Abstract: Disclosed are robotic organ retraction systems, devices, and methods. Organ retraction devices may include compliant retractor tips, articulating joints, integrated force sensors, and automatic retraction capability to enable safe and efficient organ retraction.

Abstract: Robotic organ retraction systems, devices (200), and methods. Organ retraction devices (200) may include compliant retractor tips, articulating joints (702), integrated force sensors (408, 410), and automatic retraction capability to enable safe and efficient organ retraction.

Abstract: Devices, systems and methods of controlling movement of a host mechanical system using inertial forces imparted by an augmentable or morphable appendage. Such appendages are attached to the host mechanical system such that augmentation or morphing of the appendage to move a mass of the appendage from an extended to a retracted configuration imparts inertial forces to the supporting structure. Augmentation/morphing is controlled and coordinated such that imparted inertial forces facilitate a desired movement of the mechanical system. The imparted forces can include translation forces and/or rotational forces along one or more axes. The augmentation or morphing of the appendage can be performed concurrently with separately controlled coordinated movement of the appendage to facilitate a desired movement of the mechanical system. Such appendages can include, but are not limited to, telescoping and/or folding designs.

Abstract: A surgical device (600) includes an articulating portion (604) for navigating the device within a bodily cavity. The articulating portion (604) includes an articulating sheath (1000) and an articulating torque transmission wrist within the articulating sheath (1000). The articulating sheath (1000) may define one degree of freedom or two or more degrees of freedom. The articulating portion (604) may be part of a surgical device shaft (602) connected to an end effector (603) rotated by an internal torque transmission shaft including the articulating torque transmission wrist. The articulating portion (604) may be articulated while the torque transmission shaft is being rotated.

Abstract: Robotic organ retraction systems, devices (200), and methods. Organ retraction devices (200) may include compliant retractor tips, articulating joints (702), integrated force sensors (408, 410), and automatic retraction capability to enable safe and efficient organ retraction.

Abstract: Devices, systems and methods of controlling movement of a host mechanical system using inertial forces imparted by an augmentable or morphable appendage. Such appendages are attached to the host mechanical system such that augmentation or morphing of the appendage to move a mass of the appendage from an extended to a retracted configuration imparts inertial forces to the supporting structure. Augmentation/morphing is controlled and coordinated such that imparted inertial forces facilitate a desired movement of the mechanical system. The imparted forces can include translation forces and/or rotational forces along one or more axes. The augmentation or morphing of the appendage can be performed concurrently with separately controlled coordinated movement of the appendage to facilitate a desired movement of the mechanical system. Such appendages can include, but are not limited to, telescoping and/or folding designs.