Disclosed are an ultrasonic surgical instrument (100) and ultrasonic surgical system; the ultrasonic surgical instrument (100) includes a waveguide (1) rotatable around an axis and in threaded connection with a transducer (200); a force transmission mechanism is in fixed connection with the waveguide (1), which has at least one stress surface (41); a rotatable mechanism includes a pushing mechanism and a rotatable driving mechanism having at least one force applying surface (51), the applying surface (51) and the stress surface (41) are not perpendicular to the axis, and can be engaged with each other; the pushing mechanism provides a pushing force the rotatable driving mechanism towards the force transmission mechanism, and the rotatable driving mechanism can overcome the pushing force when interaction force between the applying surface (51) and the stress surface (41) is in excess of a predetermined value.

A medical device is disclosed. The medical device may include an elongate member having a lumen extending at least partially between a proximal end and a distal end of the elongate member. The medical device may also include a plurality of legs coupled to a distal portion of the elongate member, and a distal end piece connected to each of the plurality of legs and located distally to the distal end of the elongate member. The medical device may also include an actuating member coupled to the distal end piece and extending between the plurality of legs and through the lumen. The reciprocal movement of the actuating member may be configured to reversibly move the plurality of legs from a first position to a second position. The medical device may also include a stopping member coupled to the actuating member and configured to limit a movement of the actuating member.

A surgical system includes a surgical tool and a processing circuit. The processing circuit is configured to provide a plurality of virtual haptic interaction points where each virtual haptic interaction point is associated with a portion of the surgical tool such that movement of the surgical tool corresponds to movement of the plurality of virtual haptic interaction points, establish a haptic object that defines a working boundary for the surgical tool, and constrain at least one of the portions of the surgical tool based on a relationship between at least one of the plurality of virtual haptic interaction points and the haptic object.

The present disclosure relates to devices, systems, and methods for controlling the pressure a sensor applies on the surface of tissue to facilitate locating underlying pressure sensitive critical structures. The laparoscopic device includes a handle and a shaft extending distally from the handle. A flexible member is slidably disposed within the shaft and movable between a retracted position and an extended position. A sensor is coupled to a distal end of the flexible member. The flexible member is configured to flex to limit an amount of pressure applied by the sensor to a tissue surface when the sensor is in contact with a tissue surface.

Aspects of retrieval devices, methods, and systems are disclosed. One aspect is a retrieval device comprising: a housing; a plunger with a distal end rotatably and slidably mounted in the housing; a sheath extending distally from the housing to define a sheath lumen with a sheath lumen opening; a drive wire extending distally from the plunger, through the housing, and into the sheath lumen; an end effector on a distal end of the drive wire; and a resilient element that biases the plunger proximally between a first position, wherein the end effector is proximal of the sheath lumen opening, and a second position, wherein at least a portion of the end effector is distal of the sheath lumen opening. Related methods and systems are also disclosed.

A surgical anvil assembly for use with a circular stapling instrument includes an anvil center rod defining a longitudinal axis and an anvil head pivotally coupled to the anvil center rod and movable between a first operative condition and a second tilted condition. The anvil assembly further includes a locking assembly configured to selectively lock the anvil head in each of the first and second conditions.

The present disclosure is directed to devices, systems, and methods directed to mounting a plunger tip to a plunger of an IOL injection device. A plunger tip wrench that is operable to releasably retain a plunger tip may be coupled to a holder extending from an end of the IOL injection device to align the plunger tip with the plunger of the IOL injection device. In some instances, the IOL injection device may include a motor and use a back electromotive force (EMF) of the motor to detect a position of the plunger as it is extended to engage the plunger tip. The plunger tip may be positioned relative to the plunger such that the plunger will engage the plunger tip within the entire range of a negative error position and a positive error position.

A clip for holding one or more buttons of a medical device in a pre-use state. The clip includes an elongate band for wrapping around the medical device. A receiving portion formed in the elongate band that is configured to receive at least one button when the band is wrapped around the medical device and a retaining means for retaining the band around the medical device.

A surgical robotic system is provided for use in a surgical procedure. The surgical robotic system comprises a surgical arm (080) comprising a movable arm part (082) for mounting of a surgical instrument (119), the movable arm part having at least one degree-of-freedom to enable longitudinal movement (109) of the surgical instrument towards a surgical target (123). A human machine interface (020) is provided for receiving positioning commands (022) from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator (060) is configured and arranged for actuating the movable arm part to effect the longitudinal movement of the surgical instrument. The actuator is controlled by a processor in accordance with the positioning commands and a virtual bound (132-135). The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.

Advantageously, the human operator is provided with safer and/or more accurate control over the surgical instrument in the vicinity of a surgical target.

A vaginal dilation device is provided that may include any of a number of features. One feature of the vaginal dilation device is that it is configured to dilate vaginal tissue during labor to prevent tissue damage. Another feature of the vaginal dilation device is that it can be manually controlled to dilate vaginal tissue, or can be automatically controlled to dilate vaginal tissue. In some embodiments, the vaginal dilation device is configured to measure a force applied by the device to tissue. In other embodiments, the vaginal dilation device is configured to apply a constant force to tissue. In other embodiments, the vaginal dilation device is configured to expand at a constant rate. Methods associated with use of the vaginal dilation device are also provided.