Abstract: An autonomous system and method for controlling the operation of a steerable surgical device includes multiple surgical device actuation elements, an imaging apparatus (e.g., ultrasound) arranged external to a mammalian body, and at least one processor. The processor(s) is/are configured to generate a transit path between an insertion point and a target point, control the surgical device actuation elements to advance the steerable surgical device along one or more segments of the transit path, identify deviation of position relative to the transit path utilizing signals from the imaging apparatus and generate an updated transit path, and control the surgical device actuation elements to advance the steerable surgical device along at least one segment of the updated transit path. Transit of the steerable surgical device between the insertion point and the target point may be controlled without human intervention.

Abstract: A steerable surgical device includes tubular body members and at least one moveable joint, with a moveable tray member arranged to permit tissue extraction and a retractable tip member for removal of a sample while a remainder of the surgical device remains in the tissue. A method utilizes sensed SMA electrical properties and sensed compressive force to determine joint deflection that is used with a joint deflection model to map tip position in tissue. Another method for determining position of a tip of a steerable instrument within tissue utilizes transverse ultrasound probe images and image processing together with saved and predicted tip information.

Abstract: A steerable surgical device includes a flexible joint positioned between first and second tubular elements, with multiple shape memory alloy wire elements extending across or through the joint being circumferentially spaced relative to one another and independently actuatable to effectuate pivotal movement between the first and second tubular elements (e.g., along at least two or at least three nonparallel planes) to provide enhanced maneuverability relative to single degree of freedom steerable devices. Longitudinal guide structures (e.g., channels or bores) and/or anchor points for shape memory alloy wire elements may be circumferentially spaced in or on the tubular elements to receive the shape memory alloy wire elements.

Abstract: An autonomous system and method for controlling the operation of a steerable surgical device includes multiple surgical device actuation elements, an imaging apparatus (e.g., ultrasound) arranged external to a mammalian body, and at least one processor. The processor(s) is/are configured to generate a transit path between an insertion point and a target point, control the surgical device actuation elements to advance the steerable surgical device along one or more segments of the transit path, identify deviation of position relative to the transit path utilizing signals from the imaging apparatus and generate an updated transit path, and control the surgical device actuation elements to advance the steerable surgical device along at least one segment of the updated transit path. Transit of the steerable surgical device between the insertion point and the target point may be controlled without human intervention.

Abstract: A steerable surgical device includes a flexible joint positioned between first and second tubular elements, with multiple shape memory alloy wire elements extending across or through the joint being circumferentially spaced relative to one another and independently actuatable to effectuate pivotal movement between the first and second tubular elements (e.g., along at least two or at least three nonparallel planes) to provide enhanced maneuverability relative to single degree of freedom steerable devices. Longitudinal guide structures (e.g., channels or bores) and/or anchor points for shape memory alloy wire elements may be circumferentially spaced in or on the tubular elements to receive the shape memory alloy wire elements.