Abstract: A method of performing a medical procedure on a patient comprises conveying control signals from a remote controller to a drive unit, intravenously introducing the catheter into a heart of the patient (e.g., via the vena cava into the right atrium), and creating a puncture within a wall between two chambers (e.g., the left and right atria) of the heart. The method further comprises creating a puncture within a wall between two chambers of the heart, and operating the drive unit in accordance with the control signals to advance a working catheter within the guide catheter through the puncture.

Abstract: A system and associated method for delivering to an internal body site a selected one of a plurality of instruments including fluid-dispensing instruments. An instrument storage chamber is providing having passages for separately accommodating the plurality of instruments. An outlet guide tube couples from the instrument storage chamber and receives a selected one of these instruments for delivery to an internal operative site. An indexing mechanism is provided associated with the chamber for causing relative displacement between the instruments and the outlet guide tube. An instrument driver displaces the registered instrument from the chamber into the outlet guide tube for delivery to the internal operative site.

Abstract: An implant placement locator instrument includes an elongated handle member that has a first end and a second end, at least one of the first end and the second end being an operative end. The operative end includes a base having a footprint of an implant post. The base has a hollow center, and the hollow center is adapted to hold a punch. There is a punch located on the instrument at the operative end and inside the hollow center of the base, the punch having a pointed tip for piercing bone. The punch may be one end of the handle, and has a first position relative to the base, being a retracted position wherein it is retracted within the hollow center, and has a second position relative to the base, being an extended, piercing position wherein it is at least partially extended out of the hollow center. There is a spring connected to the base and the punch so as to enhance movement of the punch from one of its first position and second position to the other of its first position and second position.

Abstract: A method of performing a medical procedure (e.g., a suturing procedure or sewing procedure) on a patient is provided. The method comprises introducing a first medical instrument within the patient external to an anatomical vessel, introducing a second medical instrument within the patient internal to the anatomical vessel, conveying control signals from a remote controller to a drive unit, and operating the drive unit in accordance with the control signals to actuate a first tool (e.g., a surgical tool) on the first medical instrument and a second tool (e.g., a surgical tool) on the second medical instrument, in unison, to perform the medical procedure at a target region on the anatomical vessel.

Abstract: A system and a method of aligning a surgical instrument with a target region of a patient are provided. The system comprises a rigid support affixed relative to a patient table, a rigid template having a location element, a surgical instrument having a rigid guide tube and a surgical insert disposed within the guide tube, and a clamp configured for alternately mounting the template and surgical instrument to the rigid support, such that the location element and guide tube both coincide with a target region. The method comprises mounting a rigid template having a location element to a clamp associated with a rigid support affixed relative to a patient table, adjusting the clamp along a rigid support until the location element aligns with the target region, firmly securing the clamp to the rigid support, removing the template from the clamp, and mounting the surgical instrument to the clamp.

Abstract: A medical instrument assembly and robotic medical system are provided. The assembly comprises an insert including a shaft, a coupler carried on a proximal end of the shaft, a distal tool carried on a distal end of the shaft for performing a medical procedure on a patient, and at least one cable extending within the shaft. The coupler has at least one wheel that engages the cable(s) to effect movement of the insert within at least one degree of freedom, and each instrument wheel has a half-moon portion. The assembly further comprises an adapter including a base piece for receiving the shaft, and a coupler having at least one adapter wheel having a complementary half-moon portion configured for respectively engaging the half-moon portion of the instrument wheel(s). The system comprises the previously described assembly, and a drive unit coupled to the adapter wheel(s) to move the insert within the degree(s)-of-freedom.

Abstract: A medical system comprises a rigid support affixed relative to a patient table, a carriage assembly mounted to the rigid support and a surgical instrument mounted to the carriage assembly, and a drive unit configured for pivoting the carriage assembly about the rigid support and for linearly moving the surgical instrument relative to the rigid support. The drive unit may be coupled to the surgical instrument via external cabling. Another medical system further comprises a rigid support affixed relative to a patient table, an adapter supported by the rigid support, an instrument insert removably disposed within the adapter, the instrument insert carrying a distal tool configured for performing a medical procedure on patient, and a drive unit configured for pivoting the adapter about the rigid support, linearly moving the adapter relative to the rigid support, and rotating the adapter about its longitudinal axis.

