Abstract: A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.

Abstract: A support structure comprises a base joint coupling a proximal link of the support structure to a base. The proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a linkage mechanism. The linkage mechanism maintains an orientation of an instrument support relative to the base as the support structure is moved from a first configuration to a second configuration. In the second configuration, the support structure is rotated relative to the base about the first axis.

Abstract: An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly. The variable-length support assembly includes a first end, a second end, a plurality of support member pairs, and a plurality of eyelets configured to receive the elongated flexible instrument. Each support member pair comprises a first support member linked to a second support member, and each of the plurality of eyelets is movably coupled to at least one of the plurality of support member pairs along a longitudinal central axis between the first end and the second end. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along the longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis.

Abstract: An input control console for a flexible elongate device may comprise an input control having an infinite length of travel in a one or more directions. The input control may provide a command suitable for controlling a degree of freedom motion of the flexible elongate device. The input control console may also comprise a ring located on a top surface of the console, the input control being mounted within the ring.

Abstract: A medical instrument system is provided. The medical instrument system comprises an instrument manipulator configured to control a pose of a medical instrument with respect to a patient anatomy. The medical instrument system further comprises a support structure configured to control a pose of the instrument manipulator. The medical instrument system further comprises a control system including a processor. The control system is configured to: receive data for determining a shape of a length of the medical instrument; compare the shape of the length of the medical instrument with a threshold value; determine if the shape of the length of the medical instrument is beyond the threshold value; and provide instructions for adjusting a position of the instrument manipulator based on the determination.

Abstract: A system comprises an instrument drive system that comprises a first housing, a first magnetic coupling member within the first housing, and a motor mechanically coupled to the first magnetic coupling member. The motor is configured to rotate the first magnetic coupling member. The system further comprises a medical instrument that comprises a second housing, a rotor within the second housing, and a second magnetic coupling member within the second housing and mechanically coupled to the rotor. The second magnetic coupling member is spaced from and magnetically coupled to the first magnetic coupling member. Rotation of the first magnetic coupling member causes rotation of the second magnetic coupling member and the rotor.

Abstract: A medical instrument system comprises an instrument manipulator configured to control a position of a medical instrument with respect to a base. The instrument manipulator comprises an instrument carriage comprising a medical instrument connector configured to engage the medical instrument. The instrument carriage is configured to translate along a linear axis to advance or retract the medical instrument with respect to the base. The medical instrument system also comprises an insertion stage slideably engaged with the instrument carriage along the linear axis. The insertion stage has a drive assembly comprising a drive belt and a drive motor configured to drive the drive belt. The base is fixedly coupled to the drive belt. The medical instrument system also comprises a connecting element having a distal end fixedly coupled to the drive belt and a proximal end fixed to the instrument carriage.

Abstract: A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.

Abstract: A control system for a device comprises a processor configured to receive, via one or more sensors, a contact signal indicating that an operator is in contact with an input control of an input control console coupled to the control system. The processor is further configured to determine whether the contact signal is an activation signal. The processor is further configured to receive an input representing a commanded motion of the device at the input control. The processor is further configured to execute the commanded motion if the processor determines that the contact signal is the activation signal.

Abstract: A system comprises an optical fiber, a manipulator assembly, and a control unit. The manipulator assembly comprises a chassis, an optical fiber cleaning assembly housed within the chassis, and a drive mechanism housed within the chassis. The optical fiber cleaning assembly comprises a cleaning tape, a first spool on which the cleaning tape is wound, and a second spool onto which the cleaning tape is drawn after use. The drive mechanism is configured to advance the cleaning tape from the first spool to the second spool such that a portion of the cleaning tape wipes a face of the optical fiber. The control unit is configured to control the drive mechanism to advance the cleaning tape.

Abstract: A device includes a first mechanism having a surface and a helical slot in the surface, a second mechanism having a periphery and an axial slot in the periphery, and an insert comprising a pin. The second mechanism is located within the first mechanism. The insert is located within the second mechanism. The pin extends from the insert through the axial slot of the second mechanism and into the helical slot of the first mechanism. The insert is configured to couple to an instrument. In some embodiments, the insert is configured to move the instrument in a degree of freedom in response to the second mechanism being held stationary and the first mechanism being rotated. In some embodiments, the degree of freedom is an insertion and retraction degree of freedom.

