Abstract: An apparatus for supporting a medical device on a patient includes a mounting structure configured to be fitted onto the patient to encircle at least a portion of a body part of the patient. The mounting structure includes an inner layer and an outer layer that define a confinement. A jamming material is contained within the confinement. The jamming material is configured to flow within the confinement to conform to the shape of the body part of the patient onto which the mounting structure is fitted. The mass of jamming material is configured to harden and become rigid in its conformed shape in response to a vacuum being formed in the confinement.

Abstract: A system includes an endcap configured to be fitted on a distal end of an endoscope having a forward-looking camera and a forward-facing working port. The endcap includes a body configured to fit onto the distal end of the endoscope and a reflective surface supported by the body. The reflective surface is configured so that the forward-looking camera visualizes a workspace that is lateral of both the endcap and the distal end of the endoscope.

Abstract: A steerable surgical needle (10) includes an elongated needle shaft (12), a beveled tip portion (14), and a flexural element (16) that connects the needle shaft (12) with the tip portion (14) and permits the tip portion to deflect relative to the needle shaft. A method for steering the surgical needle (10) through tissue includes the steps of advancing the needle in the body tissue to induce tip flexure which causes the needle to follow a curved trajectory, and rotating the needle about its longitudinal axis in place, without advancement, to remove the tip flexure.

Abstract: A snare tool manipulator system includes an elongated flexible device having a length and including a distally mounted end effector configured to perform a task. The flexible device is operable to manipulate the end effector in order to perform the task. The system also includes an elongated snare tool including a distally mounted snare device configured for grasping the flexible elongated member at a position along its length. The snare tool is operable robotically to manipulate the flexible device which in response manipulates the end effector.

Abstract: The present invention relates to a system and apparatus for implementing a method for identifying tube parameters of a curved tube of an active cannula for operating on a target in a patient. The method includes the step (a) of acquiring a model of the patient anatomy including the target. The method also includes the step (b) of selecting a set of parameters characterizing a curved tube. The method also includes the step (c) of computing a workspace for an active cannula having the selected curved tube parameters. The method also includes the step (d) of comparing the workspace to the anatomical model to determine the degree to which an active cannula having the selected curved tube parameters covers the target. The method also includes the step (e) of repeating steps (b) through (d) through a defined number of curved tube parameter sets. The method also includes the step (f) of identifying the curved tube parameters that provide an active cannula with an optimal degree of target coverage.

Abstract: A surgical manipulator includes an internal working end having an internal joint, and an external control interface linked to the internal working end for controlling the internal working end. The external control interface includes at least one lever defining a grip volume for a surgeon's hand when gripping and operating the at least one lever, and an external joint linked to the internal joint for controlling the internal joint. The external joint is positioned substantially within the grip volume.

Abstract: A steerable surgical needle (10) includes an elongated needle shaft (12), a beveled tip portion (14), and a flexural element (16) that connects the needle shaft (12) with the tip portion (14) and permits the tip portion to deflect relative to the needle shaft. A method for steering the surgical needle (10) through tissue includes the steps of advancing the needle in the body tissue to induce tip flexure which causes the needle to follow a curved trajectory, and rotating the needle about its longitudinal axis in place, without advancement, to remove the tip flexure.

Abstract: An apparatus for supporting a medical device on a patient includes a mounting structure configured to be fitted onto the patient to encircle at least a portion of a body part of the patient. The mounting structure includes an inner layer and an outer layer that define a confinement. A jamming material is contained within the confmement. The jamming material is configured to flow within the confmement to conform to the shape of the body part of the patient onto which the mounting structure is fitted. The mass of jamming material is configured to harden and become rigid in its conformed shape in response to a vacuum being formed in the confinement.

Abstract: A robotic surgical apparatus includes at least two tubes having a nested, concentric configuration with an inner tube positioned in an outer tube. The tubes are configured to deliver surgical therapy. A first tube carrier connected to the outer tube and a second tube carrier connected to the inner tube. The first tube carrier and its associated outer tube and the second tube carrier and its associated inner tube form a robotic arm assembly. An actuator for actuating the robotic arm assembly is configured to receive the robotic arm assembly via a tube insertion interface into which the robotic arm assembly can be inserted.

