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: Systems and method are described for counterbalancing the force required to deform a flexure joint. The system includes an elastically deformable flexure joint, a control joint, and an energy balance system. The control joint is mechanically linked to the flexure joint such that movement of the control joint causes a corresponding deformation of the flexure joint. The energy balance system provides a spring force to aid movement of the control joint and to overcome an elastic force required to deform the flexure joint.

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 movement dampening system for a surgical tool. The system includes a height-adjustable base positionable adjacent to a surgical site on a patient. An elastic damper is disposed adjacent to the height-adjustable base, A channel extends through the elastic damper and the height-adjustable base to the surgical site. A portion of the channel extending through the elastic damper is sized to receive the surgical tool and to restrict movement of the surgical tool.

Abstract: A multipurpose tissue sampling device is provided for extracting at least one tissue sample from a tissue sampling site. An outer sheath has a cutting surface and an outer sheath lumen extending from an outer sheath proximal end to an outer sheath distal end. An inner stylet has a solid inner stylet cutting tip, sampling notch, and an inner stylet lumen extending from an inner stylet proximal end to the sampling notch. The inner stylet exterior wall is configured to pass through the outer sheath lumen. A fine needle aspiration needle has an FNA needle body configured to pass through the inner stylet lumen. The FNA needle has an FNA needle lumen and a sampling feature. An actuator has a proximal port and a distal port with inner port walls that are configured to accept at least a portion of at least one of the outer sheath and inner stylet.

Abstract: A surgical robot system includes a support structure for positioning relative to a patient. The support structure includes a plurality of mounting structures. One or more robotic tool cassettes that are configured to interchangeably connect with any of the mounting structures. Each tool cassette includes a concentric tube manipulator and a transmission for operating the concentric tube manipulator. The support structure also includes a tube collector including a tube assembly associated with each of the mounting structures. The tube assemblies are configured to receive the concentric tube manipulators and guide the manipulators to extend along predetermined trajectories relative to each other.

Abstract: A multipurpose tissue sampling device is provided for extracting at least one tissue sample from a tissue sampling site. An outer sheath has a cutting surface and an outer sheath lumen extending from an outer sheath proximal end to an outer sheath distal end. An inner stylet has a solid inner stylet cutting tip, sampling notch, and an inner stylet lumen extending from an inner stylet proximal end to the sampling notch. The inner stylet exterior wall is configured to pass through the outer sheath lumen. A fine needle aspiration needle has an FNA needle body configured to pass through the inner stylet lumen. The FNA needle has an FNA needle lumen and a sampling feature. An actuator has a proximal port and a distal port with inner port walls that are configured to accept at least a portion of at least one of the outer sheath and inner stylet.

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: 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 system and apparatus for performing transforaminal therapy utilizes a cannula positioned in the foramen ovale and a probe that is operable through an actuator to access the brain via the cannula. According to one aspect, the actuator can be a manual mechanical actuator. According to another aspect, the actuator can be a robotic actuator. According to a further aspect, the actuator can be adapted for use in an imaging environment, such as a magnetic resonance imaging (MRI) system.

Abstract: An apparatus for supporting a medical device on a patient includes a support structure adapted to be fitted to the patient's body. The medical device is connectable to the support structure. At least one mounting pad is connected to the support structure and is adapted to engage the patient's anatomy. The at least one mounting pad includes a frictional jamming structure configured so that, in a non-actuated condition of the mounting pad, the mounting pad conforms to the patient's anatomy and, in an actuated condition of the mounting pad, the mounting pad becomes rigid in its conformed shape.

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: 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: Systems and method are described for counterbalancing the force required to deform a flexure joint. The system includes an elastically deformable flexure joint, a control joint, and an energy balance system. The control joint is mechanically linked to the flexure joint such that movement of the control joint causes a corresponding deformation of the flexure joint. The energy balance system provides a spring force to aid movement of the control joint and to overcome an elastic force required to deform the flexure joint.

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 method and apparatus for use in manipulating material during a medical procedure includes positioning the material in engagement with a major side surface on a distal end portion of a shaft. A gripper is operated to grip the material between a wire and a major side surface of the shaft by moving the wire along a longitudinal central axis of the shaft. Material is moved to a desired position relative to a patient's body while the material is gripped between the wire and the major side surface of the distal end portion of the shaft. The wire is then retracted along the longitudinal central axis of the shaft to release the material for movement relative to the end distal end portion of the shaft.

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.