Abstract: A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.

Abstract: Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.

Abstract: An anatomical probe system comprises an elongated flexible body and an operational component extending within a channel of the flexible body. The system also comprises a support member at a distal end of the elongated flexible body. The support member includes a fluid director adapted to direct a fluid from the channel toward the operational component. The fluid may be automatically directed towards the operational component in response to detecting a material obstruction of an image.

Abstract: A method comprises, based on a position of a medical instrument within a patient anatomy, determining, by a control system, whether an obstruction is on a surface of a lens of the medical instrument. The method further comprises, based on a determination that the obstruction is on the surface of the lens, instructing, by the control system, a valve control mechanism to open a valve to release a flow of pressurized fluid through a nozzle of the medical instrument and over the surface of the lens. The valve is configured to control provision of the pressurized fluid.

Abstract: A support structure for supporting an instrument manipulator comprises a proximal link and a distal link configured to extend from the proximal link. The support structure further comprises a base joint coupling the proximal link of the support structure to a base, and the proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a counterbalance mechanism comprising a counterweight block configured to move linearly within the support structure. The counterweight block has a counterweight mass to counterbalance a combined mass of the support structure and the instrument manipulator as the distal link extends from the proximal link.

Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibrotactile haptic feedback output device coupled to a master control arm surgeon grip.

Abstract: An anatomical probe system includes an elongated flexible body including a channel defined by a wall, an operational component, a support member, an image obstruction detector, and a fluid director. The support member comprises a curved wall having a portion sized to fit within the channel and a frame shaped to retain the operational component. A frame wall is coupled to the curved wall such that the frame wall and the portion of the curved wall form an enclosed interior channel. The frame wall overlaps the portion of the curved wall in an axial direction such that a plane transverse to the axis intersects both the frame wall and the portion of the curved wall. The image obstruction detector is configured to detect an obstruction of the operational component and initiate a cleaning routine. The fluid director is configured to direct the fluid toward the operational component.

Abstract: A system comprises a medical instrument including a nozzle and a lens. The system further comprises a valve configured to control provision of a pressurized fluid. The system further comprises a valve control mechanism and a control system. The control system is configured to determine, based on a position of the medical instrument within a patient anatomy, whether an obstruction is on a surface of the lens. The control system is further configured to, based on a determination that the obstruction is on the surface of the lens, instruct the valve control mechanism to open the valve to release a flow of the pressurized fluid through the nozzle and over the surface of the lens.

Abstract: A medical system including a support structure including a proximal link and a distal link, and a base joint coupling the proximal link of the support structure to a base, wherein the proximal link is configured to rotate about a first axis associated with the base joint. The system also includes a linkage mechanism coupling the proximal link to the distal link. The system also includes an instrument support coupled to the distal link, wherein the instrument support has an orientation relative to the base in a first configuration of the support structure, and wherein the linkage mechanism maintains the orientation of the instrument support relative to the base as the support structure is moved into a second configuration in which the support structure is rotated relative to the base about the first axis and the distal link is extended from the proximal link.

Abstract: An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly. The variable-length support assembly includes a first end, a second end, a plurality of support member pairs, and a plurality of eyelets configured to receive the elongated flexible instrument. Each support member pair comprises a first support member linked to a second support member, and each of the plurality of eyelets is movably coupled to at least one of the plurality of support member pairs along a longitudinal central axis between the first end and the second end. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along the longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis.

Abstract: A medical instrument may comprise a flexible shaft and a sensing coil extending within the flexible shaft. The sensing coil may include an electrical conductor wound around a flexible core. The flexible core may comprise adjacent flexible pieces of magnetically permeable material that are configured to slide relative to each other in response to a bending of the flexible core.

Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.

Abstract: An optical fiber cleaning assembly includes a cleaning tape, a first spool having the cleaning tape wound thereon, and a second spool onto which the cleaning tape is drawn. The optical fiber cleaning assembly further includes a drive mechanism for moving the cleaning tape from the first spool onto the second spool. A face of an optical fiber may be placed into contact with the cleaning tape, such that a portion of the cleaning tape wipes the face of the optical fiber as the drive mechanism moves the cleaning tape from the first spool onto the second spool.

Abstract: A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.

Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

Abstract: A tool may comprise an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end, and an adjustable bend between the proximal end and the intermediate portion. Motion of the intermediate portion may be constrained to translational motion substantially along an axis defined by the optical fiber at the intermediate portion. The tool may also comprise a cylindrical passage through which the intermediate portion of the optical fiber extends and a housing enclosing the adjustable bend and the cylindrical passage. The cylindrical passage may extend through a cylindrical member that includes an outer wall surrounding the cylindrical passage. The housing encloses the outer wall of the cylindrical member.

Abstract: The systems and methods of the present disclosure are for use in a medical procedure, in which a connection mechanism is provided with a first end connected to a medical system interface at a first joint and a second end connected to an anatomic orifice device at a second joint. The anatomic orifice device is fixedly coupled to a patient. A flexible portion is provided between the first and second ends, the flexible portion being able to provide flexibility in at least one degree of freedom in response to movement of the anatomic orifice device.

Abstract: An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly including a first end, a second end, a plurality of support member pairs, and a plurality of eyelets movably coupled to at least one support member pair and configured to receive the elongated flexible instrument. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along a longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis. Each of the plurality of eyelets includes a tapered alignment member configured to contact a tapered alignment member of an adjacent eyelet to move the plurality of eyelets into alignment along the longitudinal axis as the variable length assembly transitions from the expanded configuration to the compressed configuration.

Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.

Abstract: A backend mechanism of a control system for a steerable elongated medical instrument includes a plurality of drive components and steering components arranged to provide a compact, reliable, steering control to the elongated medical instrument.