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

Abstract: Example embodiments relate generally to endoscopic systems, devices, and methods. The system may include a main body, actuation control members, navigation section, and anchor assembly. Navigation section includes distal termination points for receiving actuation control members. Navigation section is selectively controllable to bend. Anchor assembly includes first expandable member, second expandable member, and pressure openings. First expandable member transitions between an expanded and non-expanded configuration. Distal side wall of first expandable member includes first protrusions. Second expandable member transitions between an expanded and non-expanded configuration. Proximal side wall of second expandable member includes second protrusions. First and second protrusions are configurable to cooperatively form a sieve portion. Connector assembly includes connector assembly body and connector interface portion.

Abstract: Present example embodiments relate generally to a surgical system comprising an internal anchor assembly configurable to be inserted into and positioned inside a cavity of a body. The surgical system further comprises an external anchor assembly configurable to magnetically couple to the internal anchor assembly. The external anchor assembly may comprise a magnetic assembly. The magnetic assembly may include one or more superconducting magnets configurable to generate a magnetic field. The magnetic assembly may further include a conductive housing for receiving the one or more superconducting magnets. The external anchor assembly may further include a temperature control section configurable to control a temperature of the one or more superconducting magnets via the conductive housing. The external anchor assembly may further include an external anchor body configurable to receive the magnetic assembly and the temperature control section.

Abstract: Example embodiments relate to surgical systems comprising an end-effector assembly and arm assembly. The end-effector assembly may include a first instrument assembly having a first instrument and first instrument driven portion configurable to be driven to move the first instrument relative to a first axis. The arm assembly may include first and second arm assembly bodies, first arm assembly joint portion for joining the first and second arm assembly bodies, first instrument drive assembly, and first arm assembly drive assembly. The first instrument drive assembly may include a first integrated motor and first instrument drive portion controllable by the first integrated motor to drive the first instrument driven portion. The first arm assembly drive assembly may include a second integrated motor and first arm assembly drive portion controllable by the second integrated motor to drive the first arm assembly body to move relative to the second arm assembly body.

Abstract: Example surgical systems include end-effector assembly, arm assembly, and elbow joint assembly. Arm assembly includes proximal and distal ends. Elbow joint assembly secures proximal end of arm assembly to distal end of second arm assembly. Elbow joint assembly includes first and second elbow joint portions. First elbow joint portion includes first end section secured to proximal end of arm assembly, second end section, and first joint joining first and second end sections of first elbow joint portion. Second elbow joint portion includes first end section secured to second end section of first elbow joint portion, second end section secured to distal end of second arm assembly, and second joint joining first and second end sections of second elbow joint portion. First end section of first and second elbow joint portion are pivotable relative to first and second axes, respectively, formed by center line drawn through first and second joints, respectively.

Abstract: Example embodiments relate to surgical devices, systems, and methods. The system may include an end-effector assembly. The end-effector assembly may comprise an instrument assembly and a wrist assembly. The instrument assembly may comprise an instrument for performing a surgical action. The instrument assembly may further comprise an instrument driven portion configurable to be driven in such a way as to move the instrument relative to a first axis. The instrument assembly may further comprise an instrument insulative portion providable between the instrument and the instrument driven portion. The instrument insulative portion may be configurable to electrically isolate the instrument from at least the instrument driven portion when the instrument insulative portion is provided between the instrument and the instrument driven portion. The wrist assembly may include a wrist driven portion configurable to be driven in such a way as to move the instrument relative to a second axis.

Abstract: Example embodiments relate to endoscopic systems. The system includes 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 systems comprising an end-effector assembly and arm assembly. The end-effector assembly may include a first instrument assembly having a first instrument and first instrument driven portion configurable to be driven to move the first instrument relative to a first axis. The arm assembly may include first and second arm assembly bodies, first arm assembly joint portion for joining the first and second arm assembly bodies, first instrument drive assembly, and first arm assembly drive assembly. The first instrument drive assembly may include a first integrated motor and first instrument drive portion controllable by the first integrated motor to drive the first instrument driven portion. The first arm assembly drive assembly may include a second integrated motor and first arm assembly drive portion controllable by the second integrated motor to drive the first arm assembly body to move relative to the second arm assembly body.

Abstract: A robotic actuator includes an internal anchor and an instrument. The internal anchor is adapted to be inserted into a body via an entrance port, positioned inside the body, and magnetically coupled with an external anchor positioned outside the body. The instrument is adapted to be inserted into the body via the entrance port and secured to the internal anchor. The instrument includes an end-effector having multiple degrees of movement via multiple axes, and a plurality of actuators that provide the multiple degrees of movement.

Abstract: Example embodiments relate to surgical devices, systems, and methods. The system may include a first end section and second end section. The first end section includes a first end channel and first gate assembly. The first gate assembly is configurable to transition between an open position to allow access through the first end channel and closed position to prevent access through the first end channel. The second end section includes a second end channel. The second end channel is substantially aligned with the first end channel. The second end section also includes a second gate assembly configurable to transition between an open position to allow access through the second end channel and closed position to prevent access through the second end channel. The second end section also includes an anchor port configurable to securable to a surgical instrument. The first end section is configurable to secure to an external anchor.