Abstract: An apparatus (20) for performing endoscopic surgery on a patient (12) includes at least two concentric tube manipulators (150) adapted to carry devices (152, 154) for performing a surgical operation. A transmission (200) operates the concentric tube manipulators (150). An endoscope tube (106) has a proximal end portion fixed to the transmission (200). The concentric tube manipulators (150) extend from the transmission (200) through an inner lumen (102) of the endoscope tube (106) and are operable to extend from a distal end (104) of the endoscope tube.

Abstract: The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. A needle-sized bendable joint design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The bendable joint includes of a nitinol tube with several asymmetric cutouts, actuated by a tendon.

Abstract: A snare tool manipulator system includes an elongated flexible device having a length and including a distally mounted end effector configured to perform a task. The flexible device is operable to manipulate the end effector in order to perform the task. The system also includes an elongated snare tool including a distally mounted snare device configured for grasping the flexible elongated member at a position along its length. The snare tool is operable robotically to manipulate the flexible device which in response manipulates the end effector.

Abstract: A surgical manipulator includes an internal working end having an internal joint, and an external control interface linked to the internal working end for controlling the internal working end. The external control interface includes at least one lever defining a grip volume for a surgeon's hand when gripping and operating the at least one lever, and an external joint linked to the internal joint for controlling the internal joint. The external joint is positioned substantially within the grip volume.

Abstract: A surgical manipulator includes an internal working end having an internal joint, and an external control interface linked to the internal working end for controlling the internal working end. The external control interface includes at least one lever defining a grip volume for a surgeon's hand when gripping and operating the at least one lever, and an external joint linked to the internal joint for controlling the internal joint. The external joint is positioned substantially within the grip volume.

Abstract: A robotic surgical apparatus includes at least two tubes having a nested, concentric configuration with an inner tube positioned in an outer tube. The tubes are configured to deliver surgical therapy. A first tube carrier connected to the outer tube and a second tube carrier connected to the inner tube. The first tube carrier and its associated outer tube and the second tube carrier and its associated inner tube form a robotic arm assembly. An actuator for actuating the robotic arm assembly is configured to receive the robotic arm assembly via a tube insertion interface into which the robotic arm assembly can be inserted.

Abstract: An apparatus (20) for performing endoscopic surgery on a patient (12) includes at least two concentric tube manipulators (150) adapted to carry devices (152, 154) for performing a surgical operation. A transmission (200) operates the concentric tube manipulators (150). An endoscope tube (106) has a proximal end portion fixed to the transmission (200). The concentric tube manipulators (150) extend from the transmission (200) through an inner lumen (102) of the endoscope tube (106) and are operable to extend from a distal end (104) of the endoscope tube.

Abstract: A method and apparatus of percutaneous cochlear implantation (PCI).

Abstract: A steerable surgical needle (10) includes an elongated needle shaft (12), a beveled tip portion (14), and a flexural element (16) that connects the needle shaft (12) with the tip portion (14) and permits the tip portion to deflect relative to the needle shaft. A method for steering the surgical needle (10) through tissue includes the steps of advancing the needle in the body tissue to induce tip flexure which causes the needle to follow a curved trajectory, and rotating the needle about its longitudinal axis in place, without advancement, to remove the tip flexure.

Abstract: A system for insufflating a body cavity comprising a swallowable capsule comprising a chamber (11) containing a fluid capable to generate biocompatible gas or vapour by phase transition or chemical reaction, the chamber (11) being formed with at least one orifice (7) for placing it in communication with the outside. The orifice (7) is blocked by a shutter (4, 6; 26) made of magnetic material and there are provided elastic means (8) able to generate an elastic force sufficient to keep said shutter sealingly engaged in the orifice. The system further comprises magnetic actuating means (12; 34) external to the body cavity for generating a magnetic force having strength sufficient to overcome the elastic force of the elastic means disengaging the shutter from the orifice.

Abstract: A surgical manipulator includes an internal working end having an internal joint, and an external control interface linked to the internal working end for controlling the internal working end. The external control interface includes at least one lever defining a grip volume for a surgeon's hand when gripping and operating the at least one lever, and an external joint linked to the internal joint for controlling the internal joint. The external joint is positioned substantially within the grip volume.