Abstract: An endoscopic portal protective shield assembly has an elongate portal shaft and an elongated protective shield. The elongate portal shaft has a viewing portal. The shaft has a slotted tubular body with interior surfaces. The shaft has a distal end and a proximal end and a slotted opening at the distal end extending partially along the slotted tubular body toward the proximal end. The elongated protective shield has a longitudinal shield body, a proximal end and a distal end. The protective shield is configured to be slid into the slotted opening of the tubular body with an interior portion of the longitudinal shield body being inserted inside the tubular body while maintaining the viewing portal open.

Abstract: An operation device for a surgical manipulator includes an input device that operates the surgical manipulator. The input device includes a plurality of joints and a plurality of motors that drives the plurality of joints, and reduction ratios in power transmission paths from the plurality of motors to the plurality of joints, respectively, are 0.5 or more and 30 or less.

Abstract: Certain embodiments provide an adjustable length infusion cannula having a cannula including a first proximal end and a first distal end, and a hub having a second proximal end, a second distal end, and a central aperture that extends between the second proximal end and the second distal end. The central aperture is configured to accept the first distal end of the cannula and allow the cannula upward movement and downward movement through the hub. The adjustable length infusion cannula also includes a locking mechanism configured to lock the cannula within the hub such that the first distal end extends a first distance past the second distal end of the hub.

Abstract: The present invention provides a device for supporting and positioning an endoscope maneuvering system, the device connectable to a fixed support, the device comprising: a. a support mechanism releasably connectable to said endoscope maneuvering system; b. at least one movable arm comprising at least one first jointed connection to said support mechanism, said at least one movable arm adapted to position and orient said endoscope maneuvering system; and c. a base connector comprising at least one second jointed connection to said at least one movable arm, said base connector fixedly connectable to said fixed support; wherein said device is adapted to maintain said endoscope maneuvering system in a state of quasi-static dynamic equilibrium.

Abstract: The present technology relates to a control device, a control method, and a surgical system that enable an operator to implement operation without a burden. A control unit controls a plurality of patterns of operations of a surgical instrument, and an acquisition unit obtains motion information indicating a motion of a user. Furthermore, the control unit controls the operations of the respective patterns corresponding to the motion information obtained by the acquisition unit in parallel using only a single operation performed by the user as a trigger. The present technology can be applied to a control device of a surgical system.

Abstract: A surgical system includes a surgical assist robot including a robot main body and a slave controller, and a console. The robot main body has an entry guide, an entry guide support device, and at least one manipulator having an end effector provided at a distal end. The entry guide includes an inner cylinder, an outer cylinder into which the inner cylinder is inserted in an insertion axial direction, and a guide advancing device that displaces the inner cylinder in the insertion axial direction with respect to the outer cylinder. While a position and a posture of the end effector that has advanced from the entry guide are maintained, the inner cylinder is caused to advance toward the end effector within a predetermined movable range along the insertion axial direction with respect to the outer cylinder.

Abstract: A surgical system for performing a surgical procedure includes an ex-vivo positioning mechanism and an in-vivo instrument magnetically attracted to the ex-vivo positioning mechanism. The in-vivo instrument can be positioned within a patient by moving the ex-vivo positioning mechanism. In addition, the surgical system includes a percutaneous member introducible into the patient independent from the ex-vivo positioning mechanism, the percutaneous member comprising a connector at a distal end thereof, wherein the connector is selectively couplable to the in-vivo instrument within the patient.

Abstract: A medical observation system includes a multi-link structure in which a plurality of links is mutually coupled by joint parts, a medical observation apparatus attached on the multi-link structure, a control part configured to control the multi-link structure or the medical observation apparatus, and a user interface part by which a user inputs an instruction to change a visual field of the medical observation apparatus. When a user instructs to move a visual field of the medical observation apparatus vertically or horizontally, to rotate an oblique-viewing endoscope, or to change a magnification of the visual field via the user interface part, the control part controls the multi-link structure or the medical observation apparatus.

Abstract: A robotic surgical system is disclosed including an end effector movable relative to a tissue of a patient. The robotic surgical system further includes a control circuit configured to determine a distance between the end effector and the tissue and cause the end effector to be transitioned between a locked configuration and an unlocked configuration based on the distance.

