Abstract: The surgical instrument includes a distal tool, an elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal bendable member comprises a ball and socket assembly supported between the handle and instrument shaft and constructed and arranged for three dimensional motion.

Abstract: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal movable member comprises a movable ring assembly supported from the handle and adapted for three dimensional motion relative to the handle. A manually rotatable member may be arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle. A locking member may be supported from the control handle.

Abstract: A robotically controlled surgical instrument includes a first jaw and a second jaw used to grasp an item, and a drive mechanism that increases the force applied to the item grasped. The drive mechanism and the jaws can be provided with an accommodating mechanism that allows continued movement of the drive mechanism towards a locked position even after the jaws contact a larger item so that the drive mechanism can move to the locked position when grasping items of different sizes.

Abstract: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.

Abstract: A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states.

Abstract: An instrument guide device comprises an elongated guide shaft having proximal and distal ends and including an instrument lumen for receiving therethrough a manually operated instrument having an instrument shaft. A distal bendable member is disposed at the distal end of the guide shaft and a proximal bendable member is disposed at the proximal end of the guide shaft. Actuation means extends between the distal and proximal bendable members and provides a bending of the distal bendable member controlled from the proximal bendable member. The proximal bendable member is controlled from the manually operated instrument to cause a corresponding bending of said distal bendable member. A locking mechanism has locked and unlocked positions and includes a ball and socket arrangement disposed about the proximal bendable member and a cinch member for locking the ball and socket arrangement.

Abstract: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal movable member comprises a movable ring assembly supported from the handle and adapted for three dimensional motion relative to the handle. A manually rotatable member may be arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle. A locking member may be supported from the control handle.

Abstract: A robotically controlled medical instrument includes a bending section with a unibody construction, a tool supported at a distal end of the bending section and used to perform a medical procedure on a subject such as a human patient, and an electronic controller that controls the bending section to provide at least one degree-of-freedom of movement.

Abstract: A medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal movable members that respectively intercouple the proximal control handle and the distal tool with the instrument shaft, cable control means disposed between the movable members, an actuation member at the handle for controlling the distal tool through the movable members, and a coupler for selectively engaging or disengaging the shaft portion of the instrument from the handle portion. The handle has a distal receiver portion, and a shaft connector on said proximal motion member is selectively engageable with and releaseable from the receiver portion.

Abstract: A medical instrument having a proximal control handle and a distal tool that are intercoupled by an elongated instrument shaft that is meant to pass internally of an anatomic body, proximal and distal movable members that respectively intercouple the proximal control handle and the distal tool with the instrument shaft, cable control means disposed between the movable members, an actuation member at the handle for controlling the distal tool through the movable members, and a coupler for selectively engaging or disengaging separable cable segments of the actuation member.

Abstract: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.

Abstract: A surgical instrument having an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle coupled from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle and actuation means extending between distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool. Rotation control and locking members are also disclosed.

Abstract: A medical instrument assembly and robotic medical system are provided. The assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, a controllably bendable section associated with shaft and disposed proximal to the tool, an actuation element extending within the shaft and along the bendable section for controlling actuation of the tool, another actuation element configured for actuating the bendable section, and means for decoupling motion at the bendable sections from the tool actuation. The system comprises the assembly, a user interface configured for generating commands, a drive unit coupled to the actuating element and the other actuating element, and an electric controller configured, in response to the commands, for directing the drive unit to move the actuating elements to actuate the tool and drive the other actuating element to bend the bendable section.

Abstract: A medical instrument assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, an end effector, a threaded housing in which the threaded distal shaft end is configured for being screwed, and a first threaded piece disposed in the threaded housing and configured for being moved to actuate the end effector. The assembly further comprises an actuation element extending within the shaft. The actuation element includes a second threaded piece that distally extends from the threaded distal shaft end. The second threaded piece is configured for being screwed to the first threaded piece. A robotic system comprises the assembly, a user interface configured for generating command(s), a drive unit coupled to the actuating element, and an electric controller configured, in response to the command(s), for directing the drive unit to move the actuating element to actuate the tool.

Abstract: A medical instrument assembly comprises an elongated shaft, a tool carried by the distal end of the elongated shaft for performing a medical procedure on a patient, a plurality of controllably bendable sections spaced along the elongated shaft and disposed proximal to the tool, a plurality of actuation elements extending within the elongated shaft for respectively actuating the controllably bendable sections, and an instrument coupler mounted to the proximal end of the elongated shaft, with the instrument coupler configured for coupling an electromechanical drive to the actuation elements. A robotic medical system comprises the previously described medical instrument assembly, a user interface configured for generating at least one command, a drive unit coupled to the plurality of actuating elements of the medical instrument assembly, and an electric controller configured, in response to the command(s), for directing the drive unit to moves the actuating elements to actuate the controllably bendable sections.

Abstract: A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states.

Abstract: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.

Abstract: The surgical instrument includes a distal tool, an elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal bendable member comprises a ball and socket assembly supported between the handle and instrument shaft and constructed and arranged for three dimensional motion.

Abstract: A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool, a rotation knob disposed adjacent the control handle and rotatable relative to the control handle for causing a corresponding rotation of the instrument shaft and tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states.