Abstract: A catheter driving system is configured to navigate various medical catheters through complex narrow tissue openings or between organs and tissue planes, which may include lung bronchi pathway openings of 3 millimeters or less. These catheters may comprise one or more sections and optional steering cables. The catheter driving device comprises at least one rotary actuator configured to rotate at least one region of the catheter and at least one steering cable actuator configured to apply flexing force to control the direction of the catheter. To prevent the rotary actuator from tangling the steering cables, the system is further configured to rotate at least one steering cable along with the rotation of the rotated catheter region. This cable rotation may be 1:1 (e.g., synchronously) with the catheter rotation or may be configured to vary somewhat to accommodate catheter twisting, spring action, windup, and other effects.

Abstract: Catheter device and driving system configured to navigate the catheter through complex narrow tissue openings such as lung bronchi pathway openings of 3 millimeters or less. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion connected to this torque shaft. The distal position of the catheter is controlled by at least one steering cable/tensioning cable arrangement. The system uses processor-controlled actuators that simultaneously rotate the torque shaft and the at least one steering cable/tensioning cable in a 1:1 relationship, while also actuating the steering cable. The catheter is tipped by a tool plate, which can be equipped with various sensors and other instruments and connected to the outside via other conduits.

Abstract: Catheter device and driving system configured to navigate the catheter through complex narrow tissue openings such as lung bronchi pathway openings of 3 millimeters or less. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion by an isolation transition coupler connected to this torque shaft. The distal position of the catheter is controlled by at least one steering cable/isolation coil arrangement. The system uses processor-controlled actuators that simultaneously rotate the torque shaft and the at least one steering cable/isolation coil in a 1:1 relationship, while also actuating the steering cable. The catheter is tipped by a tool plate, which can be equipped with various sensors and other instruments, connected to the outside via other conduits.

Abstract: Catheter device and driving system configured to navigate the catheter through complex narrow tissue openings such as lung bronchi pathway openings of 3 millimeters or less. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion connected to this torque shaft. The distal position of the catheter is controlled by at least one steering cable/tensioning cable arrangement. The system uses processor-controlled actuators that simultaneously rotate the torque shaft and the at least one steering cable/tensioning cable in a 1:1 relationship, while also actuating the steering cable. The catheter is tipped by a tool plate, which can be equipped with various sensors and other instruments and connected to the outside via other conduits.

Abstract: Catheter device and driving system configured to navigate the catheter through complex narrow tissue openings such as lung bronchi pathway openings of 3 millimeters or less. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion by an isolation transition coupler connected to this torque shaft. The distal position of the catheter is controlled by at least one steering cable/isolation coil arrangement. The system uses processor-controlled actuators that simultaneously rotate the torque shaft and the at least one steering cable/isolation coil in a 1:1 relationship, while also actuating the steering cable. The catheter is tipped by a tool plate, which can be equipped with various sensors and other instruments, connected to the outside via other conduits.

Abstract: System and method for using processor-controlled actuators to drive multi-stage catheter devices configured to navigate through complex narrow tissue openings such as lung bronchi pathway openings. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion by a rotatable coupler connected to this hollow shaft. The distal position of the proximal catheter can be controlled by independently controlled proximal stage steering cables positioned outside of the shaft, and the shaft itself can be used to rotate the distal catheter about the rotatable coupler. The position of the distal end of the distal catheter can be further controlled by distal stage steering cables positioned inside of the hollow shaft. The device is tipped by a tool plate, which can be equipped with various sensors and other instruments, connected to the outside via other conduits.

Abstract: Multi-stage catheter device configured to navigate through complex narrow tissue openings such as lung bronchi pathway openings of 3 millimeters or less. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion by a rotatable coupler connected to this hollow shaft. The distal position of the proximal catheter can be controlled by up to four independently controlled proximal stage steering cables positioned outside of the shaft, and the shaft itself can be used to rotate the distal catheter about the rotatable coupler. The position of the distal end of the distal catheter can be further controlled by up to four independently controlled distal stage steering cables positioned inside of the hollow shaft. The device is tipped by a tool plate, which can be equipped with various sensors and other instruments, connected to the outside via other conduits.

Abstract: In an example, there is provided a method for manipulating a robotic surgery tool, the method comprising: applying tension to a first pull wire to cause a first link of a joint device of the tool to pivot in a first plane relative to a yoke attached to the first link; and applying tension to a second pull wire to cause a second link attached to the yoke to pivot in a second plane orthogonal to the first plane.