A method for designing an implant includes designing a contour curvature of the implant so that an articulate surface of the implant is designed to correspond to a simulated healthy cartilage surface reconstructed from a 3D model based on one or more images taken with MRI or CT-scanning of a damaged cartilage surface of a joint; and providing a positioning mark on a surface of the implant. The positioning mark is provided such that the positioning mark is parted from the center of the implant to be visible for a surgeon and is adapted to be used for indicating a rotational position of the implant to the surgeon.

A surgical apparatus comprises a body, an ultrasonic transducer, a shaft, and an end effector. The ultrasonic transducer is operable to convert electrical power into ultrasonic vibrations. The body comprises a pivotal trigger. The shaft couples the end effector and the body together. The end effector comprises a clamp arm and an ultrasonic blade in acoustic communication with the ultrasonic transducer. The ultrasonic blade is operable to deliver ultrasonic vibrations to tissue. Pivotal movement of the trigger causes movement of the clamp arm. The trigger includes a compliant feature configured to limit the amount of force delivered to tissue by the clamp arm. The flexible feature may comprise a flexible band, living hinge, a series of living hinges, or a flexible tab.

RF tissue ablation devices are provided. Aspects of the RF tissue ablation devices include an elongated member having a proximal and distal end, first and second jaws at the distal end, wherein the first and second jaws are configured to apply intra and inter RF energy to tissue disposed between the jaws during use, and a connector at the proximal end for operatively connecting to a RF energy source. Also provided are systems that include an RF tissue ablation device operatively coupled to a RF energy source, as well as kits that include the devices and methods of using the devices in RF tissue ablation applications, including cardiac applications.

A medical instrument having a handle with a clamp that is configured to maintain the instrument in two different operational modes. The medical instrument includes a needle, a sheath, a sheath handle, a needle actuator and a locking device. The distal end of the needle actuator is connected to the proximal end of the needle. The distal end of the sheath handle is connected to the proximal end of the sheath. The locking device restricts distal movement of the needle actuator relative to the sheath handle when the medical device is placed in one of two operational states. In a deactivation state the distal end of the needle is housed within the distal end of the sheath. In an activation state the distal end of the needle is distal from the distal end of the sheath.

A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.

A surgical instrument for stapling patient tissue is disclosed. The surgical instrument comprises an end effector, a firing element, an elongate shaft, a handle, an electric motor, and a display. The end effector extends from the elongate shaft and comprises a staple cartridge and a plurality of staples. The elongate shaft extends from the handle. The firing element is configured to move through the end effector between a proximal position and a distal position. The firing element is further configured to eject the plurality of staples from the staple cartridge during a firing stroke. The electric motor is configured to output a rotary motion and the firing element is operably responsive to the rotary motion. The display is configured to display a current position of the firing element during the firing stroke.

A surgical instrument assembly is disclosed. The surgical instrument assembly comprises a housing, a shaft assembly configured to be operably attached to the housing, a retraction assembly configured to manually retract a firing member, and a lock operably coupled with the retraction assembly and a drive unit.

A fine work assistance system is configured such that a parallel link mechanism is used for a slave manipulator activated by a master operation, and a precise motion for microsurgery or the like is performed by remote control. In a slave unit of a master-slave manipulator, the parallel link mechanism with multiple degrees of freedom is used for a link mechanism in which an end effector is movable with respect to a base. Moreover, a tip operation part is driving by a hydraulic driving mechanism such that a plurality of linear actuators supported by the base move one ends of links so as to move the end effector, and the slave unit is activated in response to a user operation on the master unit. This achieves the precise motion of the end effector and causes the end effector to perform operations for a precise work.

A pivotal bone anchor assembly includes a receiver having an axial bore with an internal support surface adjacent a lower opening and a channel configured to receive a fixation rod, as well as a shank having a proximal end portion configured to be pivotally supported by the internal support surface with the shank extending downward through the lower opening. The proximal end portion includes a drive socket engageable by a drive tool, an upwardly-facing planar top surface surrounding and entirely peripheral to the drive socket, and a central bore extending from the drive socket to a distal tip configured to receive a guide wire. The assembly further includes an insert with an upper surface configured to receive the fixation rod and a lower surface configured to transfer a downward force toward the proximal end portion of the shank to lock the assembly, with the planar top surface of the shank remaining spaced apart from the lower surface of the insert so as to not directly receive the downwardly-directed force when the assembly is locked by a closure.