Abstract: Provided is an endoscope holder capable of turning or swinging an endoscope inserted into a body with the endoscope fixed at a predetermined insertion position. An endoscope holder (1) includes a holder main body (3) having an insertion hole (2), gripping members (7a) and (7b) configured to pinch an endoscope E inserted into the insertion hole (2), first elastic members (12a) and (12b) configured to urge in a direction in which the gripping members (7a) and (7b) are separated from each other, a pressing member (13) configure to press the gripping member (7a) toward the gripping member (7b), a switching mechanism (17) configured to hold or release a pressing state, rollers (10) provided in gripping members (7a) and (7b), and a second elastic member (15) configured to swingably support the gripping member (7b).

Abstract: Configuration of a communication module based on determination of an idle time metric is described. In one embodiment, signal strength data representative of composite signal strength indicators of a group of frequency channels utilized by the communication module is determined. A composite indicator of the composite signal strength indicators can be employed that comprises multiple signal strength indicators, sampled over time, of a first channel of the group of frequency channels. Respective values for the composite indicator can be assigned in response to comparisons of the multiple signal strength indicators to one or more defined threshold(s). An idle time metric of the first channel can be determined based on a combination of the respective values and a best channel from among the group of frequency channels can be determined based on the idle time metric. The communication module can be updated to communicate via the best channel.

Abstract: A robotic surgical system includes a robotic arm and a user interface. The robotic arm supports a jaw assembly that includes opposed jaw members defining a jaw angle therebetween. The user interface includes a handle assembly having a body portion, a handle controller disposed within the body portion, and a first actuator movable relative to the body portion to change an opening angle of the first actuator. The first actuator has a force profile which is a force required to move the first actuator as a function of the opening angle, and the jaw assembly has a jaw angle profile which is the jaw angle as a function of the opening angle.

Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

Abstract: A device for engaging tissue includes a body disposable around the distal end of a medical instrument, such as an endoscope, and a handpiece. The body includes a primary channel for receiving the medical instrument and at least one arm channel for receiving an arm therethrough. At least one arm extends through the arm channel of the body and proximally to the handpiece. The arm includes an engagement member distally of the body, and may further include a bend between the body and engagement member. The engagement member is movable between a first position not contacting tissue and a second position contacting tissue. With multiple engagement members, the engagement members are farther apart from one another in the first position and closer together in the second position. Movement of the engagement members is controlled by selective and independent movement of the corresponding arms by rotational and/or translational motion.

Abstract: Systems, methods, and workflows for concomitant procedures are disclosed. In one aspect, the method includes manipulating a flexible instrument using a first robotic arm of a robotic system, manipulating a rigid instrument using a second robotic arm of the robotic system, displaying feedback from the flexible instrument, and displaying feedback from the rigid instrument.

Abstract: A medical system includes a medical device, an over-tube, and a console. The medical device includes an insertion portion. The over-tube is configured to receive the insertion portion. A console having a first connector is attached to the medical device and a second connector is attached to the over-tube. The over-tube has a tubular main body and a proximal-end portion. The proximal-end portion comprises a tubular member having an insertion port for receiving the insertion portion of the medical device therethrough. A base portion is coupled to the second connector and a moving mechanism is coupled to both the tubular member and the base portion. The moving mechanism is configured to cause the tubular member to move with respect to the second connector such that the tubular member has two or more degrees of freedom with respect to the second connector.

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

Abstract: Devices, systems, and methods for automatically exchanging a first end-effector on a robot arm with a second end-effector housed in a docking station. The first end-effector has a clamp that either engages or disengages the robot arm based upon an application of force of the robot arm onto the end-effector. The clamp has a spring loaded clip that disengages the first end-effector to allow the robot arm to move away from the released first end-effector. The robot arm is configured to automatically move to a port of a docking station housing the desired second end-effector using magnetic coils on the robot arm and the docking station to guide the robot arm.

Abstract: The rotatable leg massage device has a base and a swinging arm. The swinging arm has a massaging end and a swinging end, the massaging end provided with a respective massaging roller on two sides. A second motor is disposed inside of the massage end and configured to rotate the two massaging rollers. The swinging end is disposed in front of the assembling base, and both sides of the swinging end are respectively provided with a swinging gear. A central aperture of each swinging gear is aligned with the through apertures of the assembling base and a shaft passing through all four apertures, the two swinging gears engages the two driving gears of the first motor, and the first motor is configured to drive the swinging arm to rotate around the base.

Abstract: A method for evaluating a gastrointestinal tract may include characterizing one or more disease parameters using objective measures obtained from imaging data of a gastrointestinal tract. The one or more disease parameters reflect a measure of at least one of lesions, ulcers, bleeding, stenosis, and vasculature. The method may also include using the one or more characterized disease parameters to classify a disease state.

