Abstract: A system for an automatic multimodal real-time tracking of moving instruments for image plane alignment inside an MRI scanner includes: an MRI scanner, an MRI multi-plane pulse sequence generating unit allowing to interactively modify the position and orientation of one or several image planes in real-time, one or several external optical sensors with high frame rate, preferably a RGB-D sensor or other similar camera system like a stereovision systems, a multimodal marker including at least one MR visible feature and one visual feature able to be tracked by both the MRI scanner and the at least one external optical sensor, a computer for processing in real-time images from both MRI and optical sensor to fuse the detected marker position and orientation or pose from both modalities, and predict the next image plane position and orientation based on the estimated motion of the moving marker.

Abstract: A motorized, modular instrumentation device and an endoscopy system including such device. The motorized, modular instrumentation device includes at least one operational unit mounted on at least one support structure and integrating a motorized medical instrument module including, first, an elongated medical instrument with a tool arranged on one distal end, it being possible to bend the corresponding end portion of the instrument, and second, at least one electrical actuating element controlling the operation of the tool and/or the bending of the distal end portion, via transmission elements extending within the elongated body of the instrument. The actuating element(s) is/are installed in a hollow body connected to the proximal end of the instrument and the hollow body is itself arranged, with rotational guiding, within a reception housing adapted to move, at least translationally, on the support structure, the movements of the hollow body and the reception housing being motorized.

Abstract: A device for selectively grasping a part of a separate elongated body extending through the device, includes at least three partially mobile jaw members defining between them a through hole of variable diameter depending on their mutual relative positioning, supporting and driving elements to which the jaw members are mounted and which are adapted to provide a coordinated motion to the members around the elongated body situated in the variable through hole, resulting in a closing or opening of the through hole. The jaw members have an elongated shape with two opposed ends and the supporting and driving elements include a circular or annular support body to which a first end of each jaw member is connected and a mobile annular driving body to which a second opposed end of each jaw member is connected.