Abstract: Systems and methods relating to medical technology are disclosed. For example, a medical robotic system can include first and second robotic arms. An introducer can be coupled to the first robotic arm. The introducer can include a first opening, a second opening, and a channel connecting the first opening and the second opening. A flexible elongate medical tool can be coupled to the second robotic arm. The second robotic arm can be configured to drive the flexible elongate medical tool through the introducer coupled to the first robotic arm and into a patient.

Abstract: Certain aspects relate to systems and techniques for endoscopically-assisted percutaneous medical procedures. A method can include inserting a first medical instrument having an elongated shaft and a first position sensor into a treatment region of a patient through a natural orifice of the patient. A first position of the first medical instrument within the treatment region can be determined with the first position sensor. A target location can be defined within the treatment region that is distanced from the determined first position. A second medical instrument can be percutaneously guided toward the target location. The method can be performed on a robotically-enabled medical system.