Abstract: An end effector for impacting a prosthesis at a surgical site along a trajectory maintained by a surgical robot. The end effector comprises an impactor assembly and a guide. The impactor assembly has a head to receive impact force, an interface to releasably attach to the prosthesis, a shaft extending along an impactor axis between the head and the interface, and an impactor engagement surface disposed between the head and the interface. The guide is adapted to attach to the surgical robot and comprises a channel extending along a guide axis and defining an opening arranged to receive a portion of the shaft of the impactor assembly, a guide engagement surface shaped to abut the impactor engagement surface, and a limiter to maintain abutment of the impactor engagement surface with the guide engagement surface to facilitate coaxial alignment of the axes with the trajectory maintained by the surgical robot.

Abstract: A surgical system. The surgical system comprises a surgical instrument comprising an end effector, wherein the end effector is configured to perform an end effector function, and a control circuit configured to control the end effector function and automatically adapt the control of the end effector function over time, and limit the automatic adaptation of the control of the end effector function.

Abstract: A method of processing images captured using an endoscope comprising a camera is disclosed. According to this method, regular images captured by the camera are received while the endoscope travels through a human gastrointestinal (GI) tract. The regular images are mosaicked to determine any missed or insufficiently imaged area in a section of the human GI tract already travelled by the endoscope. If any missed or insufficiently imaged area is detected, information regarding any missed or insufficiently imaged area is provided. When a target area in the regular images is lack of parallax, the target area is determined as one missed area and an edge corresponding to a structure of the human lumen is highlighted. For a capsule endoscope, the endoscope can be configured to be controlled or steered to move so as to re-image the missed or insufficiently imaged area.

Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.

Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.

Abstract: A robot main body driving mechanism; a robot main body including a hollow flexible shaft, a joint portion including a bending joint and a proximal end continuous with a distal end of the flexible shaft, the bending joint receiving driving force of the robot main body driving mechanism to perform a bending operation, an end effector provided at a distal end of the joint portion, and a driving force transmission mechanism connecting the bending joint and the robot main body driving mechanism and configured to transmit the driving force of the robot main body driving mechanism to the bending joint; and a rotation driving mechanism configured to rotate the robot main body around an axis of a proximal end of the flexible shaft.

Abstract: Surgical stapling systems and methods for stapling tissue during a surgical procedure are provided. In an exemplary embodiment, a control system is provided for controlling at least one motor coupled to a drive system on a surgical stapling device for driving one or more drive assemblies. The control system can be configured to communicate with the drive system of the stapling tool and to control and modify movement of one or more drive assemblies based on certain feedback.

Abstract: According to an embodiment, an autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in the body of a patient may comprise: an endoscope operating device capable of operating a relative position of the endoscope with respect to the protective sheath, a rolling angle of the endoscope, and a bending angle of a bending portion which is located at the end of the endoscope and is bendable; and a control unit for controlling the endoscope operating device, wherein the control unit controls the endoscope operating device on the basis of a driving record of the endoscope.

Abstract: The invention involves a system and method for controlling the movements of a multi-axis robot to perform a surgery at least on the spinal area of a human in vivo. The system includes controls and software coding to cause the robot to move in desired patterns to complete the surgery, which may include bone, disc and tissue removal, and may also include insertion of hardware for fusing adjacent bony structures.

Abstract: The present disclosure provides a stabilizing unit for a medical device. The stabilizing unit includes a retaining arm having a surface configured to abut a surface of the medical device. The stabilizing unit also includes a stabilizing fork having a slot configured to receive the medical device. A biasing member is in contact with the stabilizing fork and is configured to urge the slot of the stabilizing fork towards the retaining arm. When the medical device is placed in the slot of the stabilizing fork, the basing member urges the stabilizing fork against an adjacent surface of the medical device, and an opposing surface of the medical device against the retaining arm.

Abstract: An access system is provided for establishing an access path to a surgical site within a patient. The access system comprises an access portal defining a working channel with a central axis, and an adaptor with a mating section mountable to the access portal. The adaptor is selectively rotatable about the central axis. The access portal includes a plurality of openings and the adaptor includes a plurality of projections, each of the projections and openings being arranged so that, in a first orientation, the openings and projections align to allow mounting of the adaptor to the access portal and, in a second orientation, the openings and projections do not align to prevent disassociation between the adaptor and the access portal. The adaptor also includes a holder for a viewing device, the viewing device being movable with the adaptor about the access portal and vertically translatable relative to the access portal.

