Abstract: Embodiments of a robotic medical system comprise a steerable instrument that includes a bendable body and a connector assembly configured to detachably connect the bendable body to an actuation unit. A controller is configured to control the actuation unit. The connector assembly comprises a connection receptor coupled to the actuation unit and a connecting shaft coupled to the bendable body. The connecting shaft includes a plurality of driving rods that are attached in a one-to-one correspondence to a plurality of driving wires and that detachably attach to the connection receptor. In a connected state where the bendable body is connected to the actuation unit via the connector assembly, the controller causes the actuation unit to transmit an actuating force from an actuator to a driving rod, and the driving rod actuates or moves a driving wire in a same direction as the actuating force applied by the actuator.

Abstract: An articulated medical device having a hollow core, capable of large degrees of maneuverability through small cavities to reach a target with minimal invasiveness, wherein the medical device is capable of manual and robotic manipulation.

Abstract: A catheter sheath comprises: a central lumen extrusion having an inner layer defining a central lumen, a reinforcing structure surrounding the inner layer, and an outer layer surrounding the reinforcing structure; a plurality of rings are arranged on the outer layer of the central lumen extrusion at a predetermined distance from each other in a distal section of the sheath; and an outer jacket encloses the rings and central lumen extrusion. The reinforcing structure includes one or more of a braid, a coil, and a laser-cut tube embedded between the inner layer and the outer layer; the central lumen extrusion is bonded with an adhesive or laser welded or pressure fit to one or more of the rings. The reinforcing structure is offset towards the inner or the outer surface; and the rings have chamfered or beveled or rounded inner edges.

Abstract: In a robot-assisted steerable medical device, such as a catheter, a magnetic connector hub is configured to establish mechanical and magnetic connection between a drive cable and an actuator, or between multiple modules in a single insert-and-twist motion. The connector hub creates a magnetic breakaway feature for automatically decoupling the actuator from the drive cable, while the catheter remains attached. This prevents damage to the catheter/tool and/or patient when an excessive force is applied, and adds a safety element and helps protect the patient. And when the breakaway occurs the system can be automatically reengaged catheter without damage, so that normal operation can resume. Connection can also be broken at any point in the operation based on threshold forces or emergency situations.

Abstract: Embodiments of a robotic medical system comprise a steerable instrument that includes a bendable body and a connector assembly configured to detachably connect the bendable body to an actuation unit. A controller is configured to control the actuation unit. The connector assembly comprises a connection receptor coupled to the actuation unit and a connecting shaft coupled to the bendable body. The connecting shaft includes a plurality of driving rods that are attached in a one-to-one correspondence to a plurality of driving wires and that detachably attach to the connection receptor. In a connected state where the bendable body is connected to the actuation unit via the connector assembly, the controller causes the actuation unit to transmit an actuating force from an actuator to a driving rod, and the driving rod actuates or moves a driving wire in a same direction as the actuating force applied by the actuator.