Abstract: An anti-buckling device is provided. The anti-buckling device comprises: a plurality of modular segments, and each modular segment comprises a cap and a tube. The cap comprises a support feature configured for supporting an elongate member and the tube comprises a coupling feature configured for engaging a given modular segment with another modular segment.

Abstract: An instrument includes an elongate shaft, a set of pull wire lumens disposed within the elongate shaft, the set of pull wire lumens comprising first, second, third, and fourth pull wire lumens, and a set of pull wire segments comprising first, second, third, and fourth pull wire segments disposed within the first, second, third, and fourth pull wire lumens, respectively, each of the set of pull wire segments having a proximal portion that is configured to be manipulated by a robotic input.

Abstract: An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member.

Abstract: A method, apparatus, and system for facilitating bending of an instrument in a surgical or medical robotic environment are provided. In one aspect, a surgical system includes an instrument comprising an end effector, the instrument capable of articulation via a bending section. The bending section includes a body including a first strut and a second strut, and a channel formed through the body. The first strut and the second strut form a gap therebetween, wherein the gap is in communication with the channel formed through the body.

Abstract: An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Abstract: An embodiment of the present invention provides for an elongated medical device with a hypotube backbone running through the device, and a spiral lumen spiraled around the backbone along the length of the backbone. The backbone may be formed from a nitinol alloy for increased bendability without compromising axial stiffness. The device may also incorporate a jacket around the hypotube and spiral lumen formed using either melting, molding, bonding, or casting. The spiral lumen may be configured to accommodate a variety of uses, including actuation members (e.g., pull wires), tools, and means for aspiration, irrigation, image capture, and illumination. Additionally, the present invention provides a method for constructing an elongated medical device with a hypotube backbone running through the device, and a spiral lumen spiraled around the backbone along the length of the backbone.

Abstract: A method, apparatus, and system for facilitating bending of an instrument in a surgical or medical robotic environment are provided. In one aspect, a surgical system includes an instrument comprising an end effector, the instrument capable of articulation via a bending section. The bending section includes a body including a first strut and a second strut, and a channel formed through the body. The first strut and the second strut form a gap therebetween, wherein the gap is in communication with the channel formed through the body.

Abstract: A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient. The method includes advancing a first alignment sensor into the cavity through a patient lumen. The first alignment sensor provides its position and orientation in free space in real time. The alignment sensor is manipulated until it is located in proximity to the object. A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time. The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.

Abstract: Various exemplary drive apparatuses and associated methods are disclosed for driving an elongated member, e.g., a catheter, sheath, or guidewire. An exemplary drive apparatus may include a first component and a moveable component, each configured to selectively grip the elongated member. In some examples, the first and moveable components may each include a gripping device. The moveable component may be configured to selectively move axially and rotationally with respect to a support surface to effect axial movement and rotation movement, respectively, of the elongated member with respect to the support surface within a range of motion of the moveable component. The moveable component may be configured to move the elongated member across a predetermined movement having a magnitude greater than the range of motion.

Abstract: A robotic device is provided. The robotic device comprises: an articulatable elongate member comprising a proximal end and a distal end, and the distal end is steerable via a first driving mechanism; an articulatable imaging instrument removably coupled to the articulatable elongate member via a first lumen of the articulatable elongate member, and the articulatable imaging instrument comprises a camera located at a distal portion of the articulatable imaging instrument; an articulatable instrument removably coupled to the articulatable elongate member via a second lumen, and an operation of the articulatable instrument is captured by the camera of the articulatable imaging instrument.

Abstract: A robotic system includes control circuitry configured to cause actuation of one or more actuators of each of a first robotic arm and a second robotic arm. The control circuitry is configured to determine a position of a first end effector of the first robotic arm and a position of a second end effector of the second robotic arm, the positions of the first end effector and the second end effector forming a virtual rail, receive manual positioning input for the first robotic arm based at least in part on sensor signals from one or more sensors of the first robotic arm, and in response to the manual positioning input, generate a first movement command to move the first robotic arm in accordance with the manual positioning input and generate a second movement command to move the second robotic arm in a manner as to maintain at least one of a position or orientation of the second end effector relative to a point on the virtual rail.

Abstract: Certain aspects relate to systems and techniques for optical strain sensing in medical instruments. In one aspect, a medical instrument includes an elongated shaft, and at least one pull wire extending from a proximal end of the elongated shaft to the distal end of the elongated shaft. The at least one pull wire is configured to cause actuation of the medical instrument in at least one degree of freedom. The at least one pull wire includes an optical fiber configured to provide an indication of strain along the at least one pull wire.

Abstract: A hybrid vision device is provided. The hybrid vision device comprises: an articulating elongate member comprising a proximal end and a distal end, and a positional sensor is located at the distal end of the articulating elongate member; and a multimodal sensing probe removably coupled to the articulating elongate member, and the multimodal sensing probe comprises an ultrasound transducer and a camera located at a distal portion of the multimodal sensing probe.

Abstract: A method is described for using percutaneous access to a patient to remove an object from a cavity within the patient. The method includes inserting a suction tube into a port created by a percutaneous cut. An endoscope is also advanced into the cavity, however the endoscope passes through a patient lumen rather than through the port. Using a working channel within the endoscope, fluid is irrigated through the cavity. Additionally, a negative pressure is applied to the suction tube, such that the combination of fluid irrigation and negative pressure assist in removing the object from the cavity through the suction tube.

Abstract: Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.

Abstract: A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient. The method includes advancing a first alignment sensor into the cavity through a patient lumen. The first alignment sensor provides its position and orientation in free space in real time. The alignment sensor is manipulated until it is located in proximity to the object. A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time. The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.

Abstract: An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member.

Abstract: An articulating flexible endoscope is provided. The endoscope comprises: a distal tip portion that is steerable via a driving mechanism; a bending section connected to the distal tip portion at a first end, and connected to a shaft portion at a transition interface, the bending section is articulated by one or more pull wires; and the shaft portion comprising one or more load transmission tubes for reducing at least a portion of the articulation force applied to the bending section by the one or more pull wires thereby improving stability of the shaft portion, the one or more load transmission tubes are anchored to the transition interface and have a length greater than the length of the shaft portion.

Abstract: Robotic medical systems may perform concomitant procedures. A robotic system can include a first robotic arm configured to manipulate a flexible instrument and a second robotic arm configured to manipulate a rigid instrument. The robotic system can include a first arm support for supporting the first robotic arm and a second arm support, distinct from the first arm support, for supporting the second robotic arm. The robotic system can include a display for displaying feedback from the flexible instrument and the rigid instrument.

Abstract: Systems, methods, and workflows for concomitant procedures are disclosed. In one aspect, the method includes manipulating a flexible instrument using a first robotic arm of a robotic system, manipulating a rigid instrument using a second robotic arm of the robotic system, displaying feedback from the flexible instrument, and displaying feedback from the rigid instrument.