Abstract: Example embodiments relate to surgical systems having an end-effector assembly, first arm assembly, elbow joint section, and second arm assembly. First arm assembly forms a first arm assembly axis. First end of elbow joint section is pivotable relative to its second end. Second arm assembly includes second arm assembly body and first elbow drive assembly. Second arm assembly body forms a second arm assembly axis. First elbow drive assembly includes a first integrated motor and first elbow drive portion. First elbow drive portion is controllable by the first integrated motor to pivotally move the first arm assembly relative to an elbow axis. First arm assembly includes a second elbow drive assembly having a second integrated motor and a second elbow drive portion. Second elbow drive portion is controllable by the second integrated motor to rotate first arm assembly relative to first arm assembly axis.

Abstract: Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

Abstract: Example embodiments relate to devices, systems, and methods for performing a diagnostic and/or therapeutic action. The system may comprise an elongated main body having a first end. The system may further comprise an anchor assembly attached to the main body near the first end of the main body. The anchor assembly may comprise a first expandable member. The first expandable member may be configurable to expand radially away from the main body. The anchor assembly may further comprise a second expandable member provided between the first expandable member and the first end of the main body. The second expandable member may be configurable to expand radially away from the main body. The anchor assembly may be operable to secure the main body with respect to an interior wall forming the cavity of the patient.

Abstract: Example embodiments relate to surgical devices, systems, and methods. The system includes a surgical arm having segments and joints. A first joint couples first and second segments. A second joint couples second segment to an end effector joint. End effector joint couples second joint to an end effector. A joint driving assembly includes first joint driving subassembly having a first joint driving subsystem and first joint driving cables. First joint driving subsystem is configurable to move second segment relative to first segment. A second joint driving subassembly includes second joint driving subsystem and second joint driving cables. Second joint driving subsystem is configurable to move end effector joint relative to second segment. An end effector joint driving subassembly includes end effector joint driving subsystem and end effector joint driving cables. End effector joint driving subsystem is configurable to move end effector relative to second joint.

Abstract: Example embodiments relate to devices, systems, and methods for performing a surgical action. The device may comprise a port assembly, a camera arm assembly, and an instrument arm assembly. The port assembly comprises an access port and a plurality of anchoring portions. The camera arm assembly comprises at least one camera at a distal end and is configurable to insert into the access port and attach to one of the anchoring portions. The instrument arm assembly comprises a serial arrangement including a plurality of arm segments, a plurality of joint portions, and at least one end instrument attached to one of the arm segments by an instrument joint portion at a distal end. Each joint portion is configurable to provide an attached arm segment with at least one degree of freedom. Furthermore, the instrument joint portion is configurable to provide the end instrument with at least one degree of freedom.

Abstract: Example embodiments relate to surgical devices, systems, and methods. The system may include a port assembly. The port assembly may be for use with a surgical arm assembly having a surgical arm and elongated anchor section. The port assembly may include a first main body having an elongated body and a main channel. The main channel may be formed by a portion of an interior surface of the elongated body. The main channel may extend between the proximal and distal ends of the elongated body. The first main body may include an instrument gate secured at a proximal end of the main channel. The instrument gate may include an expandable opening configured to be in a persistently closed position. The expandable opening may be configurable to adaptively expand to a shape of a cross-section of a surgical arm when the surgical arm is inserted through the expandable opening.

Abstract: Example embodiments relate to devices, systems, and methods for performing a surgical action. The system may include a port assembly and instrument arm assembly. Port assembly includes proximal and distal ends, central access channel, and anchor ports formed at the distal end of the port assembly. Instrument arm assembly is configurable to be inserted through the central access channel and secured to an anchor port in a reverse-directed configuration. Instrument arm assembly includes an instrument arm and securing portion. Instrument arm includes a serially connected arrangement of a shoulder section, first arm section, elbow section, second arm section, wrist section, and end effector. Securing portion is an elongated member having proximal and distal ends. Distal end of the securing portion is securable to the shoulder section. Proximal end of the securing portion is for guiding the instrument arm assembly through the central access channel of the port assembly.

Abstract: Example embodiments relate to surgical devices, systems, and methods. The system includes a surgical arm, rotary driving assembly, and telescopic driving assembly. The surgical arm includes a plurality of segments and joints. The rotary driving assembly may be securable to a portion of a proximal end of the surgical arm. The rotary driving assembly may be configurable to rotate the surgical arm. The telescopic driving assembly may be securable to a portion of the proximal end of the surgical arm. The telescopic driving assembly may be configurable to provide a linear displacement of the surgical arm.

Abstract: Embodiments relate to robotic arm assemblies. Robotic arm assembly includes an arm segment and end-effector assembly. Arm segment includes an elongated body which forms an arm segment central axis. End-effector assembly is securable to the arm segment. End-effector assembly includes an instrument assembly and first gear assembly. Instrument assembly includes an instrument and instrument gear. Instrument forms an instrument central axis. Instrument is for performing an action. Proximal end of instrument is secured to the instrument gear. First gear assembly includes a first primary gear and protrusion portion. First primary gear includes a second central axis formed through the first primary gear. Second central axis intersects with first central axis, instrument central axis, and arm segment central axis. Protrusion portion is secured to the first primary gear, and includes an opening. A portion of the proximal end of the instrument is provided in the opening and rotatable within the opening.

Abstract: Example embodiments relate generally to surgical systems. The system may include a first arm assembly having a first arm assembly body. The system may also include a distal elbow joint assembly secured to a proximal end of the first arm assembly. The distal elbow joint assembly may be configurable to provide the first arm assembly with a first degree of freedom relative to a first axis. The system may also include a proximal elbow joint assembly secured to the distal elbow joint assembly. The proximal elbow joint assembly may be configurable to provide the first arm assembly with a second degree of freedom relative to a second axis. The second axis may be different from the first axis. The first degree of freedom may be different from the second degree of freedom.

