Abstract: A robotic catheter system includes a controller with a master input device, and an instrument driver in communication with the controller, the instrument driver configured for independently controlling each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to control signals generated by the controller, the desired motions selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending. Integrated haptics capability may be provided, in which one or more motors provide tactile feedback to an operator through the master input device.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Abstract: Configurations for simulation of motions or movement in a health training mannequin for teaching purposes are disclosed. A seizure simulation apparatus is configured to be housed separately from but interfaced with a health training mannequin to induce oscillatory motion symptomatic of a neurological seizure or similar disorder in the mannequin. In one embodiment a system comprises a motion inducer comprising a housing, an interface structure, and an actuator, wherein the interface structure is coupled to the actuator, movable relative to the housing, and configured to interface with a portion of a health training mannequin to induce oscillatory motion in at least one portion of the health training mannequin.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument.

Abstract: Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.

Abstract: A robotic surgical system configured to perform minimally invasive surgical procedures. In one variation, this robotic surgical system includes an instrument driver configured to steer an elongate instrument of an instrument assembly in one or more degrees of motion. A drape is disposed between the instrument driver and the instrument assembly. A drive interface apparatus is operatively coupled to the drape. The drape and drive interface apparatus may form a fluid barrier between the instrument driver and the instrument assembly. Drive interface apparatus may be disposed on a top surface of the instrument driver and on a bottom surface of the instrument assembly. The drive interface apparatus may transmit torque from the instrument driver to the instrument assembly. The input torque drives a pulley in the instrument assembly that operates one or more control wires to steer an elongate instrument of the instrument assembly for performing minimally invasive surgical procedures.

Abstract: Assemblies, systems, and methods related to in-situ graft fenestration are described. Subsequent to placement of a graft or stent graft into a lumen, such as a blood vessel, a steerable catheter platform is utilized to create fenestrations, or holes, into the material comprising the graft to facilitate flow of fluids, such as blood, out of the holes and into other structures, such as side branch vessels. The catheter platform preferably comprises one or more fenestration elements located distally and configured to controllably create the fenestrations through common graft materials, such as Dacron®. The catheter also may be utilized to size and/or locate side branching structures, confirm fenestration sizes and/or locations, and deploy additional grafts through the fenestrations into other branching structures.

Abstract: Robotic instrument systems, apparatus, and methods for controllably manipulating the rigidity of a distal portion of one or more sheath catheters advanced through an elongate sheath to controllably form a temporary, substantially rigid platform from which other robotically controlled instruments may be manipulated. The platform is formed by one or more multi-segment sheath catheters that can be controlled to be flexible during advancement and substantially rigid at the target site, thereby reducing the length of the operational lever arm of the instrument. For this purpose, a sheath catheter includes a plurality segments that interlock and do not rotate when drawn together, and are connected by a control element, the tension of which may be manipulated by a robotic instrument system to transform the sheath catheter between a flexible state during advancement through the elongate sheath and a substantially rigid state when the sheath catheter is to serve as a platform or component thereof.

Abstract: Robotic instrument systems, apparatus, and methods for controllably rotating a tool or adapter coupled to a distal portion of a medical instrument such as a catheter. An interface, which may be integral with the medical instrument or a component of a separate rotatable apparatus or adapter, is operably coupled, e.g. fixedly coupled, to the distal end of the instrument. A tool, such as a rotatable portion of a collar or tool base, or a working instrument operably coupled thereto, is rotatable relative to the interface. The interface and collar have guide channels. A control element extends through the medical instrument and respective guide channels such that the tool or collar is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument.

Abstract: An instrument driver operable to control catheter instruments. First and second carriages are movably coupled to a frame of an instrument driver. Each carriage is configured to support a catheter instrument. The first and second carriages are independently rotatable about a longitudinal axis of the respective first and second catheter instruments and rotatable independently of an instrument driver frame. Independent carriage control provides for the carriages being independently movable in at least three different directions with at least two different types of motion.

Abstract: A robotic medical instrument system for driving a segment of a catheter or other instrument. A segment, such as the distal end, of a catheter may be axially and/or rotatably driven. Drive elements include an internal and retractable catheter drive shaft, an actuation element coupled to an internal portion of the catheter body and including an internal guide in which a pin can move to drive a gear and rotate the catheter, a harmonic drive element, a wobble plate drive element, and a planetary gear drive element.

Abstract: Interface assemblies for controlling an orientation of a working instrument of a robotic medical instrument system. A base member is coupled to a distal end of an instrument such as a robotically controllable catheter. A spacer element is retained between the base member and a platform member, which is movable relative to the base member about the spacer element. One or more control elements extending through a base member aperture can be used to control an orientation of the platform member and working instrument.

Abstract: A robotic medical instrument system including a catheter body and an elongate, flexible support member that includes substantially spherical elements and a plurality of non-spherical elements, such as cylindrical elements, which may be configured as a series of alternating substantially spherical and cylindrical elements. The support structure is bendable with the catheter body lumen. The substantially spherical and non-spherical elements may also collectively define a central, inner lumen. Bending of respective catheter body and the flexible support structure may be controllably by manipulation of the control element.

Abstract: A robotic instrument system and method, comprising at least two instrument drive assemblies each detachably coupled to a respective instrument assembly. Each instrument assembly comprising an elongate, flexible guide instrument configured to be inserted into a patient's body. The instrument drive assemblies comprise one or more motors configure to operate a respective instrument assembly. One or more controllers are operatively coupled to the instrument drive assemblies. The method comprises maneuvering a distal end of each of the respective guide instruments into a patient's heart by actuating the respective drive assembly performing a procedure controlled by the one or more controllers.