Abstract: An instrument guide device comprises an elongated guide shaft having proximal and distal ends and including an instrument lumen for receiving therethrough a manually operated instrument having an instrument shaft. A distal bendable member is disposed at the distal end of the guide shaft and a proximal bendable member is disposed at the proximal end of the guide shaft. Actuation means extends between the distal and proximal bendable members and provides a bending of the distal bendable member controlled from the proximal bendable member. The proximal bendable member is controlled from the manually operated instrument to cause a corresponding bending of said distal bendable member.

Abstract: An endoscopic or laparoscopic instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via bendable motion members. The tool and the tool motion member are coupled to the handle and the handle motion member via cables and a push rod in such a way that the movement of the handle with respect to the elongated shaft in any direction is replicated by the tool at the distal end of the shaft. The magnitude of the tool motion with respect to the handle motion may be scaled depending on the size of the handle motion member with respect to that of the tool motion member.

Abstract: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.

Abstract: A surgical instrument having an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle coupled from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle and actuation means extending between distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool. Rotation control and locking members are also disclosed.

Abstract: A medical instrument assembly and robotic medical system are provided. The assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, a controllably bendable section associated with shaft and disposed proximal to the tool, an actuation element extending within the shaft and along the bendable section for controlling actuation of the tool, another actuation element configured for actuating the bendable section, and means for decoupling motion at the bendable sections from the tool actuation. The system comprises the assembly, a user interface configured for generating commands, a drive unit coupled to the actuating element and the other actuating element, and an electric controller configured, in response to the commands, for directing the drive unit to move the actuating elements to actuate the tool and drive the other actuating element to bend the bendable section.

Abstract: A system and a method of aligning a surgical instrument with a target region of a patient are provided. The system comprises a rigid support affixed relative to a patient table, a rigid template having a location element, a surgical instrument having a rigid guide tube and a surgical insert disposed within the guide tube, and a clamp configured for alternately mounting the template and surgical instrument to the rigid support, such that the location element and guide tube both coincide with a target region. The method comprises mounting a rigid template having a location element to a clamp associated with a rigid support affixed relative to a patient table, adjusting the clamp along a rigid support until the location element aligns with the target region, firmly securing the clamp to the rigid support, removing the template from the clamp, and mounting the surgical instrument to the clamp.

Abstract: A medical instrument assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, an end effector, a threaded housing in which the threaded distal shaft end is configured for being screwed, and a first threaded piece disposed in the threaded housing and configured for being moved to actuate the end effector. The assembly further comprises an actuation element extending within the shaft. The actuation element includes a second threaded piece that distally extends from the threaded distal shaft end. The second threaded piece is configured for being screwed to the first threaded piece. A robotic system comprises the assembly, a user interface configured for generating command(s), a drive unit coupled to the actuating element, and an electric controller configured, in response to the command(s), for directing the drive unit to move the actuating element to actuate the tool.

Abstract: A method of performing a medical procedure (e.g., a suturing procedure or sewing procedure) on a patient is provided. The method comprises introducing a first medical instrument within the patient external to an anatomical vessel, introducing a second medical instrument within the patient internal to the anatomical vessel, conveying control signals from a remote controller to a drive unit, and operating the drive unit in accordance with the control signals to actuate a first tool (e.g., a surgical tool) on the first medical instrument and a second tool (e.g., a surgical tool) on the second medical instrument, in unison, to perform the medical procedure at a target region on the anatomical vessel.

Abstract: A medical instrument assembly comprises an elongated shaft, a tool carried by the distal end of the elongated shaft for performing a medical procedure on a patient, a plurality of controllably bendable sections spaced along the elongated shaft and disposed proximal to the tool, a plurality of actuation elements extending within the elongated shaft for respectively actuating the controllably bendable sections, and an instrument coupler mounted to the proximal end of the elongated shaft, with the instrument coupler configured for coupling an electromechanical drive to the actuation elements. A robotic medical system comprises the previously described medical instrument assembly, a user interface configured for generating at least one command, a drive unit coupled to the plurality of actuating elements of the medical instrument assembly, and an electric controller configured, in response to the command(s), for directing the drive unit to moves the actuating elements to actuate the controllably bendable sections.

