In some examples, a catheter includes an elongated body defining an inner lumen and comprising an expandable member disposed at a distal portion of the elongated body, and a rotatable cutting tool located within an inner lumen of the elongated body, the rotatable cutting tool configured to segment a thrombus into smaller pieces while an aspiration force pulls the thrombus proximally into the inner lumen. In some examples, the catheter further comprises an intermediate structure oriented radially between the rotatable cutting tool and an interior surface of the elongated body, the intermediate structure configured to prevent the cutting tool from contacting the interior surface of the elongated body. In some examples, a stopper is configured to limit movement of the cutting tool distally past a distal end of the expandable member.

A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter.

A surgical controlling system, comprising: at least one surgical tool configured to be inserted into a surgical environment of a human body; at least one location estimating means configured for real-time localization of the 3D spatial position of said at least one surgical tool at any given time t; at least one movement detection means communicable with a movement's database and with said location estimating means; a controller having a processing means communicable with a controller's database; said controller's database is in communication with said movement detection means; and at least one display configured to real time provide an image of at least a portion of said surgical environment; wherein said controller is configured to direct said surgical tool to said location via said instructions provided by said controller; further wherein said location is real time updated on said display as said at least one surgical tool is moved.

A medical system includes a medical instrument, at least one actuator, and a controller. The medical instrument defines a central axis and includes a steerable tip. The controller is configured to command the at least one actuator to cause active steering control of the medical instrument according to an insertion control mode after movement of the medical instrument is detected and exceeds a first threshold value in an insertion direction and to deactivate the at least one actuator to cause the steerable tip of the medical instrument to move freely, without the active steering control, in reaction to forces exerted against the medical instrument by a wall of the anatomic passageway after axial movement of the medical instrument is detected by the medical system and exceeds a second threshold value in a retraction direction. At least one of the first or second threshold values comprises a velocity threshold value.

A surgical instrument includes a housing, an end effector, a movable handle, and a drive assembly. The movable handle includes first and second cantilever spring arms and is movable relative to the housing between a spaced-apart position and an approximated position. The first cantilever spring arm is flexed upon movement of the movable handle from the spaced-apart position towards the approximated position to bias the movable handle towards the spaced-apart position. The drive assembly is operably coupled between the movable handle and the end effector such that movement of the movable handle from the spaced-apart position towards the approximated position moves the end effector from an open position towards a clamping position for clamping tissue. The second cantilever spring arm is flexed upon application of a threshold pressure to tissue clamped by the end effector to control an amount of pressure applied to tissue clamped by the end effector.

A surgical stapling device includes a reload assembly that includes a locking member to retain a knife carrier of the reload assembly in a retracted position after the stapling device is fired. The locking member may be supported on an inner housing portion of the shell housing or on a staple pusher assembly of the reload assembly.

A surgical instrument includes: an end effector; a power source; a motor coupled to the power source, the motor configured to actuate the end effector; and a controller operatively coupled to the motor and configured to control the motor based on a current draw of the motor and an angular velocity of the motor.

A buttress attachment assembly includes a buttress and a buttress loader. The buttress includes a buttress body and buttress wings secured to the buttress body. The buttress body defines first openings. The buttress wings define second openings. The buttress loader includes first tabs that are receivable through the first openings of the buttress body and second tabs that are receivable through the second openings defined in the buttress wings. The first and second tabs support the buttress on the buttress loader.

A surgical visualization feedback system is disclosed. The surgical visualization feedback system comprises an emitter assembly configured to emit electromagnetic radiation toward an anatomical structure. The emitter assembly comprises a structured light emitter configured to emit a structured light pattern on a surface of the anatomical structure and a spectral light emitter configured to emit spectral light capable of penetrating the anatomical structure. The surgical visualization feedback system further comprises a waveform sensor assembly configured to detect reflected electromagnetic radiation corresponding to the emitted electromagnetic radiation and a control circuit in signal communication with the waveform sensor assembly. The control circuit is configured to receive an input corresponding to a selected surgical procedure, determine an identity of a targeted structure within the anatomical structure based on the selected surgical procedure and the reflected electromagnetic radiation, and confirm the determined identity of the targeted structure through a user input.

A method includes providing a handheld manipulator, a surgical tool coupled to the handheld manipulator, and a mechanical arm, affecting, with the handheld manipulator connected to the mechanical arm, motion of the surgical tool by operating a motor of the handheld manipulator, and affecting, with the handheld manipulator disconnected from the mechanical arm, the motion of the surgical tool by operating the motor of the handheld manipulator.