Abstract: Certain aspects relate to systems and techniques for aligning inputs on medical instruments. In one aspect, the method includes receiving, at a data reader of the instrument drive mechanism, alignment data from the tool when the tool is positioned within a threshold distance of the data reader. The tool include one or more inputs and one or more pull wires configured to be actuated by output shafts of the instrument drive mechanism via the one or more inputs. The method also includes receiving, at a processor, the alignment data from the data reader, and rotating, via the processor, the one or more output shafts of the instrument drive mechanism into alignment with the one or more inputs of the tool based on the alignment data. Each of the output shafts is configured to mechanically couple with a corresponding one of the inputs of the tool.

Abstract: Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least two degrees of freedom of movement, and an end effector coupled to the wrist. The end effector can include an upper jaw, a lower jaw, and a firing mechanism configured to form staples in tissue. Actuation of the firing mechanism can be decoupled from the movement of the wrist in the at least two degrees of freedom.

Abstract: A robotic surgical tool includes a drive housing having first and second ends, at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the spline, and a carriage mounted to the spline. A closure tube extends from the carriage through the first end and has an end effector arranged at a distal end. An activating mechanism is housed in the carriage and includes a driven gear coupled to the drive gear such that rotation of the drive gear rotates the driven gear, and a carrier arranged at a proximal end of the closure tube and coupled to the driven gear such that rotation of the driven gear moves the carrier and the closure tube axially along a longitudinal axis of the closure tube. Moving the closure tube along the longitudinal axis closes or opens end effector jaws.

Abstract: Surgical systems are provided. In one exemplary embodiment, a surgical system includes a first scope device having a first portion configured to be inserted into and positioned within an extraluminal anatomical space and a second portion distal to the first portion and configured to be positioned within an intraluminal anatomical space, and a second instrument configured to be inserted into the extraluminal anatomical space and configured to couple to and move the first portion of the first scope device within the extraluminal anatomical space to facilitate movement of the second portion of the first scope device while the second portion is positioned within the intraluminal anatomical space. Methods are also provided.

Abstract: A method of operating a surgical anchoring system can include inserting an outer sleeve of a surgical instrument at least partially into a first natural body lumen, the outer sleeve having a working channel. The method can include inserting a channel arm of the surgical instrument through the working channel of the outer sleeve and into a second natural body lumen. The channel arm has at least one first anchor member coupled thereto and a control actuator operatively coupled to the at least one first anchor member. The method can include expanding the at least one first anchor member from an unexpanded state to an expanded state to form an anchor point at a portion of the second natural body lumen. The method can include controlling, by the control actuator, a motion of the channel arm to selectively manipulate an organ associated with the first and second natural body lumens.

Abstract: Surgical systems are provided. In one exemplary embodiment, a surgical system includes a first scope device, a first instrument, a second scope device, and a second instrument. The first scope device has a first portion configured to be inserted into an extraluminal anatomical space and a second portion configured to be positioned within an intraluminal anatomical space. The first scope device includes a first insufflation port configured to insufflate the intraluminal anatomical space. The first instrument is configured to be inserted through the extraluminal anatomical space and into the intraluminal anatomical space such that the first instrument is present in both the extraluminal and intraluminal anatomical spaces. The second scope device is configured to be inserted into the extraluminal anatomical space. The second scope device has a second insufflation port configured to insufflate the extraluminal anatomical space.

Abstract: Surgical systems are provided. In one exemplary embodiment, a surgical system includes a first scope device having a first portion within an extraluminal space and a second portion positioned within an intraluminal space. The first scope device transmits image data of a first scene. A second scope device is disposed within the extraluminal space and transmits image data of a second scene. The first portion of the first instrument is present within the field of view of the second scope device to track the first scope device relative to the second scope device. A controller receives the transmitted image data of the first and second scenes, to determine a relative distance from the first scope device to the second scope device within the extraluminal space, and to provide a merged image. At least one of the first and second scope device in the merged image is a representative depiction thereof.

Abstract: Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least two degrees of freedom of movement, and an end effector coupled to the wrist. The end effector can include an upper jaw, a lower jaw, and a firing mechanism configured to form staples in tissue. Actuation of the firing mechanism can be decoupled from the movement of the wrist in the at least two degrees of freedom.

Abstract: A robotic system can include a surgical instrument with a wrist that allows N degrees of freedom of movement. The N degrees of freedom can be controlled by N+1 cable segments. The wrist can include a first set pulleys configured to rotate about a first axis and a second set of pulleys configured to rotate about a second axis. The wrist can further comprise one or more pulleys configured to engage two of the cable segments, wherein at least one of the pulleys is shared by a first cable segment and a second cable segment. The first cable segment and the second cable segment that share the pulley can be independent from one another. In some circumstances, the surgical instrument can be actuated N+1 degrees of movement by advancing or retracting at least two of N+1 cable segments.

