A surgical access device assembly includes a cannula hub and a cannula tube. The cannula tube extends distally from the cannula hub along a longitudinal axis. The cannula tube defines a working channel. The cannula tube includes a tissue engagement feature and a balancing feature. The balancing feature is configured to promote lateral stability of the cannula tube and the cannula hub relative to the body cavity wall of the patient. The balancing feature includes a proximal portion of the cannula tube having a first wall thickness. The balancing feature also includes a distal portion of the cannula tube having a second wall thickness that is greater than the first wall thickness. At least a portion of the proximal portion is proximal relative to the tissue engagement feature. At least a portion of the distal portion is distal relative to the tissue engagement feature.

A surgical access device assembly includes a cannula hub and a cannula tube. The cannula tube extends distally from the cannula hub along a longitudinal axis. The cannula tube defines a working channel. The cannula tube includes a tissue engagement feature and a balancing feature. The balancing feature is configured to promote lateral stability of the cannula tube and the cannula hub relative to the body cavity wall of the patient. The balancing feature includes a proximal portion of the cannula tube having a first wall thickness. The balancing feature also includes a distal portion of the cannula tube having a second wall thickness that is greater than the first wall thickness. At least a portion of the proximal portion is proximal relative to the tissue engagement feature. At least a portion of the distal portion is distal relative to the tissue engagement feature.

Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

A seal assembly including a septum seal, a lower seal support, an upper seal support and a return spring is disclosed. The septum seal includes an orifice and a plurality of apertures. The lower seal support includes an engagement surface configured to engage a portion of the septum seal. The upper seal support includes a plurality of fingers, wherein each of the plurality of fingers is configured to extend through a corresponding aperture of the septum seal. The return spring includes a collar portion and a plurality of spokes extending radially outward from the collar portion. At least a portion of the return spring may be sandwiched between the lower seal support and the upper seal support. The plurality of spokes is configured to bias the seal assembly toward a radial center of a housing.

A device and method is provided to gain access to interior body regions. The system includes a safety needle assembly, a stylet assembly, a blade assembly, an obturator assembly, and a dilator assembly. The safety needle assembly or stylet assembly accesses an interior body region, after which the blade assembly expands the pathway created by the safety needle assembly or stylet assembly. The obturator then further expands the pathway and delivers the dilator assembly to the desired location. The safety needle assembly, obturator assembly, and blade assembly are removed, leaving the dilator assembly in place for future procedures.

Example embodiments relate to robotic arm assemblies. Embodiments of the robotic arm assembly include a shoulder segment and upper arm segment having a motor drive portion. Embodiments also include a shoulder coupling joint assembly connecting the upper arm segment to the shoulder segment. Shoulder coupling joint assembly includes a distal shoulder joint subassembly connected to the upper arm segment. The distal shoulder joint subassembly includes a distal shoulder joint forming a first axis. The distal shoulder joint subassembly includes a shoulder planetary gear assembly. Embodiments include an elbow coupling joint assembly connecting the upper arm segment to the forearm segment. The elbow coupling joint assembly includes a proximal elbow joint subassembly connected to the upper arm segment. The proximal elbow joint subassembly includes a proximal elbow joint forming a second axis. The proximal elbow joint subassembly includes an elbow planetary gear assembly.

A tissue guard includes a body having a proximal end and a distal end and defining a lumen therethrough. The distal end has a long petal and a short petal disposed in substantial opposition relative to one another and the short petal is configured to move between a first position wherein the short petal is disposed within the lumen to facilitate insertion of the long petal within an incision and a second position wherein the short petal is extended relative to the lumen and in substantial opposition to the long petal to facilitate retention of the tissue guard within the incision.

Aspects of the present disclosure are directed toward apparatuses, systems, and methods for stent access and device delivery. In certain instances, the apparatuses, systems, and methods may include a plurality of struts arranged about the one or more cutting blades on a tip portion.

Adjacent tissue layers can be accessed using a catheter device with a distal tip having a conductive portion including a first cutting feature and one or more projections extending from the first cutting feature towards an outer diameter of the distal tip. Electrical energy can be supplied to the conductive portion of the device to cut tissue. A stent can be delivered to form a fluid communication between the adjacent tissue layers.

Surgical device deployment apparatuses that include a cannula having a shaft with an exterior surface, and an interior surface forming a lumen within said cannula, the shaft having a distal portion with a plurality of apertures. An obturator configured to be used in conjunction with the aforementioned cannula has an obturator shaft with a distal portion having a reduced diameter, wherein said obturator shaft is insertable into said lumen of said cannula. In other embodiments, a surgical device deployment tool comprises a handle member with a shaft attached to a distal end of said handle member, said shaft extending distally and terminating at a shaft head. A hollow hood is attached to said shaft head, said hood having an inner surface formed such that a gap exists between said inner surface and an adjacent outside surface of said shaft head.