Abstract: A medical system comprises a rigid support affixed relative to a patient table, and a surgical instrument mounted to the carriage assembly. The surgical instrument carries a distal tool configured for performing a medical procedure on a patient. The medical system further comprises mechanical cabling, and an electromechanical drive unit coupled to the carriage assembly via the mechanical cabling to control linear movement of the surgical instrument relative to the rigid support.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A computer implemented medical record database management system including access by individual patients. A healthcare product or service advertiser can send one or more advertisements to a central server. These advertisements can include, but are not limited to, healthcare products and/or services, medical products and/or services, prescriptions for pharmaceuticals, non-prescription medicines, etc. Each advertisement is linked to one or more key words. These key words generally reference medical conditions. These keys may also relate to pharmaceuticals or other healthcare descriptions. Scripts may also be used in addition to keys to enable more complex correlations of a medical condition or combination of conditions or health information to a particular advertisement. The advertisements may be accessed by individual patients.

Abstract: A system and associated method for delivering to an internal body site a selected one of a plurality of instruments. An instrument storage chamber is providing having passages for separately accommodating a plurality of instruments. An outlet guide tube couples from the instrument storage chamber and receives a selected one of these instruments for delivery to an internal operative site. An indexing mechanism is provided associated with the chamber for causing relative displacement between the instruments and the outlet guide tube. An instrument driver displaces the registered instrument from the chamber into the outlet guide tube for delivery to the internal operative site.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A robotic surgery apparatus comprising: a surgical instrument for use at an internal operative site of a subject; a mechanically drivable mounting unit on which the surgical instrument is mounted, the mounting unit being drivably movable outside the operative site of the subject; an electrically driven drive unit for driving movement of the mounting unit; mechanical cabling drivably intercoupled to the mounting unit at one end of the cabling; the mechanical cabling having another end which is readily drivably couplable to and decouplable from the drive unit. The drive unit being readily manually portable and readily attachable to and detachable from a fixed support on or relative to which the subject is mounted.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A master station of a master/slave surgery system, adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, the master station comprising: a lower positioner assembly; upper positioner assembly supported over the lower positioner assembly and rotational relative to the lower positioner assembly to enable lateral side-to-side surgeon manipulation; and an arm assembly having a hard assembly at its distal end for engagement by the surgeon's hand, and a proximal end pivotally supported from the upper positioner assembly to enable an orthogonal forward-and-back surgeon manipulation in a direction substantially orthogonal to the lateral surgeon manipulation.

Abstract: A system and associated method for delivering to an internal body site a selected one of a plurality of instruments including fluid-dispensing instruments. An instrument storage chamber is providing having passages for separately accommodating the plurality of instruments. An outlet guide tube couples from the instrument storage chamber and receives a selected one of these instruments for delivery to an internal operative site. An indexing mechanism is provided associated with the chamber for causing relative displacement between the instruments and the outlet guide tube. An instrument driver displaces the registered instrument from the chamber into the outlet guide tube for delivery to the internal operative site.

Abstract: A program of instructions for the processor which include: receiving an insertion length of a medical instrument inserted in a patient; and determining a distal end location of the instrument at a target site in the patient from the insertion length. The instrument typically has a straight proximal portion and curved distal portion, lies in a single plane and is a rigid guide member. The instrument is typically inserted and then fixed at a pivot axis outside the patient. The pivot axis is generally aligned with an insertion point at which the instrument is inserted into the patient. The program of instructions may include determining a subsequent location of the distal end associated with pivoting about the pivot axis.

Abstract: Apparatus and method for sensing at an anatomic body site and mapping or transforming the sensor signal into various forms of virtual image and feedback signals, having particular application in assisting surgeons and other operators during a medical procedure. In one embodiment, a medical system is provided that includes a medical implement, a manipulator controllable by an operator for control of the medical implement at an anatomic body site and a sensing device for sensing a non-visible field associated with a body structure at the site. A controller, intercoupling the sensing device and the manipulator, includes a mapping component for translating characteristics of the sensed field signal into a tactile feedback signal to the manipulator to warn the surgeon that he is approaching this structure with the implement.

Abstract: A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising: a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; and a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed. The first medical instrument member is disposed so as to extend into the anatomy at a first ingress location and passing intraluminally; and the second medical instrument member is disposed so as to extend into the anatomy at a second ingress location different than said first ingress location and passing extraluminally.

Abstract: An articulated apparatus is disclosed that includes an actuator base and a plurality of serially coupled link members that are mutually joined to one another at a plurality of joints. Each of the serially coupled link members has an axis of rotation. The plurality of link member includes a proximal link member that is proximal to the actuator base, and a distal link member that is distal to the actuator base, and each link member includes a proximal end and a distal end. The apparatus also includes a plurality of actuators that are located at the base, and each actuator is associated with a respective link member. The apparatus further includes a plurality of tendons, each of which is coupled to an actuator and a respective link member for effecting movement of the link member with respect to the actuator base.