Abstract: A method of visualizing a body cavity during a surgical procedure including positioning an elongated body of an angled endoscope in a first position within a body cavity of a patient, rotating the elongated body about a longitudinal axis in response to a command point, capturing a plurality of images with an image capture device positioned within the elongated body as the elongated body is rotated, and generating a panoramic view of the body cavity from the plurality of images. In the first position of the elongated body, a surgical site is within a field of view of the image capture device. The field of view of the image capture device capturing a first volume of the body cavity, including the surgical site, when the angled endoscope is in the first position.

Abstract: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.

Abstract: A connection device attached to one structure includes structures having adjacent slots that are alligned to receive and permit placement of an elongated member, and are subsequently relatively movable to retain the elongated member to restrict or occlude the adjacent slot opening restricting removal, and further provides a sheer force between the structures each having the slot to receive the elongated member, to engage and secure the outer surface of a tubular member received into an aperture common through 2 adjacent members, each member aperture having an axis parallel to and offset from the other, wherein rotation of one of the 2 members causes the surface of the offset aperture and the surface of the non-offset aperture to apply a shear force and/or friction to engage and retain the tubular member. Access to the aperture is provided by slot extending from the aperture to the member periphery.

Abstract: A new steerable endoscope for minimally invasive surgery is provided. The endoscope system includes: a wireless steerable endoscope (1), an external magnetic controller (2) and an image/video display (3). The wireless steerable endoscope (1) could be inserted through an incision (4-1) on the body skin (4) and be anchored/steered inside the body cavity by the external magnetic controller (2). It is shaftless, wireless, and can be steered inside the body, operating in a remote manner. Compared with existing endoscopes, it neither requires additional incision nor does it occupy trocar or port space. Without the endoscope shaft, the surgical access trauma and incision size can potentially be reduced, avoiding endoscope-instrument fencing. It can be placed remotely from the access incision, providing an improved and wider field of view. It is soft-bodied and compact in structure, therefore safety is high.

Abstract: [Problem] A surgical apparatus of the related art controls only the cropping position of a captured image, and thus only executes a limited range of image control in laparoscopic surgery. [Solution] A medical information processing apparatus including: an image control section that controls processing of a captured image from a camera; and an arm control section that controls a motion of an arm that supports the camera. One of the image control section and the arm control section executes control on a basis of control information from another control section.

Abstract: An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.

Abstract: For controlling a robotic surgical system including arms, consoles, and a controller in communication with the arms and consoles, systems and methods are provided that include receiving a request for selection of a first arm for assignment to a first console, and in response to the request, determining whether the first arm is already assigned, assigning the first arm to the first console, if a determination is made that the first arm is not already assigned, determining whether the first arm is to be deselected from a previous assignment, if a determination is made that the first arm is already assigned, generating an error message, if a determination is made that the first arm is not to be deselected, and deselecting the first arm from the previous assignment and assigning the first arm to the first console, if a determination is made that the first arm is to be deselected.

Abstract: A medical device having a body having a first bubble vane for measuring angle in one plane; said body having a second bubble vane for measuring an angle in another plane; said first bubble vane having angle indicia; said second bubble vane having angle indicia; said one plane being the in a different plane from said another plane and the angles in the two planes providing the entry point for an incision for the placement of an orthopedic device.

Abstract: A computer-assisted surgical system comprises a master grip input mechanism, a surgical instrument comprising an end effector configured to apply a gripping force, and a controller. The controller is configured to receive a first input signal in response to grip input at the master grip input mechanism. The controller is further configured to receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input at a master input device, with the procedure input being different from the grip input at the master grip input mechanism and further being indicative of a user's readiness to operate the surgical instrument to perform a first surgical procedure. The controller is further configured to, in response to receiving the first input signal and the second input signal, cause one or more degrees of freedom of the surgical instrument to be placed in a locked state.

Abstract: The invention is directed to a method for operating a visualization system which includes a surgical microscope assembly for viewing a surgical region under magnification. The surgical microscope assembly is provided with a computer unit having a display for displaying image data. A detection arrangement is configured to detect endoscopic images in the surgical region and is operatively coupled to the surgical microscope assembly. A circuit actuable by a viewing person is configured to detect actuation data. The circuit is configured to set an operating state of the surgical microscope assembly matched to the detection arrangement in response to a presence of the actuation data for the surgical microscope assembly.

