Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.

Abstract: A method controls a robotic system for medical or surgical teleoperation. The robotic system includes a hand-held master device, mechanically unconstrained to the ground and moveable by an operator; and a slave device including a surgical instrument adapted to be controlled by the master device, so that movements of the slave device, or of the surgical instrument of the slave device, referred to one or more of a plurality of controllable degrees of freedom are controlled by respective movements of the master device, according to a master-slave control architecture. The method firstly includes the steps of defining a first enslaved state of the system and a second decoupled state of the system. A controller controls transitions between the first and second states. The controllable degrees of freedom include degrees of freedom of translation and of orientation. A master-slave robotic system for medical or surgical teleoperation performs the method.

Abstract: A method initiates and/or prepares a teleoperation by a robotic system for medical or surgical teleoperation. A hand-held master device is mechanically unconstrained and moved by an operator. A slave device includes a microsurgical instrument controlled by the master device. The robotic system includes a man-machine interface allowing the operator to communicate the intention to teleoperate to the robot. The method includes initiating teleoperation preparation; then performing alignment between master device and slave device, in which the slave device moves to align orientation of the surgical instrument to the master device. Teleoperation is entered after the alignment master and slave devices has been completed. First checks are conducted for entering the alignment, and enabling start of the alignment only if all first checks are passed. Before entering the teleoperation, second checks are conducted for enabling alignment, and enabling entry into teleoperation only if all second checks are passed.

Abstract: A method initiates and/or prepares and/or conducts teleoperation by a robotic system for medical or surgical teleoperation. The robotic system includes a master device, which is hand-held, mechanically unconstrained and moveable by an operator, and a slave device including a surgical instrument controlled by the master device. The master device is functionally symmetrical with respect to a predeterminable single, longitudinal axis of the master device. A local reference frame of the master device and the related longitudinal axis is detected, with respect to a main reference frame of the master device workspace; then, functionally equivalent local reference frames are detected. A corresponding target reference frame is mapped in a workspace of the slave device. An operating reference frame is detected according to criteria for optimization of the trajectory of the slave device. A robotic system for medical or surgical teleoperation is control led by the control method.

Abstract: An instrument system includes actuators, an instrument, and a control system. The instrument includes joints and transmission systems that couple the joints with the actuators. A first joint is distal to a second joint, a first transmission system passes through the second joint to couple to the first joint, and a second transmission system couples to the second joint. The control system is programmed to determine a first tension to be applied by the first transmission system, determine a first estimate of an interaction response that results at the second joint from applying the first tension by the first transmission system, determine a second tension to be applied by the second transmission system based on a first set of parameters, the first set of parameters including the first estimate, and command the actuators such that the first and second transmission systems apply the first and second tensions, respectively.

Abstract: A robotic surgical assembly (100) includes a support (104), one macro-positioning arm (30), connected to the support (104) and having a plurality of degrees of freedom. The macro-positioning arm (30) includes a support member (38), at least two micro-positioning devices (41, 141, 241, 341), each having a plurality of motorized degrees of freedom, connected in cascade to the support member (38) of the macro-positioning arm (30), and at least two medical instruments (60, 160, 260, 360). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device (70, 170, 270) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments (60, 160, 260, 360) has a shaft (65), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).

Abstract: Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.

Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.

Abstract: A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.

Abstract: A robotic surgical assembly includes a support, one macro-positioning arm, connected to the support and having a plurality of degrees of freedom. The macro-positioning arm includes a support member, at least two micro-positioning devices, each having a plurality of motorized degrees of freedom, connected in cascade to the support member of the macro-positioning arm, and at least two medical instruments. Each instrument is connected in cascade to each of the micro-positioning devices and includes a jointed device having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments has a shaft, suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).

Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.

Abstract: A medical system comprises an elongate instrument including a camera configured to capture at least one real-time image of anatomy within a patient anatomy. The system further comprises a processor configured to display, on one or more display screens, a three-dimensional patient computer model of the patient anatomy. The processor is further configured to display, over the three-dimensional patient computer model, a representation of a view angle of the elongate instrument. The representation of the view angle is displayed so as to appear to project from a synthetic representation of a distal tip of the elongate instrument. The processor is further configured to display the at least one captured real-time image.

Abstract: A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire. The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.

Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame; and at least one processor coupled to the control device and the manipulator. The at least one processor configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method also includes determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.

Abstract: A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.

Abstract: A medical system comprises an elongate instrument including a camera configured to capture at least one real-time image of anatomy within a patient anatomy. The medical system further comprises a processor configured to display, on one or more display screens: a three-dimensional patient computer model of the patient anatomy; a synthetic representation of the elongate instrument registered to the three-dimensional patient computer model; over the patient computer model, a representation of a view angle of the elongate instrument, the representation of the view angle being displayed so as to appear to project from a distal tip of the synthetic representation of the elongate instrument; and in a position based on the registration of the synthetic representation of the elongate instrument to the patient computer model, the at least one captured real-time image so as to appear to project from the distal tip of the synthetic representation of the elongate instrument.

Abstract: A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.

Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.