Abstract: A medical system and an integrated drape assembly for a medical system is provided. The medical system comprises a surgical instrument that carries a distal tool configured for performing a medical procedure on a patient, a drive unit configured for controlling the movement of the surgical instrument within at least one degree-of-freedom, a coupling mechanism through which the surgical instrument is operably coupled to the drive unit, and an integrated drape assembly having a drape insert through which the coupling mechanism is coupled to the surgical instrument, a sterile drape covering the coupling mechanism. The drape assembly may comprise a coupling element mounted within the drape insert. The coupling element may be configured for coupling a driver element of the medical system to a driven element of the medical system.

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 instrument assembly and robotic medical system are provided. The medical instrument assembly comprises an outer probe having an elongated shaft, an inner probe having an elongated shaft, coaxially disposed within the outer probe shaft, and a driver interface module having a plurality of actuating elements configured to be driven by a drive unit to independently effect movement of each of the outer and inner probes within at least one degree-of-freedom. The robotic medical system may comprise the driver interface module, a user interface configured for generating at least one command, a drive unit coupled to the actuating elements, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating elements to independently effect movement of each of the outer and inner probes to the degree(s)-of-freedom.

Abstract: A battery pack that includes a bare cell, a bottom case and a resin part disposed on a lower surface of the bare cell. The bottom case has a number of holes. The resin part is disposed on a surface of the bare cell affixing the bottom case to the bare cell. Further, a number of protrusions is provided and composed of the same material as the resin part in which each protrusion corresponds to a hole. The protrusions and the holes have a circular, tetragonal or polygonal cross sectional shape in which upon thermal compression of the protrusions the bottom case is solidly coupled to the resin part.

Abstract: A medical instrument assembly and robotic medical system are provided. The medical instrument assembly comprises an intravascular catheter having an elongated flexible shaft, and a drivable mechanism to which the flexible catheter shaft is mounted. The drivable mechanism has an actuating element configured for effecting movement of the catheter within at least one degree-of-freedom. The medical instrument assembly further comprises a receiver to which the drivable mechanism is configured for being removably mated. The receiver is configured for operably coupling a drive unit to the actuating element. The robotic medical system comprises the medical instrument assembly, a user interface configured for generating at least one command, a drive unit coupled to the receiver, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating element via the receiver to effect movement of catheter to the degree(s)-of-freedom.

Abstract: A conductive plate connects the electrode terminals between batteries of a battery pack and prevents a change in thickness of the battery pack due to swelling of a battery during charging by forming an expansion unit in a conductive plate electrically connecting batteries of the battery pack in which at least two batteries are stacked.

Abstract: A medical instrument assembly and robotic medical system are provided. The medical instrument comprises an outer probe having an elongated shaft, an inner probe having an elongated shaft coaxially disposed within the outer probe shaft, and actuating elements. The robotic medical system comprises the medical instrument assembly, a support on which the medical instrument assembly is slidably disposed, a user interface configured for generating at least one command, a drive unit coupled to the actuating elements, and an electric controller configured, in response to the command(s), for directing the drive unit to drive the actuating elements to independently effect movement of the outer and inner probes within at least one degree-of-freedom, and to linearly translate the medical instrument assembly along the support.

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: 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: 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: 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 medical instrument that includes an instrument shaft having proximal and distal ends; a tool for performing a medical procedure; a control handle; 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 control 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; a control tube through which the instrument shaft and tool extend; the control tube including, along the length thereof, a curved section; the curved section of the control tube, upon rotation thereof, providing an additional degree of freedom by displacing the tool out of a plane defined by the curved section of the control tube.

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 medical system comprises a rigid support configured for being affixed relative to a patient table, a carriage assembly configured for being removably mounted to the rigid support, a surgical instrument mounted to the carriage assembly, the surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, and a drive unit configured for being coupled to the surgical instrument to control the movement of the surgical instrument within at least one degree-of-freedom.

Abstract: A medical probe and medical system are provided. The medical probe comprises an elongated shaft, a plurality of electromagnetic elements spaced along the elongated shaft, and a plurality of wires extending through the elongated shaft and configured for energizing the electromagnetic elements that actuate a controlled bending of the elongated shaft. The medical system may comprise the medical probe and a controller configured for energizing the electromagnetic elements via the wires to actuate the controlled bending of the elongated shaft. The medical system may optionally comprise a user interface configured for conveying commands to the controller, in which case, the controller will be configured for energizing the electromagnetic elements via the wires to actuate a controlled bending of the elongated shaft in response to the commands.

Abstract: A conductive plate connects the electrode terminals between batteries of a battery pack and prevents a change in thickness of the battery pack due to swelling of a battery during charging by forming an expansion unit in a conductive plate electrically connecting batteries of the battery pack in which at least two batteries are stacked.

Abstract: A protection circuit for a battery pack including a rechargeable battery cell having a positive electrode and a negative electrode is disclosed. The protection circuit includes a self-discharge switching device electrically connected to the positive electrode and the negative electrode of the battery cell, and a control unit electrically connected to the battery cell and the self-discharge switching device to turn-on or turn-off the self-discharge switching device according to a temperature of the battery cell.

Abstract: A conductive plate connects the electrode terminals between batteries of a battery pack and prevents a change in thickness of the battery pack due to swelling of a battery during charging by forming an expansion unit in a conductive plate electrically connecting batteries of the battery pack in which at least two batteries are stacked.

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.