Abstract: The present disclosure relates to systems, devices, and methods for providing foldable, insertable robotic sensory and manipulation platforms for single port surgery. The device is referred to herein as an Insertable Robotic Effector Platform (IREP). The IREP provides a self-deployable insertable device that provides stereo visual feedback upon insertion, implements a backbone structure having a primary backbone and four secondary backbones for each of the robotic arms, and implements a radial expansion mechanism that can separate the robotic arms. All of these elements together provide an anthropomorphic endoscopic device.

Abstract: A robotic system and method are provided. The robotic system includes a continuum robot, an actuation unit, and a flexible positioning shaft. The continuum robot is configured to perform minimally invasive diagnostic, surgical or therapeutic techniques, and includes at least one continuum segment including a plurality of backbones. The continuum segment carries at least one diagnostic, surgical or therapeutic instrument in a flexible instrumentation housing that has a plurality of instrumentation channels. The actuation unit is configured to actuate the continuum robot by providing linear actuation to each of the plurality of backbones, and includes force sensors for measuring actuation forces. The flexible positioning shaft is configured to direct a position and orientation of the continuum robot and to couple the actuation unit to the continuum robot.

Abstract: A first magnetic field can be produced across a tissue region using a first magnetic field source, providing a magnetic coupling force between the first magnetic field source and a first object, wherein the first object provides a magnetic field or a magnetic susceptibility to obtain the magnetic coupling force. The magnetic coupling force can be sensed using a force sensor and a resulting sensed force signal can be provided to a controller. The controller can provide an output signal to control the magnetic coupling force using the sensed forced signal to obtain a constant or desired magnetic coupling force.

Abstract: The present disclosure relates to systems, devices, and methods for providing foldable, insertable robotic sensory and manipulation platforms for single port surgery. The device is referred to herein as an Insertable Robotic Effector Platform (IREP). The IREP provides a self-deployable insertable device that provides stereo visual feedback upon insertion, implements a backbone structure having a primary backbone and four secondary backbones for each of the robotic arms, and implements a radial expansion mechanism that can separate the robotic arms. All of these elements together provide an anthropomorphic endoscopic device.

Abstract: Systems, devices, and methods for surgery on a hollow anatomically suspended organ are described herein. In some embodiments a tele-robotic microsurgical system for eye surgery include: a tele-robotic master and a slave hybrid-robot; wherein the tele-robotic master has at least two master slave interfaces controlled by a medical professional; wherein the slave hybrid-robot has at least two robotic arms attached to a frame releasably attached to a patient's head; wherein the at least two robotic arms each have a parallel robot and a serial robot; and wherein the serial robot includes a tube housing a cannula.