Abstract: A highly intuitive physician input device for communication with a minimally invasive endoscopic concentric tube surgical robot. The physician input device can comprise a user interface handle assembly, a user interface linear joint assembly, a user interfaced bearing block assembly, and a user interface base assembly, and sensors distributed throughout to measure each of these axes, possibly redundantly for safety. Due to the network of sensors and encoders built in to the physician input device, it is capable of triggering a movement in the endoscopic concentric tube robot corresponding to that of the movements made on the physician input device. There are at least four movement controls the physician input device is capable of communicating to the concentric tube robot, those being translation, pan, tilt, and axial rotation. In some embodiments a fifth control includes actuation of a tool such as a gripper.

Abstract: A system for performing minimally invasive surgery includes a holding arm, a holding arm interface, an actuation unit detachably disposed on the holding arm interface, and an endoscopic sheath assembly disposed on the holding arm interface opposite the actuation unit. The actuation unit includes a component bay configured to receive a camera, lens and first and second removable and disposable cartridges. Each cartridge includes a concentric tube array extending therefrom, each array including at least one guide tube and a surgical tool disposed inside the guide tube. Numerous safety and communication features are disposed on the various components of the system to ensure failsafe operation and to prevent damage to equipment or harm to patients.

Abstract: A highly intuitive physician input device for communication with a minimally invasive endoscopic concentric tube surgical robot. The physician input device can comprise a user interface handle assembly, a user interface linear joint assembly, a user interfaced bearing block assembly, and a user interface base assembly, and sensors distributed throughout to measure each of these axes, possibly redundantly for safety. Due to the network of sensors and encoders built in to the physician input device, it is capable of triggering a movement in the endoscopic concentric tube robot corresponding to that of the movements made on the physician input device. There are at least four movement controls the physician input device is capable of communicating to the concentric tube robot, those being translation, pan, tilt, and axial rotation. In some embodiments a fifth control includes actuation of a tool such as a gripper.