Abstract: Some devices, systems, and methods obtain a fluoroscopic image and corresponding C-arm positional information of the fluoroscopic image, wherein the fluoroscopic image depicts a distal end of a bendable medical device, and wherein the C-arm positional information indicates a rotation angle of a C-arm of a C-arm scanner; obtain an orientation of the distal end in an image plane of the fluoroscopic image, wherein the image plane is defined in a detector reference frame; obtain an instructed direction; determine, in the image plane, a movement direction of the distal end that corresponds to the instructed direction; map the movement direction from the image plane to a distal-end reference frame of the distal end, wherein the mapping is based on an orientation of the distal end in an intermediate reference frame and on the C-arm positional information; and control the distal end to move according to the mapped movement direction.

Abstract: Provided herein is a robot apparatus, system and method of use. The robot system may comprise a bendable body having a plurality of steerable segments, a display, and a controller, where the controller controls actuation of the steerable segments based on an input data. The controller may provide a display that provides information to the user about the various bending modes, and the controller may change the bending mode based on information from the bendable body.

Abstract: A continuum robot having independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates a system, method and apparatus for transitioning between modes for ease of use by a physician, as well as a transitional park mode for ensuring correct manipulation of the continuum robot.

Abstract: A medical apparatus (100) includes a medical device (108) with bending sections and a distal end, at least one imaging device (110) at the distal end, at least one sensor (112), and at least one processor (201) which performs receiving input data input data from user input, the imaging device (110), the sensor (112), or combinations thereof, determining a bending plane and a bending angle of the distal end of the medical device (108), predicting location movement and position of the bending sections based on input data, displaying an image view based on the input data and displaying the predicted location movement and position of the bending sections on the image view.

Abstract: A continuum robot having at least two independently manipulatable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates a system, method and apparatus including a ‘relax mode’ capable of relaxing at least one of the bendable sections, allowing the bendable section to conform to the surrounding anatomy.

Abstract: A system for, display controller connected to, and a method of, operating a robotic catheter system which is configured to manipulate a catheter having one or more bending segments along the catheter's length and a catheter tip at the distal end thereof, and which includes an actuator unit coupled to the bending segments via one or more drive wires arranged along a wall of the catheter. The method comprising: inserting at least part of the catheter into a lumen along an insertion trajectory that spans from an insertion point to a target; causing the actuator unit to actuate at least one of the one or more drive wires to align the catheter tip with the target; determining the position and/or orientation of the catheter tip with respect to the target; and displaying information about an accuracy of alignment between the catheter tip with respect to the target.

Abstract: The device 1 includes a main body drive portion (300) including a plurality of driving sources (M11 to M33), a base unit (200) including a coupling device (21) connected to the main body drive portion, a bendable unit (100) detachably attached to the base unit, and a detection unit configured to detect the coupling portions. In the above configuration, the driving sources are driven, and coupling is detected by sensors.

Abstract: A robotic catheter system and methods for implementing corrective actions during use thereof. A method comprises: providing a catheter that has one or more bendable segments and a catheter tip, inserting the catheter into a bodily lumen and navigating the catheter through the lumen along an insertion trajectory while an actuation unit applies an actuation force to the one or more bendable segments; recording a navigation parameter in relation to the insertion trajectory while the catheter is moved through the lumen, displaying, on a display, a graphical representation of the navigation parameter relative to a threshold value indicative of a location along the insertion trajectory where a navigation error of the catheter can occur or has occurred; and outputting to the display an interactive user-guide showing one or more than one corrective actions that can be taken to correct and/or prevent the navigation error.

Abstract: Provided herein is a robot apparatus, system and method of use. The robot system may comprise a bendable body having a plurality of steerable segments and a controller, where the controller controls actuation of the steerable segments based on an input data. In some embodiments, the input data is at least one of: a target bend, or a data representation of target bend. In some embodiments, the input data of operation mode may be the selection of a Distributed bending mode, wherein the controller is configured to move the at least one proximal drive wire and the at least one distal drive wire simultaneously.

Abstract: A method for visualization guidance of device-to-image registration includes acquiring image data of a patient, generating a 3D model of the anatomy of the patient based on the image data, performing initial registration between image space and device space, advancing a device into a structure, tracking trajectory of the device in relation to the model, determining divergence between the device trajectory and the model, and effecting correction to the model or the device trajectory to minimize the divergence.