Abstract: Surgical instruments and surgical systems including the surgical instrument and a morcellator. The surgical instrument includes a tool assembly having an articulating joint and a screw positioned at a distal end of the articulating joint. The articulating joint is configured to articulate a distal portion of the tool assembly at an angle in relation to the longitudinal axis of the surgical instrument. The screw is configured to engage tissue, for example, a myoma in the uterine wall of a patient, and is configured to pitch and roll the tissue to expose cutting planes. The morcellator is configured to engage the tissue to morcellate the tissue and remove the tissue from a patient.

Abstract: A surgical robotic drape for enveloping a surgical robotic arm includes a covering for enveloping the robotic arm to define a sterile boundary thereover; an interface element attached to the covering, the interface element being configured to engage a drive assembly interface and an instrument interface to couple the drive assembly to an instrument to thereby provide drive to the instrument through the drape; and a guiding structure attached to the covering for locating the interface element relative to the drive assembly interface. The guiding structure is deformable between a storage configuration for when the drape is to be stored, and an operative configuration in which the guiding structure is configured to attach to the robotic arm to position the interface element with respect to the interface of the drive assembly for engagement therewith.

Abstract: Systems and methods for stapling tissue during surgery are provided. In one exemplary embodiment, a surgical stapling system is provided that includes a staple shaft assembly having a staple advancing and forming assembly and a shaft with a plurality of staples, a drive system operably coupled to the staple shaft assembly and operably coupled to at least one motor, and a control system. The drive system can have a plurality of stages of operation that drive the staple advancing and forming assembly to form a staple around tissue. The control system can be configured to actuate the at least one motor to drive the drive system and thereby control movement of the staple advancing and forming assembly and to modify a force applied to the drive system by the at least one motor during at least one stage of operation based on at least one predetermined threshold.

Abstract: Devices, systems and methods for detecting a position of an object with a robot surgical system having an articulable, separable camera stand. The surgical robot system may include a robot having a robot base with a robot arm and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, other objects, or any combination thereof, may be tracked via active and/or passive tracking markers. A camera, such as an infrared camera, a bifocal camera or a stereophotogrammetric infrared camera, is mounted on a separable camera stand and is able to detect the tracking markers when in use. Using the camera, the robot determines a position of the object from the tracking markers, which may be a three-dimensional position of the object or the markers. When convenient, the camera base may be assembled into the robot base, e.g., by sliding the camera base into the robot.

Abstract: Embodiments of the present disclosure provide a surgical robot system may include an end-effector element configured for controlled movement and positioning and tracking of surgical instruments and objects relative to an image of a patient's anatomical structure. In some embodiments the end-effector may be tracked by surgical robot system and displayed to a user. In some embodiments the end-effector element may be configured to restrict the movement of an instrument assembly in a guide tube. In some embodiments, the end-effector may contain structures to allow for magnetic coupling to a robot arm and/or wireless powering of the end-effector element. In some embodiments, tracking of a target anatomical structure and objects, both in a navigation space and an image space, may be provided by a dynamic reference base located at a position away from the target anatomical structure.

Abstract: A cleaning device for a surgical tool includes a housing having at least one opening for accessing an interior of the housing; a sponge and a heater assembly positioned in the interior of the housing; and a connector. The connector includes a first arm and a second arm extending from an outer surface of the housing. An inner surface of the first arm and an inner surface of the second arm define at least a first recess sized to receive a sidewall of a first tubular body having a first diameter, and a second recess sized to receive a sidewall of a second tubular body having a second diameter, different than the first diameter. The connector is configured to removably attach the housing to the sidewall of the first tubular body or to the sidewall of the second tubular body to supporting the housing relative to the tubular body.

Abstract: An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.

Abstract: A surgical system comprises a display screen, an endoscopic device, and a non-transitory, computer-readable storage medium that stores a plurality of instructions for execution by one or more computer processors. The instructions are for: determining a current position of a reference point on the endoscopic device relative to a reference frame; determining a first vector from the current position to a position of a first landmark relative to the reference frame; transforming the first vector from the reference frame to an image reference frame that corresponds to a perspective of an image capturing device disposed at a tip of the endoscopic device; displaying a graphical representation of the transformed first vector along with a current image captured by the image capturing device—the displayed graphical representation indicates a direction to steer the tip of the endoscopic device towards the first landmark; and periodically repeating the above processes.