Abstract: Example embodiments relate to a device comprising a port assembly, instrument arm assembly, and camera arm assembly. The port assembly includes an outer and inner body. The outer body includes a first access port, first end, second end, and anchoring portions. The inner body is positionable in the first access port to form a second access port. The instrument arm assembly is configurable in a serial arrangement of arm segments, joint portions, and end instrument. The instrument arm assembly is configurable to attach to an anchoring portion. The camera arm assembly includes a camera, and configurable to attach to an anchoring portion. The port assembly is configurable to provide at least one degree of freedom, and configurable to allow insertion of the instrument arm assembly and camera arm assembly into an abdominal cavity. The port assembly is configurable to allow insertion of instruments into the abdominal cavity.

Abstract: Example embodiments relate to surgical systems having end-effector assembly, first and second arm assemblies, and elbow joint assembly. End-effector assembly includes instrument assembly and wrist assembly. Instrument assembly includes a first instrument. First arm assembly includes a body, first and second instrument drive assemblies, wrist drive assembly, and first arm drive assembly. First instrument drive assembly is configurable to move first instrument relative to first axis. Wrist drive assembly is configurable to move instrument assembly relative second axis. First arm drive assembly is configurable to rotate end-effector assembly relative to third axis. Elbow joint assembly includes elbow pitch joint portion configurable to be driven to move first arm assembly relative to fourth axis. Elbow joint assembly also includes elbow sway joint portion configurable to be driven to move first arm assembly relative to fifth axis.

Abstract: Example embodiments relate to surgical systems comprising an end-effector assembly and first arm assembly. The end-effector assembly may include a first instrument assembly, which includes a first instrument configurable to move relative to a first axis, and a wrist assembly having a wrist driven portion configurable to be driven so as to move the first instrument relative to a second axis. The first arm assembly may include a first arm assembly joint portion for joining the first arm assembly to a second arm assembly, wrist drive portion configurable to drive the wrist driven portion, and elbow driven portion configurable to be driven so as to move the first arm assembly relative to a third axis. The second arm assembly may include an elbow drive assembly having a first integrated motor and elbow drive portion controllable by the first integrated motor to drive the elbow driven portion.

Abstract: Example embodiments relate to surgical devices, systems, and methods. The system may include an end-effector assembly. The end-effector assembly may comprise an instrument assembly and a wrist assembly. The instrument assembly may comprise an instrument for performing a surgical action. The instrument assembly may further comprise an instrument driven portion configurable to be driven in such a way as to move the instrument relative to a first axis. The instrument assembly may further comprise an instrument insulative portion providable between the instrument and the instrument driven portion. The instrument insulative portion may be configurable to electrically isolate the instrument from at least the instrument driven portion when the instrument insulative portion is provided between the instrument and the instrument driven portion. The wrist assembly may include a wrist driven portion configurable to be driven in such a way as to move the instrument relative to a second axis.

Abstract: A surgical system includes an external anchor, an internal anchor and an instrument. The external anchor is adapted to be positioned outside a body. The internal anchor is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor. The instrument is adapted to be inserted into the body via the single entrance port and secured to the internal anchor. The instrument includes an end-effector that has multiple degrees of movement via multiple axes.

Abstract: Example embodiments relate to surgical devices, systems, and methods. The system may include a port assembly and instrument arm assembly. The port assembly may have first and second end sections. The first end section may include a first end channel and first gate assembly. The second end section may include a second end channel, second gate assembly, and anchor port. The first and second gate assemblies may be configurable to transition between an open position to allow access through the first and second end channels, respectively, and a closed position to prevent access to same. The instrument arm assembly may include a shoulder section securable to the 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.

Abstract: Example embodiments relate to surgical systems comprising an end-effector assembly and arm assembly. The end-effector assembly may include a first instrument assembly having a first instrument and first instrument driven portion configurable to be driven to move the first instrument relative to a first axis. The arm assembly may include first and second arm assembly bodies, first arm assembly joint portion for joining the first and second arm assembly bodies, first instrument drive assembly, and first arm assembly drive assembly. The first instrument drive assembly may include a first integrated motor and first instrument drive portion controllable by the first integrated motor to drive the first instrument driven portion. The first arm assembly drive assembly may include a second integrated motor and first arm assembly drive portion controllable by the second integrated motor to drive the first arm assembly body to move relative to the second arm assembly body.

Abstract: A surgical system includes a manipulator, an implantable actuator and a controller. The manipulator includes a plurality of integrated sensor/actuators. The sensors of the sensor/actuators are adapted to detect movement about a plurality of axes of movement. The implantable actuator includes a plurality of joints providing a plurality of axes of movement. The controller is configured to receive information from the plurality of sensor/actuators that indicates movement of the manipulator about the plurality of axes and to cause the joints of the actuator to move along corresponding axes of movement. Each sensor/actuator of the manipulator detects movement about an axis of movement corresponding to a similar one of the joints of the actuator.

Abstract: A surgical system includes an external anchor, an internal anchor and an instrument. The external anchor is adapted to be positioned outside a body. The internal anchor is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor. The instrument is adapted to be inserted into the body via the single entrance port and secured to the internal anchor. The instrument includes an end-effector that has multiple degrees of movement via multiple axes.

Abstract: A robotic actuator includes an internal anchor and an instrument. The internal anchor is adapted to be inserted into a body via an entrance port, positioned inside the body, and magnetically coupled with an external anchor positioned outside the body. The instrument is adapted to be inserted into the body via the entrance port and secured to the internal anchor. The instrument includes an end-effector having multiple degrees of movement via multiple axes, and a plurality of actuators that provide the multiple degrees of movement.