Abstract: A robot-assisted endoscope system and control methods thereof allow a user to perform intraluminal interventional procedures using a steerable sheath. A processor generates a ghost image based on a non-real-time insertion trajectory of the sheath, and a real-time image based on a real-time insertion trajectory for inserting an interventional tool through the sheath towards the target site. A display screen outputs navigation guidance data for informing a user how to manipulate the distal section of the sheath towards the target site such that the real-time image overlaps or coincides with at least part the ghost image and the real-time insertion trajectory becomes aligned with the non-real-time insertion trajectory.

Abstract: Some devices, systems, and methods obtain a fluoroscopic image and corresponding C-arm positional information of the fluoroscopic image, wherein the fluoroscopic image depicts a distal end of a bendable medical device, and wherein the C-arm positional information indicates a rotation angle of a C-arm of a C-arm scanner; obtain an orientation of the distal end in an image plane of the fluoroscopic image, wherein the image plane is defined in a detector reference frame; obtain an instructed direction; determine, in the image plane, a movement direction of the distal end that corresponds to the instructed direction; map the movement direction from the image plane to a distal-end reference frame of the distal end, wherein the mapping is based on an orientation of the distal end in an intermediate reference frame and on the C-arm positional information; and control the distal end to move according to the mapped movement direction.

Abstract: An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.

Abstract: One or more devices, systems, methods, and storage mediums for performing image correction and/or adjustment are provided herein. Examples of such image correction and/or adjustment include, but are not limited to, correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. Examples of applications include imaging, evaluating, and diagnosing biological objects, such as, but not limited to, for Gastro-intestinal, cardio, bronchial, and/or ophthalmic applications, and being obtained via one or more optical instruments, such as, but not limited to, optical probes, catheters, endoscopes, and bronchoscopes. Techniques provided herein also improve processing and imaging efficiency while achieving images that are more precise, and also achieve imaging devices, systems, methods, and storage mediums that reduce mental and physical burden and improve ease of use.

Abstract: A medical guidance apparatus (100) includes a base assembly (110) configured to be attached to a subject and a guide (150) configured to be removably mated with the base assembly (110). The base assembly (110) has an opening (160), and the guide (150) includes a rotatable ring (152) and an arc member (154). The arc member (154) includes a first end (162) and a second end (164), the first end of the arc member is connected to the rotatable ring (152) and the second end extends diametrically opposite to the first end across the rotatable ring. A probe holder (600) is mounted on the arc member (154) so as to hold a needle-like instrument (2161) at a desired angle relative to an axis (Ax) of the rotatable ring (152). In some embodiments, the arc member is monolithically integrated with the rotatable ring. In other embodiments, the arc member is pivotable and/or completely removable from the rotating ring.

Abstract: An articulated medical device having a hollow core, capable of large degrees of maneuverability through small cavities to reach a target with minimal invasiveness, wherein the medical device is capable of manual and robotic manipulation.

Abstract: The subject disclosure is directed to an articulated medical device having a sensor for detecting outside movements applied upon the medical device while in a subject or patient, wherein the device is capable of maneuvering within the subject or patient while taking the outsides movements into consideration.

Abstract: An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.

Abstract: A method for visualization guidance of device-to-image registration includes acquiring image data of a patient, generating a 3D model of the anatomy of the patient based on the image data, performing initial registration between image space and device space, advancing a device into a structure, tracking trajectory of the device in relation to the model, determining divergence between the device trajectory and the model, and effecting correction to the model or the device trajectory to minimize the divergence.

Abstract: A robot-assisted endoscope system and control methods thereof allow a user to perform intraluminal interventional procedures using a steerable sheath. A processor generates a ghost image based on a non-real-time insertion trajectory of the sheath, and a real-time image based on a real-time insertion trajectory for inserting an interventional tool through the sheath towards the target site. A display screen outputs navigation guidance data for informing a user how to manipulate the distal section of the sheath towards the target site such that the real-time image overlaps or coincides with at least part the ghost image and the real-time insertion trajectory becomes aligned with the non-real-time insertion trajectory.