An electrosurgical instrument for use in a robotic surgical system includes an electrosurgical end effector, a housing configured to be operably coupled to an instrument drive unit, a shaft extending distally from the housing, and a wrist assembly coupled to a distal end portion of the shaft. The wrist assembly includes a first pivot member and a second pivot member having a proximal end portion movably coupled to the first pivot member, and a distal end portion configured to be coupled to the end effector. The first pivot member has a pair of first and second distally-extending arms each defining a first groove configured to receive and guide a cable.

A method and apparatus for treating tissue are disclosed, including intra-operative mapping of a probe ablation zone. The method uses a system that maps the proximal and distal margins of the probe ablation zone using tools that access the ablation target. In some embodiments, the tools comprise a bone drill, and an introducer assembly, including a cannula and a stylet. The tools have features or markings that cooperate to indicate which probe to use to achieve the desired ablation. The method further facilitates planning probe placement for delivering energy to treat (ablate) a desired ablation volume of a target tissue by using a system that maps both the target tissue and possible probe ablation zones.

An electrosurgical wand for reducing tissue is disclosed. The wand includes a handle and an elongate shaft, the shaft having a major longitudinal axis, a conduit extending therethrough and a non-insulated distal end portion defining a first electrode. The first electrode has a distal most edge configured to mechanically pierce tissue, and an arcuate surface extending proximally from the distal most edge along the major longitudinal axis, the arcuate surface having a convex surface that faces in a distal direction. First and second arcuate edges define lateral edges of the arcuate surface. A second electrode is disposed at an opening of the conduit and electrically isolated from the first electrode. The second electrode comprises an aperture, configured to aspirate fluid and tissue debris therethrough.

An electrosurgical device having an electrode with a first portion whose exterior is electrically uninsulated, a second portion whose exterior is electrically insulated, and a third portion. An elongated hollow body has an internal cavity, a front end, a rear end, an external surface. An electrical circuit is arranged within the body. The second portion of the electrode is not surrounded by the hollow body. A first button is arranged on the external surface of the body for controlling a current flow at a first level. A vacuum tube is slidably engaged by the body. A vacuum outlet port is arranged near the rear end, and the outlet port, internal cavity, and vacuum inlet are in fluid communication with each other.

Methods and devices for treating nasal airways are provided. Such devices and methods may improve airflow through an internal and/or external nasal valve, and comprise the use of mechanical re-shaping, energy application and other treatments to modify the shape, structure, and/or air flow characteristics of an internal nasal valve, an external nasal valve or other nasal airways.

A handling and control system for expandable electrodes of a handpiece is provided that includes a plurality of flexible electrodes made of elastic cables carried by a support assembly with needle-shaped front portions that protrude from the support assembly and move in a three-dimensional space under the push of actuators. An electronic control device performs the following functions: a) providing a command to the actuators to perform an initial handling of each cable according to an initial step Δh performing an axial advancement of the front portion with respect to the second proximal end and a distancing of the front portion from the axis H; b) determining for each pair of electrodes the spacing or distance l.sub.i, measured along a direction perpendicular to the axis, between the tips of the front portions of the pair of electrodes; c) determining a voltage V as a function of the spacing l.sub.i, V=f(l.sub.i) and applying to each electrode a pulsed signal having maximum voltage equal to the calculated value V; e) repeating the steps a), b) and c) for a plurality n of steps k successive to the initial one so that the active portions of the electrodes move in space in a three-dimensional application area becoming distanced from each other; the voltage applied to the electrodes increasing linearly with the increasing of the spacing so as to generate an electric field which ensures in the application area complete electro-poration of tissue.

A device for applying radiofrequency energy for sphincter treatment comprising a flexible outer tube, an expandable basket having a plurality of arms movable from a collapsed position to an expanded position, and a plurality of electrodes movable with respect to the arms from a retracted position to an extended position. An advancer is slidably disposed within the outer tube to move the plurality of electrodes to the extended position. An actuator moves the advancer from a first position to a second position to advance the plurality of electrodes. An aspiration tube extends within the outer tube. An assembly includes an aspiration disabler having a first position to enable aspiration from a distal portion of the aspiration tube to a proximal portion and a second position to disable aspiration.

Dual coil ablation systems are provided. Methods of using the systems to ablate tissue are also provided. The dual coil ablation systems can include a first guide needle and a second guide needle, and the methods can include securing the tissue and guiding the dual coil ablation system into the tissue for the ablation, the securing and the guiding facilitated by the first guide needle and the second guide needle. The dual coil ablation systems can also include a phase-offset between the coils to achieve a significant and surprising enhancement to the energy density provided by the systems, and the uniformity of ablation provided by the methods.

Described here are devices, systems, and methods for forming a fistula between two blood vessels. Generally, the systems may comprise a first catheter and a second catheter, which may comprise one or more fistula-forming elements. The first and second catheters may comprise one or more magnetic elements, which may be used to assist in bringing the first and catheters in closer proximity to facilitate fistula formation. In some variations, the magnetic elements may have magnetization patterns such that the flux generated by the magnetic elements is locally concentrated. In some instances, the system may comprise a magnetic control device, which may comprise a magnet, and may be used to increase or create an attractive force between the first and second catheters.

A method of generating a representation of an active heating zone on a display in real time during an ablation procedure includes processing imaging data of a surgical site generated by an imaging device, navigating an ablation device in proximity to target tissue, delivering electrosurgical energy to the target tissue via the ablation device to generate an active heating zone, detecting a Doppler shift in the imaging data based on the delivery of electrosurgical energy to the target tissue, and generating a representation of the active heating zone relative to the surgical site based on the detected Doppler shift.