Abstract: An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly. The variable-length support assembly includes a first end, a second end, a plurality of support member pairs, and a plurality of eyelets configured to receive the elongated flexible instrument. Each support member pair comprises a first support member linked to a second support member, and each of the plurality of eyelets is movably coupled to at least one of the plurality of support member pairs along a longitudinal central axis between the first end and the second end. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along the longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis.

Abstract: A medical system may include an elongated flexible body including a channel extending through the elongated flexible body. The elongated flexible body includes an articulable portion extending along at least a portion of a length of the elongated flexible body. The medical system may include an instrument configured to be received in the channel of the elongated flexible body, a magnetic field generator configured to generate a magnetic field within the channel, and a magnetic field sensor configured to detect the magnetic field generated by the magnetic field generator.

Abstract: An optical fiber cleaning assembly includes a cleaning tape, a first spool having the cleaning tape wound thereon, a second spool onto which the cleaning tape is drawn, a drive mechanism configured to move the cleaning tape from the first spool to the second spool, and one or more first connectors configured to mate with one or more connectors of a system, the system including a first optical fiber. The optical fiber cleaning assembly further includes one or more second connectors configured to mate with one or more optical fiber connectors of a device while the optical fiber cleaning assembly is attached to the system by the one or more first connectors, the device including a second optical fiber. The drive mechanism is configured to move the cleaning tape from the first spool to the second spool to wipe the face of the first or second optical fiber.

Abstract: A support structure comprises a base joint coupling a proximal link of the support structure to a base. The proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a linkage mechanism. The linkage mechanism maintains an orientation of an instrument support relative to the base as the support structure is moved from a first configuration to a second configuration. In the second configuration, the support structure is rotated relative to the base about the first axis.

Abstract: Systems and methods for safe operation of a device include a control system having a memory and a processor coupled to the memory. The processor is configured to determine, using one or more sensors, whether an operator is in contact with an input control of a console coupled to the system. The processor is further configured to affect commanded motion of the device using the input control in response to the determination of operator contact with the input control. In some embodiments, affecting the commanded motion includes limiting commanded motion of the device using the input control in response to determining the operator is not in contact with the input control. In some embodiments, the limited commanded motion is an insertion motion of the elongate device, a retraction motion of the elongate device, or a steering motion of a distal end of the elongate device.

Abstract: An apparatus for movably coupling a robotic medical instrument system to an anatomic orifice device comprises a hollow medial portion including a first end, a second end, and a passageway therebetween. The apparatus further comprises a coupling member coupled to the medial portion along a longitudinal axis of the medial portion. The passageway extends through the coupling member, and the coupling member comprises a curved surface configured to rotatably connect the anatomic orifice device to the robotic medical instrument system.

Abstract: A support structure for supporting an instrument manipulator comprises a proximal link and a distal link configured to extend from the proximal link. The support structure further comprises a base joint coupling the proximal link of the support structure to a base, and the proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a counterbalance mechanism comprising a counterweight block configured to move linearly within the support structure. The counterweight block has a counterweight mass to counterbalance a combined mass of the support structure and the instrument manipulator as the distal link extends from the proximal link.

Abstract: The systems and methods of the present disclosure are for use in a medical procedure, in which a connection mechanism is provided with a first end connected to a medical system interface at a first joint and a second end connected to an anatomic orifice device at a second joint. The anatomic orifice device is fixedly coupled to a patient. A flexible portion is provided between the first and second ends, the flexible portion being able to provide flexibility in at least one degree of freedom in response to movement of the anatomic orifice device.

Abstract: Systems and methods for controlling an elongate device include a console. The console includes a first recess and a removable first input control for controlling motion of the medical device. The console also may include one or more first sensors located about the first recess that detect motion of the first input control and detect operator contact with the first input control. The console also may include an integrated display screen arranged to display status information for the medical device. In some embodiments, the first input control controls an insertion depth or steering of the medical device, and may be in the form of a scroll wheel forming a part of a removable control assembly.