A robotic system includes an instrument including an elongate shaft, a robotic manipulator configured to manipulate the elongate shaft of the instrument, and control circuitry communicatively coupled to the robotic manipulator and configured to determine a first estimated position of at least a portion of the elongate shaft of the instrument based at least in part on robotic command data, determine a second estimated position of the at least a portion of the elongate shaft of the instrument based at least in part on position sensor data, compare the first estimated position and the second estimated position, and generate a third estimated position based at least in part on the comparison of the first estimated position to the second estimated position.

A catheter for debulking of an undesired deposit from an inner surface of at least one of a blood vessel wall and a stent located in a blood vessel, the catheter having a tip section comprising: circumferentially-directed laser optics; and a circular-action cutter, wherein said circumferentially-directed laser optics is configured to transmit laser radiation for modifying an area of the undesired deposit thereby preparing said area for penetration of said cutter, wherein said cutter is configured to cut through said modified area and thereby debulk at least a part of the undesired deposit. In addition, a catheter for pacemaker and ICD (Implantable Cardioverter Defibrillator) lead extraction is disclosed.

Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

In some embodiments, a microsurgical instrument includes a trocar having a rigid, hollow shaft formed with a lumen extending from a proximal end to a distal end of the shaft. The distal end of the shaft may be shaped for tissue penetration. The instrument may further include a composite microcannula slidably engaged with the trocar in the lumen. The microcannula includes a light guide and a flexible hollow tube having an outer diameter less than an inner diameter of the lumen in the trocar. Other embodiments include placing the microcannula in the lumen of the trocar, illuminating the end of the trocar by illuminating the end of the microcannula, advancing the trocar from a selected entry point on an eye into a selected structure in the eye, and extending the illuminated end of the microcannula from the trocar into the selected structure.

Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

A surgical device comprising an elongated body, a tissue penetrating apparatus and a light projector. The elongated body can reach with distal end thereof a surface of an organ within a subject's body. The tissue penetrating apparatus can be extended from the elongated body distal end along a curved penetration path restricted to a chosen penetration plane. The light projector can generate a shaped illumination on the surface of the organ indicative of an intersection of the penetration plane with the surface of the organ.

The present disclosure relates generally to small-gauge instrumentation for surgical procedures, and more specifically, to vitreoretinal instruments for retinal repair and reattachment procedures, as well as associated methods of use. Certain embodiments of the present disclosure provide a curved or articulating probe configured to provide illumination, fluid aspiration, and endophotocoagulation. Accordingly, the probe enables aspiration of subretinal fluid that re-accumulates after initial drainage and during endophotocoagulation without the need to exchange surgical instruments or insert an additional instrument into the intraocular space. Furthermore, the combined functionalities of the probe enable a surgeon to simultaneously perform scleral depression with the surgeon's other hand while aspirating fluid and/or performing retinal endophotocoagulation.

A system for positioning a conduit within an ophthalmic surgical field comprises a conduit (12), a first fixation point (14) and a second fixation point (15). The first fixation point (14) comprises base structure (16) arranged to be secured in a fixed location, and a grip arrangement (18) configured to hold the conduit (12). The grip arrangement (18) is mounted on the base structure (16) by way of a ball joint structure (20, 22), with the ball joint structure (20, 22) being arranged to allow pivoting and rotational movement of the grip arrangement (18) with respect to the base structure (16). The second fixation point (15) is positioned remote from the first fixation point (14) at a predefined distance therefrom. A method for positioning a conduit with an ophthalmic surgical field is also described.

A blood-vessel recognizing method for recognizing blood vessels present in biological tissue, the method including: obtaining real-time Doppler spectra on the basis of time waveforms data of intensities of scattered light generated in the biological tissue due to irradiation with laser light; calculating average frequencies of the real-time Doppler spectra; correcting the calculated average frequencies on the basis of peak intensities of the real-time Doppler spectra; and determining whether or not blood vessels are present in regions of the biological tissue irradiated with the laser light on the basis of the corrected average frequencies.

Certain aspects relate to systems, devices and techniques for vessel sealing and cutting. In particular, an instrument is provided that is capable of performing multiple functions, including sealing and cutting. The instrument can be robotically controlled, and can include a shaft, a multi-DOF wrist, and an end effector. The end effector is capable of generating and delivering heat via different energy modalities to perform the various functions at different temperatures.