Abstract: Tool mount adaptors for interfacing a medical instrument with a medical insertion device are provided. The tool mount adaptor includes a collar for holding a medical instrument wherein the tool mount adaptor is releasably attachable to the medical insertion device. Cannula holder assemblies for a medical insertion device are also provided. The cannula holder assembly includes: (a) a cannula track; and (b) a cannula carriage slideably mounted on the cannula track comprising a cannula holder mount and a demobilizer. Medical insertion devices comprising the tool mount adaptors and/or cannula holder assemblies are also provided together with methods of using the medical insertion devices in diagnostic and/or therapeutic applications.

Abstract: Tool mount adaptors for interfacing a medical instrument with a medical insertion device are provided. The tool mount adaptor includes a collar for holding a medical instrument wherein the tool mount adaptor is releasably attachable to the medical insertion device. Cannula holder assemblies for a medical insertion device are also provided. The cannula holder assembly includes: (a) a cannula track; and (b) a cannula carriage slideably mounted on the cannula track comprising a cannula holder mount and a demobilizer. Medical insertion devices comprising the tool mount adaptors and/or cannula holder assemblies are also provided together with methods of using the medical insertion devices in diagnostic and/or therapeutic applications.

Abstract: A medical insertion device which may be used with or installed within an imaging system, such as magnetic resonance imaging (MRI). The medical insertion device can generally be used to retain, position and effect insertion of a medical instrument, for example a biopsy device or an ablation treatment device. The device can generally provide linear and/or angular degrees of freedom for positioning of the medical instrument prior to an insertion of the medical instrument. The medical insertion device includes a mounting arm, an interface connected to the mounting arm for interfacing with a medical instrument, a mechanism for movement of the medical instrument or a part of the medical instrument in an insertion direction, a carriage connected to a distal end of the mounting arm, and a pivot connection between the carriage and the distal end of the mounting arm to permit pitch or yaw of the mounting arm.

Abstract: A medical insertion device which may be used with or installed within an imaging system, such as magnetic resonance imaging (MRI). The medical insertion device can generally be used to retain, position and effect insertion of a medical instrument, for example a biopsy device or an ablation treatment device. The device can generally provide linear and/or angular degrees of freedom for positioning of the medical instrument prior to an insertion of the medical instrument. The medical insertion device includes a mounting arm, an interface connected to the mounting arm for interfacing with a medical instrument, a mechanism for movement of the medical instrument or a part of the medical instrument in an insertion direction, a carriage connected to a distal end of the mounting arm, and a pivot connection between the carriage and the distal end of the mounting arm to permit pitch or yaw of the mounting arm.

Abstract: A medical insertion device which may be used with or installed within an imaging system, such as magnetic resonance imaging (MRI). The medical insertion device can generally be used to retain, position and effect insertion of a medical instrument, for example a biopsy device or an ablation treatment device. The device can generally provide linear and/or angular degrees of freedom for positioning of the medical instrument prior to an insertion of the medical instrument. The medical insertion device includes a mounting arm, an interface connected to the mounting arm for interfacing with a medical instrument, a mechanism for movement of the medical instrument or a part of the medical instrument in an insertion direction, a carriage connected to a distal end of the mounting arm, and a pivot connection between the carriage and the distal end of the mounting arm to permit pitch or yaw of the mounting arm.

Abstract: A mobile robotic surgical system which includes a mobile surgical robot for use in a mobile or confined environment and a control station in communication with the mobile surgical robot over a network. The mobile surgical robot includes a controller for controlling operation of the mobile surgical robot, a communications subsystem for communicating with the control station over the network, robotic surgical instruments controllable by the control station over the network, a detector subsystem for determining spatial information relating to a surgical environment of the surgical robot, and a motion stabilizer subsystem for facilitating operation of the robotic surgical instruments while the mobile environment is in motion. The controller is configured to operate a local control loop between at least one of the subsystems and the robotic surgical instruments.

Abstract: An endoscopic device and associated method of use. The endoscopic device includes a tubular portion and an end effector mechanism for mounting at an end of the tubular portion. The end effector mechanism includes a casing defining a cavity open to an exterior of the casing. A manipulator member is nested within the cavity of the casing and extendable to protrude to the exterior of the casing. The manipulator member includes a plurality of serially coupled manipulator segments and ending with a last manipulator segment. Each manipulator segment is pivotally connected to an adjacent manipulator segment. A surgical end effector tool such as a gripper or cutter is mounted at the last manipulator segment. A mechanical control may be located within the casing and used for mechanically controlling of the manipulator member. The endoscopic device may operate from a single port or natural orifice of a patient.

Abstract: A dynamically configurable robotic system and method for performing surgical operations using a plurality of robotic arms remotely controlled by at least one operator console. The system comprises a track system configured for mounting to a patient support table, such that the track system provides a stable operating platform for the robotic arms and for facilitating placement of a proximal end of each of the arms at a selected position about a periphery of the patient support table.

Abstract: A surgical system is for use with a surgical tool and a tissue characteristic sensor associated with the surgical tool. The system has an expected tissue characteristic for tissue on a predefined trajectory of the tool in a patient, and a controller to receive a sensed tissue characteristic from the tissue characteristic sensor, such sensed tissue characteristic associated with an actual trajectory of the tool. The controller compares the expected tissue characteristic for the expected location with the sensed tissue characteristic for the actual trajectory. A robot can be used to carry out automated surgical tasks and make adjustments based on differences between the expected characteristic and the sensed characteristic.

Abstract: A surgical training system comprising: a virtual environment including a virtual model of a surgical site; a trainer's haptic device for controlling a surgical tool in the virtual environment; a trainee's haptic device for controlling the surgical tool in the virtual environment, wherein the trainee's haptic device applies force feedback in dependence on signals received from the trainer's haptic device; and a controller for scaling the force feedback applied by the trainee's haptic device in dependence on a specified scaling value.

Abstract: A dynamically configurable robotic system and method for performing surgical operations using a plurality of robotic arms remotely controlled by at least one operator console. The system comprises a track system configured for mounting to a patient support table, such that the track system provides a stable operating platform for the robotic arms and for facilitating placement of a proximal end of each of the arms at a selected position about a periphery of the patient support table.