Abstract: A robotic system has a flexible portion adapted for insertion into the gastrointestinal tract and includes a suturing system with a needle holder. An actuator is coupled to the needle holder and is adapted to act on the needle holder arm and needle such that the needle can be repeatedly moved through a path. The actuator is driven by a drive mechanism from the robotic system.

Abstract: An endoscopic system is provided for use with an endoscope, having a proximal handle and a distal end cap assembly, and a sheath extending therebetween. Systems are provided for rotationally aligning the distal end of the endoscope relative to the cap assembly, and for facilitating securing of the cap assembly and endoscope relative to each other. Systems are provided for securing the sheath along the length of the endoscope, and subsequently releasing the secure coupling. Operational systems are also provided to retroflex the cap assembly during in vivo use.

Abstract: Systems and devices are provided with respect to an existing medical device to retroflex a flexible elongate member of the medical during in vivo use.

Abstract: Mounting systems configured to operably couple a tool module with respect to a component of a medical instrument. In some aspects, the component to which the tool module is operably coupled is an elongate member that is suitable for passage through a natural orifice of the patient. The tool module may include a replaceable end cap having a needle holder adapted to pass a needle through tissue, and an actuator adapted to control movement of the needle holder arm. A suture needle with suture may be removably coupled to the needle holder. The instrument may be operably associated with a robotic system for robotic control of the component of the instrument with which the tool module is operably coupled, and/or the tool module.