Abstract: The systems and devices disclosed herein can include a force transfer mechanism that permits force transfer between an instrument device manipulator and a tool coupled to the instrument device manipulator. The force transfer mechanism can include a first alignment member and a second alignment member. The first alignment member can have a disengaged position in which the first alignment member is out of engagement with the second alignment member, thereby reducing or preventing engagement between an instrument device manipulator base driveshaft and a tool driveshaft and permitting rotation of the base driveshaft relative to the tool driveshaft. When in an engaged position, the second alignment member can permit engagement between the base driveshaft to the tool driveshaft and transfer of rotary motion from the base driveshaft to the tool driveshaft. Additionally, the present disclosure also relates to methods of preparing and using a medical robotic system.

Abstract: The systems and devices disclosed herein can include a force transfer mechanism that permits force transfer between an instrument device manipulator and a tool coupled to the instrument device manipulator. The force transfer mechanism can include a first alignment member and a second alignment member. The first alignment member can have a disengaged position in which the first alignment member is out of engagement with the second alignment member, thereby reducing or preventing engagement between an instrument device manipulator base driveshaft and a tool driveshaft and permitting rotation of the base driveshaft relative to the tool driveshaft. When in an engaged position, the second alignment member can permit engagement between the base driveshaft to the tool driveshaft and transfer of rotary motion from the base driveshaft to the tool driveshaft. Additionally, the present disclosure also relates to methods of preparing and using a medical robotic system.

Abstract: Certain aspects relate to systems and techniques for robotic medical instrument system. The medical system can include an elongated shaft configured for insertion into a patient. The system can also include a pull wire extending along the elongated shaft. The pull wire can be actuatable to articulate the elongated shaft. The medical system can include a dynamic pulley coupled to the pull wire, the dynamic pulley configured to collapse during rotation in a first direction and to expand during rotation in a second direction opposite the first direction.

Abstract: A medical instrument includes an instrument base, the instrument base including a first robotic drive input and a linear actuator coupled to the first robotic drive input, the first robotic drive input configured to couple to a corresponding robotic drive output of a robotic instrument driver, and an elongate shaft extending from a proximal portion of the instrument base, wherein the linear actuator couples to a portion of the elongate shaft at a point distal to the proximal portion of the instrument base.

Abstract: Certain aspects relate to systems and techniques for robotic medical instrument system. The medical system can include an elongated shaft configured for insertion into a patient. The system can also include a pull wire extending along the elongated shaft. The pull wire can be actuatable to articulate the elongated shaft. The medical system can include a dynamic pulley coupled to the pull wire, the dynamic pulley configured to collapse during rotation in a first direction and to expand during rotation in a second direction opposite the first direction.

Abstract: Certain aspects relate to robotic medical instrument systems. Such a system can include first and second medical instruments. The first medical instrument can include an instrument base and an elongate shaft extending from the instrument base, and a robotic drive input. The first medical instrument may include an instrument inlet. The second medical instrument may include an instrument base and an elongate shaft that extends through the instrument inlet. The second medical instrument can include a robotic drive input that is coupled to a rotating element in the second medical instrument. The robotic medical instrument system can include a robotic arm that has first and second robotic drive outputs. The first robotic drive output can drive the robotic drive input of the first medical instrument, and the second robotic drive output can drive the robotic drive input of the second medical instrument.

Abstract: A medical instrument includes an elongate shaft defining a roll axis and a handle coupled to the elongate shaft. The handle includes a robotic drive input operable to rotate the elongate shaft with respect to the handle about the roll axis and a lockout mechanism movable between an engaged position in which the lockout mechanism impedes rotation of the elongate shaft with respect to the handle about the roll axis, and a disengaged position in which the lockout mechanism permits rotation of the elongate shaft with respect to the handle about the roll axis.

Abstract: A medical instrument drive assembly includes a base portion, a first set of one or more drive outputs, a platform secured to the base portion, and a latching mechanism. The first set of one or more drive outputs are coupled to and/or extending from the base portion and are configured to drive a first medical instrument. The platform is secured to the base portion and movable between an elevated configuration and a depressed configuration. The platform is biased in the elevated configuration. The latching mechanism is configured to cause the platform to be held in the depressed configuration.

Abstract: Certain aspects relate to systems and techniques for robotic medical instrument system. The medical system can include an elongated shaft configured for insertion into a patient. The system can also include a pull wire extending along the elongated shaft. The pull wire can be actuatable to articulate the elongated shaft. The medical system can include a dynamic pulley coupled to the pull wire, the dynamic pulley configured to collapse during rotation in a first direction and to expand during rotation in a second direction opposite the first direction.

Abstract: Certain aspects relate to robotic medical instrument systems. Such a system can include first and second medical instruments. The first medical instrument can include an instrument base and an elongate shaft extending from the instrument base, and a robotic drive input. The first medical instrument may include an instrument inlet. The second medical instrument may include an instrument base and an elongate shaft that extends through the instrument inlet. The second medical instrument can include a robotic drive input that is coupled to a rotating element in the second medical instrument. The robotic medical instrument system can include a robotic arm that has first and second robotic drive outputs. The first robotic drive output can drive the robotic drive input of the first medical instrument, and the second robotic drive output can drive the robotic drive input of the second medical instrument.