. The coupling member is positioned at the distal end of the catheter shaft assembly and at the proximal end of the end effector. The coupling member includes a body having an exterior. The position sensor assembly includes at least one coil. The at least one coil is configured to generate a signal indicative of a position of the at least one coil in response to an alternating magnetic field. At least a portion of the position sensor assembly is positioned about the exterior of the coupling member such that the portion of the position sensor assembly positioned about the exterior of the coupling member is external to the coupling member.

A robot-assisted surgical system in which apparatus for providing electrosurgical functionality is directly mountable on or integrated within a robotic arm. The apparatus may be a detachable module or capsule, which may be movable between different robotic arms in the same environment. The apparatus may comprise a plurality of modules, each providing a different treatment modality. Depending on the procedure to be performed, a different module or combination of modules may be selected and mounted on one or more robotic arms.

Medical devices including a housing, an actuator, a body having a passageway extending through the body, a drive shaft extending through the passageway, and a clip coupled to the body and the drive shaft to fix the body relative to the drive shaft. The medical device further including features to couple the clip to at least one of the body and/or the drive shaft such that back out of the clip is inhibited.

An apparatus includes a shaft assembly and an end effector. The shaft assembly includes an outer sheath, at least one irrigation conduit, and at least one suction conduit. The end effector includes a first electrode, a second electrode, and a web. The electrodes extend distally relative to a distal end of the outer sheath. The electrodes are operable to apply bipolar RF energy to tissue. The web extends laterally between the first and second electrodes. The web is positioned distal to the distal end of the outer sheath.

Electroanatomic mapping is carried out by inserting a multi-electrode probe into a heart of a living subject, recording electrograms from the electrodes concurrently at respective locations in the heart, delimiting respective activation time intervals in the electrograms, generating a map of electrical propagation waves from the activation time intervals, maximizing coherence of the waves by adjusting local activation times within the activation time intervals of the electrograms, and reporting the adjusted local activation times.

Tumors in portions of a subject's body that have a longitudinal axis (e.g., the torso, head, and arm) can be treated with TTFields by affixing first and second sets of electrodes at respective positions that are longitudinally prior to and subsequent to a target region. An AC voltage with a frequency of 100-500 kHz is applied between these sets of electrodes. This imposes an AC electric field with field lines that run through the target region longitudinally. The field strength is at least 1 V/cm in at least a portion of the target region. In some embodiments, this approach is combined with the application of AC electric fields through the target region in a lateral direction (e.g., front to back and/or side to side) in order to apply AC electric fields with different orientations to the target region.

Forceps can include a drive pin, an outer tube, a first jaw, a second jaw, and an inner shaft. The outer tube can extend along a longitudinal axis. The first jaw can be pivotably connected to the outer tube. The first jaw can include a first flange that can be located at a proximal portion of the first jaw. The first flange can include a first chamfered edge configured to limit extension of the first flange laterally beyond an outer surface of the outer tube when the first jaw is in a closed position. The inner shaft can be located within the outer tube and can extend along the longitudinal axis.

Forceps can include an outer tube, a first jaw, a second jaw, and an inner tube. The outer tube can extend along a longitudinal axis and can include a pair of outer arms extending from a distal portion of the outer tube. The first jaw can be pivotably connected to the outer tube and the first jaw can include a first flange and a second flange each located at a proximal portion of the first jaw. The first flange and the second flange can each include a proximal portion extending outward of the outer tube when the jaws are in an open position. The proximal portions can be shaped to limit extension of the proximal portions laterally beyond the outer arms.

Forceps with improved actuation include a housing and a body that is longitudinally slidable relative to the housing. The body having a peripheral flange extending outward towards the housing. A trigger includes an actuation surface configured to receive a force input from a user. The trigger further including at least one arm configured to transfer the received force input to the body. To inhibit lateral splaying of the at least one arm when the trigger is actuated, the housing includes a first control surface, such as a rib proximate the arm.