Abstract: Example embodiments relate to surgical systems and methods. System includes an end-effector assembly and arm assembly. End-effector assembly includes an instrument assembly and wrist assembly. Instrument assembly includes an instrument and instrument driven portion. Instrument driven portion includes an instrument connection portion and instrument driven gear. Instrument connection portion connects the instrument driven gear to the instrument. Wrist assembly includes a wrist driven gear and wrist body, which connects the wrist driven gear to the instrument assembly. Arm assembly includes a wrist connector portion and integrated motors. Arm assembly attaches to and detaches from the wrist assembly. When the arm assembly is attached to the wrist assembly, the instrument driven gear and wrist driven gear are drivable to rotate by the integrated motors. When the arm assembly is detached from the wrist assembly, the instrument driven gear and wrist driven gear are not drivable to rotate by the integrated motors.

Abstract: Example embodiments relate to devices, systems, and methods for performing a surgical action. The system may comprise a port assembly and instrument arm assembly. The port assembly may include a central access channel formed through the port assembly and plurality of anchor ports. The instrument arm assembly may include a shoulder section securable to a first anchor port, first arm section secured to the shoulder section, elbow section secured to the first arm section, second arm section secured to the elbow section, wrist section secured to the second arm section, and end effector section secured to the wrist section. The image capturing assembly may include an image capturing device and multi-curvable body. The multi-curvable body may be configurable to curve at one or more locations along the multi-curvable body, in one or more of a plurality of curvatures, and in one or more of a plurality of directions.

Abstract: Example embodiments relate to endoscopic systems. Endoscopic system includes main body and control section. Control section includes extendible section that extends and contracts to change length between extendible section ends. Control section includes first expandable member. When first expandable member is in an expanded configuration, first expandable member includes proximal side wall and distal side wall. Distal side wall of first expandable member includes first protrusions. Control section includes second expandable member. When second expandable member is in an expanded configuration, second expandable member includes distal side wall and proximal side wall. Proximal side wall of second expandable member includes second protrusions. First and second protrusions configurable to cooperate to form a sieve portion between first and second expandable members.

Abstract: Example embodiments relate to endoscopic systems. The system includes an outer assembly and main assembly. The outer assembly may include proximal and distal ends and outer anchor assembly. The outer anchor assembly may include a first expandable member and first outer pressure opening. The first expandable member may expand radially outwards. The main assembly may include proximal and distal ends and a navigation assembly. The navigation assembly may include an instrument, second expandable member, bendable section, extendible section, and first pressure opening. The extendible section may include proximal and distal ends. The proximal end of the extendible section may be secured in position relative to the distal end of the outer assembly. The extendible section may be configurable to extend and contract. The first main pressure opening may be configurable to apply a negative pressure.

Abstract: Example embodiments relate to devices, systems, and methods for performing a diagnostic and/or therapeutic action. The system may comprise an elongated main body having a first end. The system may further comprise an anchor assembly attached to the main body near the first end of the main body. The anchor assembly may comprise a first expandable member. The first expandable member may be configurable to expand radially away from the main body. The anchor assembly may further comprise a second expandable member provided between the first expandable member and the first end of the main body. The second expandable member may be configurable to expand radially away from the main body. The anchor assembly may be operable to secure the main body with respect to an interior wall forming the cavity of the patient.

Abstract: Example embodiments relate to a system having a port assembly and instrument arm assembly. The port assembly includes an outer body, inner body, and internal channels. The outer body includes a first access port, first and second ends, and anchoring portions. The inner body may be positionable in the first access port. The internal channels may be formed around an exterior of the inner body when the inner body is positioned in the first access port. The instrument arm assembly may include one or more joint portions, arm segments, an end instrument, and an instrument arm anchor portion. One of the internal channels may be configurable to house at least a portion of the instrument arm anchor portion. The port assembly may be configurable to allow an insertion of the instrument arm assembly through the first access port of the outer body.

Abstract: Systems and methods for automated steering control of a robotic endoscope, e.g., a colonoscope, are provided. The control system may comprise: a) a first image sensor configured to capture a first input data stream comprising a series of two or more images of a lumen; and b) one or more processors that are individually or collectively configured to generate a steering control output signal based on an analysis of data derived from the first input data stream using a machine learning architecture, wherein the steering control output signal adapts to changes in the data of the first input data stream in real time.

Abstract: Example embodiments relate generally to robotic arm assemblies. The robotic arm assembly may include an arm segment and an end-effector assembly. The arm segment may include an elongated body, a first motor, and a second motor. The end-effector assembly may be securable to the arm segment. The end-effector assembly may include an instrument assembly, a first gear assembly, and a second gear assembly. The instrument assembly may include an instrument and an instrument gear. The first gear assembly may include a first primary gear and a protrusion portion. The protrusion portion may be configurable to drive the instrument assembly. The second gear assembly may include a second primary gear configurable to drive the instrument gear.

Abstract: Example embodiments relate to robotic arm assemblies. The robotic arm assembly may include upper arm segment and shoulder coupling joint assembly. Upper arm segment includes a motor. Shoulder coupling joint assembly connects upper arm segment to shoulder segment. Shoulder coupling joint assembly includes distal and proximal shoulder joint subassemblies. Distal shoulder joint subassembly is connected to the upper arm segment. Distal shoulder joint subassembly includes gear train system having gear stages including first distal elbow gear stage and second distal elbow gear stage. First distal elbow gear stage includes bevel gears. Second distal elbow gear stage includes a planetary gear assembly. Proximal shoulder joint subassembly connects the shoulder segment to the distal shoulder joint subassembly.