Abstract: A medical instrument assembly and robotic medical system are provided. The assembly comprises an insert including a shaft, a coupler carried on a proximal end of the shaft, a distal tool carried on a distal end of the shaft for performing a medical procedure on a patient, and at least one cable extending within the shaft. The coupler has at least one wheel that engages the cable(s) to effect movement of the insert within at least one degree of freedom, and each instrument wheel has a half-moon portion. The assembly further comprises an adapter including a base piece for receiving the shaft, and a coupler having at least one adapter wheel having a complementary half-moon portion configured for respectively engaging the half-moon portion of the instrument wheel(s). The system comprises the previously described assembly, and a drive unit coupled to the adapter wheel(s) to move the insert within the degree(s)-of-freedom.

Abstract: A medical system comprises a rigid support affixed relative to a patient table, a carriage assembly mounted to the rigid support and a surgical instrument mounted to the carriage assembly, and a drive unit configured for pivoting the carriage assembly about the rigid support and for linearly moving the surgical instrument relative to the rigid support. The drive unit may be coupled to the surgical instrument via external cabling. Another medical system further comprises a rigid support affixed relative to a patient table, an adapter supported by the rigid support, an instrument insert removably disposed within the adapter, the instrument insert carrying a distal tool configured for performing a medical procedure on patient, and a drive unit configured for pivoting the adapter about the rigid support, linearly moving the adapter relative to the rigid support, and rotating the adapter about its longitudinal axis.

Abstract: A medical system comprises a rigid support affixed relative to a patient table, and a surgical instrument mounted to the carriage assembly. The surgical instrument carries a distal tool configured for performing a medical procedure on a patient. The medical system further comprises mechanical cabling, and an electromechanical drive unit coupled to the carriage assembly via the mechanical cabling to control linear movement of the surgical instrument relative to the rigid support.

Abstract: A medical instrument assembly and robotic medical system are provided. The instrument assembly comprises coaxially disposed shafts, and a mechanically drivable interface to which the proximal ends of the shafts are mounted. The drivable interface has first and second actuating elements configured for independently axially rotating the shafts relative to each other, and a third actuating element configured for deflecting the distal end of one of the shafts. The robotic medical system comprises the instrument assembly, a user interface configured for generating at least one command, and a drive unit coupled to the drivable interface. The robotic medical system further comprises an electrical controller configured, in response to the at least one command, for directing the drive unit to drive the first and second actuating elements to independently axially rotate the shafts relative to each other, and to drive the third actuating element to deflect one of the shafts.

Abstract: A medical system comprises a surgical instrument having a mechanically drivable mechanism and a distal tool configured for performing a medical procedure on patient. The surgical instrument may include an adapter and an instrument insert removably disposed within the adapter. The adapter may have a mechanically drivable mechanism, and the instrument insert may carry a distal tool configured for performing a medical procedure on patient. The medical system further comprises an electromechanical drive unit, mechanical cabling coupled between the drive unit and the drivable mechanism, and a remote controller configured for directing the drive unit to control movement of the surgical instrument within at least one degree-of-freedom (e.g., actuation of the distal tool, and/or linear movement of the surgical instrument, and/or pivoting of the surgical instrument).

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: An endoscopic or laparoscopic instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via bendable motion members. The tool and the tool motion member are coupled to the handle and the handle motion member via cables and a push rod in such a way that the movement of the handle with respect to the elongated shaft in any direction is replicated by the tool at the distal end of the shaft. The magnitude of the tool motion with respect to the handle motion may be scaled depending on the size of the handle motion member with respect to that of the tool motion member.

Abstract: A surgical instrument that includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle disposed from the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states.

Abstract: The surgical instrument includes a distal tool, a rigid or flexible elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. A manually rotatable member is arranged adjacent to the control handle for manually rotating the instrument shaft and working member relative to the control handle.

Abstract: The surgical instrument includes a distal tool, an elongated shaft that supports the distal tool, and a proximal handle or control member, where the tool and the handle are coupled to the respective distal and proximal ends of the elongated shaft via distal and proximal bendable motion members. Actuation means extends between said distal and proximal members whereby any deflection of said control handle with respect to said elongated instrument shaft causes a corresponding bending of said distal motion member for control of said working member. The proximal bendable member comprises a ball and socket assembly supported between the handle and instrument shaft and constructed and arranged for three dimensional motion.

Abstract: A surgical apparatus includes a slider mechanism, a surgical instrument coupled to the slider mechanism, and a single cable bundle that couples the slider mechanism and instrument to a driver. The single cable bundle includes a first cable that operates the slider mechanism and thus the instrument with one degree-of-freedom of movement, and a second cable that operates the instrument itself with another degree-of-freedom of movement. The cable bundle is attached to the slider mechanism at a location that is stationary.