Abstract: A robotic surgery assembly includes a medical instrument having a frame, a jointed device having a degree of freedom with respect of the frame, and at least one tendon made of polymer fibers configured for actuating the degree of freedom. The tendon includes a tendon endpoint connected to the medical instrument to exert a tensile load for actuating the degree of freedom.

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: What is described is a minimally invasive system comprising an elongate instrument and a stylet slidably disposed within the lumen of the elongate instrument. The instrument includes a flexible proximal portion fixedly coupled to a rigid distal portion, and a lumen extending from a proximal end to a distal end through the flexible proximal portion and the rigid distal portion and defining a longitudinal axis of the instrument. The stylet includes a flexible body fixedly coupled to a steerable portion and a sensor element extending through the flexible body. The stylet is movable within the instrument between a retracted condition in which the steerable portion is retracted within the instrument and an extended configuration in which the steerable portion at least partially extends from the rigid distal portion of the instrument.

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: A minimally invasive system comprises an elongate instrument that includes a flexible proximal portion, a rigid distal portion, and a lumen extending from a proximal end to a distal end of the elongate instrument. The lumen defines a longitudinal axis of the elongate instrument. The flexible proximal portion is fixedly coupled to the rigid distal portion. The system further comprises a stylet slidably disposed within the elongate instrument. The stylet includes a flexible body fixedly coupled to a steerable portion and includes a sensor. The stylet is movable within the elongate instrument between a retracted condition and an extended configuration. A plurality of actuation cables extend through the stylet and terminate in the steerable portion, which comprises a bend-resistive section and a bendable section. The bendable section includes a plurality of articulable segments linked by the actuation cables and includes a plurality of joint pivots disposed between adjacent articulable segments.

Abstract: A medical instrument may include multiple joint members and at least two pairs of tendons connected with the joint members and adapted to move at least one of the joint members relative to at least one other joint member. Each joint member may include a main structural body that may be a single piece and includes at least one convex contact surface. A main portion of each tendon contacts the medical instrument only on the convex contact surfaces.

Abstract: A medical instrument may include multiple joint members and at least two pairs of tendons connected with the joint members and adapted to move at least one of the joint members relative to at least one other joint member. Each joint member may include a main structural body that may be a single piece and includes at least one convex contact surface. A main portion of each tendon contacts the medical instrument only on the convex contact surfaces.

Abstract: Medical instrument (60, 160, 260, 360) comprising at least one first, second and third joint member (71, 72, 73), at least two pairs of tendons (90, 190, 191, 192) connected with the same joint member and adapted to move said third member (73) with respect to said second member (72), pulling it; and wherein each of said joint member (71, 72, 73) comprises a main structural body comprising in a single piece one or more convex contact surfaces (40, 80, 86, 140, 180), all said convex contact surfaces (40, 80, 86, 140, 180) defining with their prolongations thereof at least partially a single convex volume for each joint member; and wherein the main portion of each tendon is in contact with said jointed device (70, 170, 270) only on said convex contact surfaces; and wherein at least two tendons of said at least two pairs of tendons (90, 190, 191, 192) are in contact with a same convex contact surface.

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 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: A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

Abstract: Medical instrument (60, 160, 260, 360) comprising at least one first, second and third joint member (71, 72, 73), at least two pairs of tendons (90, 190, 191, 192) connected with the same joint member and adapted to move said third member (73) with respect to said second member (72), pulling it; and wherein each of said joint member (71, 72, 73) comprises a main structural body comprising in a single piece one or more convex contact surfaces (40, 80, 86, 140, 180), all said convex contact surfaces (40, 80, 86, 140, 180) defining with their prolongations thereof at least partially a single convex volume for each joint member; and wherein the main portion of each tendon is in contact with said jointed device (70, 170, 270) only on said convex contact surfaces; and wherein at least two tendons of said at least two pairs of tendons (90, 190, 191, 192) are in contact with a same convex contact surface.

Abstract: What is described is a minimally invasive system comprising an elongate instrument and a stylet slidably disposed within the lumen of the elongate instrument. The instrument includes a flexible proximal portion fixedly coupled to a rigid distal portion, and a lumen extending from a proximal end to a distal end through the flexible proximal portion and the rigid distal portion and defining a longitudinal axis of the instrument. The stylet includes a flexible body fixedly coupled to a steerable portion and a sensor element extending through the flexible body. The stylet is movable within the instrument between a retracted condition in which the steerable portion is retracted within the instrument and an extended configuration in which the steerable portion at least partially extends from the rigid distal portion of the instrument.

Abstract: What is described is a minimally invasive system comprising an elongate instrument and a stylet slidably disposed within the lumen of the elongate instrument. The instrument includes a flexible proximal portion fixedly coupled to a rigid distal portion, and a lumen extending from a proximal end to a distal end through the flexible proximal portion and the rigid distal portion and defining a longitudinal axis of the instrument. The stylet includes a flexible body fixedly coupled to a steerable portion and a sensor element extending through the flexible body. The stylet is movable within the instrument between a retracted condition in which the steerable portion is retracted within the instrument and an extended configuration in which the steerable portion at least partially extends from the rigid distal portion of the instrument.

Abstract: Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans-abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.

Abstract: Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans-abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.