Provided herein are expandable devices, rail systems, and motorized devices. In one embodiment, an expandable device comprises an expandable sac having a tool housed therein. The expandable device is optionally configured for operation while inside a body cavity. The expandable device optionally comprises at least one rail in the sac, and at least one railed device coupled to the rail for movement there on. Movement of the railed device on the rail is provided by, for example, a motor such as an electromagnetic motor or an inch-worm type motor. Expandable devices can be used, for example, to perform minimally invasive medical procedures requiring access to a body cavity. Expandable devices can also be used, for example, to provide safe and stable transport of instruments to the body cavity.

Provided herein are expandable devices, rail systems, and motorized devices. In one embodiment, an expandable device comprises an expandable sac having a tool housed therein. The expandable device is optionally configured for operation while inside a body cavity. The expandable device optionally comprises at least one rail in the sac, and at least one railed device coupled to the rail for movement there on. Movement of the railed device on the rail is provided by, for example, a motor such as an electromagnetic motor or an inch-worm type motor. Expandable devices can be used, for example, to perform minimally invasive medical procedures requiring access to a body cavity. Expandable devices can also be used, for example, to provide safe and stable transport of instruments to the body cavity.

A surgical robotic system comprising: a robotic arm; a tool drive coupled to the robotic arm; a cannula interface configured to couple a cannula to the tool drive, the cannula interface having a fluid pathway in communication with an interior lumen of the cannula; and an insufflation pathway coupled to the robotic arm, the insufflation pathway having a distal end coupled to the fluid pathway and a proximal end coupled to a surgical insufflator.

An electrosurgical instrument which is capable of simultaneously ablating an area of tissue with microwave energy and performing resection with RF energy. The instrument comprises a structure for conveying both RF and microwave energy to an instrument tip that is configured to emit the microwave energy in a manner suitable for ablation (e.g. as a substantially spherical field) and to emit the RF energy in a more focussed manner to enable accurate and controllable resection to be performed. The energy conveying structure comprises a coaxial transmission line for conveying microwave energy. The coaxial transmission line has a hollow inner conductor that defines a passage that supports a second transmission line for conveying radiofrequency energy.

A cautery puncture needle includes a pipe portion. The pipe portion has a first bent portion located on a distal end side of the pipe portion and a second bent portion located on a proximal end side of the pipe portion. A curvature radius of an arc of the first bent portion is equal to or larger than a curvature radius of an arc of the second bent portion and a length of the arc of the first bent portion is longer than a length of the arc of the second bent portion, or the length of the arc of the first bent portion is equal to or longer than the length of the arc of the second bent portion and the curvature radius of the arc of the first bent portion is larger than the curvature radius of the arc of the second bent portion.

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.

Kidney stone removal system is disclosed having components including a handle mechanism, a nozzle tip, and a guiding device. The handle mechanism employs a trigger that enables control of irrigation and vacuum/suction. Depression of a trigger in the trigger mechanism conveys status of vacuum/suction and irrigation to a user by providing increased resistance at different points of depression. When the trigger is in a home (undepressed) position, irrigation and vacuum/suction are turned off. When the trigger is in a fully depressed position, irrigation and vacuum/suction are turned on. When the trigger is in an intermediate position, irrigation may be turned on, while vacuum/suction remains turned off. The nozzle includes one or more irrigation ports positioned at a distal end of the nozzle and having an irrigation port departure angle of 30 to 60 degrees for directing irrigation fluid forward and laterally from the distal end of the nozzle. The guiding device is configured to be removably positioned in the nozzle for receiving a debris fragmentizing device, such as a laser device. The guiding device is configured to prevent an unintended movement of the fragmentizing device when the fragmentizing device is positioned in the nozzle while allowing fluid and debris to flow past the fragmentizing device and through a vacuum tube.

Embodiments of the disclosure may include an apparatus including an optical fiber having a distal end and configured to emit a beam of energy. The apparatus may also include a first lens coupled to the distal end of the optical fiber and a sheath including a channel and a second lens positioned on a distal region of the sheath. The optical fiber may be disposed within the channel of the sheath to permit relative movement between the first lens and the second lens and thereby adjust a beam of energy that exits the sheath.

The invention provides devices and systems, as well as associated methods of using them, that employ a remote Dicke switching elementi.e., distal to a radiometer. The devices, systems, and methods are suitable for both diagnostic and therapeutic applications in a wide variety of tissues.

A modular energy system includes modules, at least two having a transceiver timer. The modules communicate data messages over an internal bus. A first module obtains a transmission time from its transceiver timer, which it appends to the message, and transmits the appended message over the internal data bus. The second module receives the data message, obtains a receipt time from its transceiver timer, and extracts the transmission time from the message. A smart surgical system includes a plurality of surgical subsystems including a modular energy system all in mutual data communication over a system data bus. The components of the smart surgical system may each have a transceiver timer. The components of the smart surgical system transmit and receive data across the system data bus using the respective transceiver timers in a manner like the communications between the modular energy system modules.