Abstract: Provided is a robotic system that includes a surgical instrument with a wrist that allows N degrees of freedom of movement. The N degrees of freedom can be controlled by N+1 cable segments. The wrist can include a first set pulleys configured to rotate about a first axis and a second set of pulleys configured to rotate about a second axis. The wrist can further comprise one or more pulleys configured to engage two of the cable segments, wherein at least one of the pulleys is shared by a first cable segment and a second cable segment. The first cable segment and the second cable segment that share the pulley can be independent from one another. In some circumstances, the surgical instrument can be actuated in N+1 degrees of movement by advancing or retracting at least two of N+1 cable segments.

Abstract: A robotic surgical tool includes a handle providing a drive input, an elongate shaft extendable through the handle and having an end effector arranged at a distal end of the shaft, and an accumulator system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the accumulator system. At least one drive cable is threaded through the accumulator system and extends distally along the shaft, wherein operation of the accumulator system acts on the at least one drive cable to operate the end effector.

Abstract: A robotic surgical tool includes a shaft extendable through a handle, an end effector arranged at a distal end of the shaft and including a first and second jaws providing first and second jaw extension, a plurality of drive members extending along the shaft and actuatable by the handle, and an articulable wrist interposing the end effector and the distal end. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, the first jaw extension being pinned to the first pulley and the second jaw extension being pinned to the second pulley, and a linkage mounted to the jaws. The plurality of drive members terminate at the first and second pulleys and are antagonistically operable to open and close the jaws and articulate the end effector in pitch and yaw.

Abstract: A surgical tool comprising a drive housing having a first end and a second end, a spline extending between the first and second ends, a carriage provided in the drive housing and movable between the first and second ends, and a mechanism for manually actuating the spline. The mechanism may be arranged at the first or second end of the drive housing. The mechanism may further include a frame, a spline coupling rotatably mounted to the frame to receive an end of the spline, and a ring gear rotatable about the frame and operatively coupled to a pinion gear attached to the spline coupling such that rotation of the ring gear about the frame correspondingly actuates the spline.

Abstract: Articulating medical instruments and corresponding techniques can be utilized using a robotically enabled medical system. In a surgical method, a clinician can insert a distal end of a medical instrument into a treatment area of a patient. Once inserted, a first bending section of the medical instrument can be articulated by driving one or more motors of an articulation handle that is positioned at a proximal end of the elongated shaft.

Abstract: A robotic surgical tool includes a drive housing having first and second ends, at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the spline, and a carriage mounted to the spline. A closure tube extends from the carriage through the first end and has an end effector arranged at a distal end. An activating mechanism is housed in the carriage and includes a driven gear coupled to the drive gear such that rotation of the drive gear rotates the driven gear, and a carrier arranged at a proximal end of the closure tube and coupled to the driven gear such that rotation of the driven gear moves the carrier and the closure tube axially along a longitudinal axis of the closure tube. Moving the closure tube along the longitudinal axis closes or opens end effector jaws.

Abstract: A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw at a carriage nut secured to the carriage, and an elongate shaft extending from the carriage and extending through the first end, the shaft having an end effector arranged at a distal end thereof. Rotation of the lead screw moves the carriage and the carriage nut axially between the first and second ends and thereby moves the end effector distally or proximally.

Abstract: A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw at a carriage nut secured to the carriage, and an activating mechanism including a drive gear rotatably mounted to the carriage and rotatable to actuate the activating mechanism. A torsion cable extends between the drive gear and a drive input arranged at the first end, wherein rotating the drive input rotates the torsion cable and thereby transmits a torsional load along the torsion cable to the drive gear to actuate the activating mechanism.

Abstract: A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw, and an activating mechanism coupled to the carriage. The activating mechanism includes a motor mounted to the carriage and operable to rotate a drive gear, and a driven gear engageable with the drive gear such that rotation of the drive gear causes the driven gear to rotate and thereby actuate the activating mechanism.

Abstract: A robotic surgical tool includes a drive housing having first and second ends, a spline extending between the ends and including a drive gear that rotates with spline rotation, and a carriage mounted to the spline. A shaft extends from the carriage, penetrates the first end, and has an end effector arranged at a distal end. An activating mechanism is housed in the carriage and includes an input gear operatively coupled to the drive gear such that rotation of the drive gear correspondingly rotates the input gear, and a firing rod defining external threads threadably engageable with internal threads of the input gear. The firing rod is coupled to a knife at the end effector such that movement of the firing rod correspondingly moves the knife in the same direction. The drive gear is rotated to rotate the input gear and thereby move the firing rod and the knife.

Abstract: A medical instrument can include a wrist, an end effector, pull wires that extend through the wrist toward for controlling a motion of the end effector, and a conductive cable that extends through the wrist to the end effector. The wrist can have proximal and distal clevises and proximal and distal pulleys through which the conductive cable passes. The conductive cable can extend over one or more redirect surfaces of the distal and/or proximal clevises.