An actuation system for actuating concentric tubes of a concentric-tube robot. The actuation system is configured to actuate the concentric tubes from radially to one side of the concentric tubes.

A surgical instrument includes a housing, an energizable member, and a deployment mechanism. The energizable member is movable relative to the housing between a storage position and a deployed position. The deployment mechanism includes a first actuator member movable relative to the housing from a first un-actuated position to a first actuated position to move the energizable member from the storage position to the deployed position and a second actuator member movable relative to the housing from a second un-actuated position to a second actuated position to move the energizable member from the deployed position to the storage position. Movement of the first actuator member from the first un-actuated position to the first actuated position effects movement of the second actuator member from the second actuated position to the second un-actuated position and vice versa.

An adaptor for a powered surgical instrument includes a casing, a cam drum, a first linear driver, and a second linear driver. The cam drum defines and is translatable along a longitudinal axis of the adaptor between a retracted position and an advanced position. The cam drum is being supported for rotation about the longitudinal axis. The cam drum defines first and second radial cam grooves about an outer surface thereof. The first cam groove defines a first profile and the second cam groove defines a second profile. The first linear driver includes a first cam follower disposed in the first cam groove and the second linear driver includes a second cam follower disposed in the second cam groove. The first and second linear drivers are supported for movement between advanced and retracted positions in response to rotation of the cam drum.

A tissue displacing and fastening device is provided for manipulating and fastening tissue together. The device includes a tissue displacing elements, which displaces tissue. A fold is formed from the displaced tissue and the tissue is fastened together to secure the fold.

An end effector for a surgical clip applier includes a body having a proximal end and a distal end, a head arranged at the distal end, and first and second jaw members mounted to the head. A linear actuator is arranged within the head and is operable to collapse and open the first and second jaw members.

A steerable overtube assembly for a robotic surgical system can include a steerable shaft having one or more instrument channel and a control hub configured to mount to the steerable shaft. The assembly can also include a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand, and a robotic actuator housed by and/or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft.

A medical device includes a handle that includes a handle body longitudinally extending from a proximal end to a distal end; a distal connector configured to connect to a proximal end of an elongate outer member; a lumen longitudinally extending through the handle body, the lumen configured to have an elongate inner member movably disposed therein, and to permit the elongate inner member to distally extend past the distal end to within the elongate outer member and to proximally extend past the proximal end; and an inner member controller configured to longitudinally move relative to the handle body to control movement of the elongate inner member relative to the elongate outer member. The handle may be a distal handle of the medical device, which further includes a proximal handle. Both handles may control movement of the elongate inner and outer members.

An articulated arm for support of an extended flexible medical instrument includes: a segment rotationally mobile around an axis of rotation, where the mobile segment can either be rotationally locked or unlocked, a handgrip including: a distal holding part to be hand held, a proximal support part connecting the distal holding part to the remainder of the structure, and an actuator on the distal holding part locking and unlocking mobility of the segment in rotation around the axis. The locking and unlocking actuator extends over the main part of the length of the distal holding part such that: pressure of the user's hand griping the distal holding part directly creates contact with the actuator, sufficient for automatically unlocking mobility of the segment in rotation and release of the distal holding part terminates contact with the locking and unlocking actuator, sufficient for automatically locking mobility of the segment in rotation.

A device for delivering a bone material to a surgical site is provided. The device comprises a body having an upper portion and a lower portion. The lower portion of the body is substantially transverse to the upper portion and has an opening for receiving a bone material. An internal chamber is disposed within the upper portion and the lower portion, and a plunger is slidably disposed in at least the internal chamber of the body. The plunger has a distal end configured for delivering the bone material out of the lower portion of the body, wherein movement of the plunger in a first position toward the lower portion of the body delivers the bone material from the lower portion of the body to the surgical site. Methods of delivering the bone material are also provided.

A driver module for actuating a tendon, the driver module comprising: a slider comprising a base portion, a tendon receiving portion and a body portion, the tendon receiving portion being spaced apart from the base portion and the body portion extends from the base portion to the tendon receiving portion, the module further comprising a slider receiving portion having a first end and a second end and engageable with the base portion of the slider such that the slider is moveably attachable to the slider receiving portion.