Abstract: Holding device for holding a manually operated medical device in place, comprising: a connector arranged to connect the holding device to a positioning apparatus; a clamp member arranged to clamp the medical device, wherein the clamp member is moveable between a locking position wherein the medical device is clamped and a moving position wherein the medical device is moveable with respect to the holding device; a joint assembly arranged to allow movement between the clamp member and the connector, wherein the joint assembly is moveable between a moving position wherein the clamp member is moveable with respect to the connector and a locking position wherein movement between the clamp member and the connector is prevented, and; an actuator for moving both the joint assembly and the clamp member between the moving positions and the locking positions.

Abstract: An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Abstract: There is provided a wireless communication system including a wireless capsule including an imaging section, a posture control section, a first wireless communication section which transmits an image captured by the imaging section and receives a control signal for controlling the posture control section, and a power supply section which supplies power to the imaging section and the posture control section, and a wireless terminal apparatus including a second wireless communication section which receives the image transmitted from the first wireless communication section, and transmits the control signal, a display control section which performs a control in a manner that the image is displayed on a display section, a posture detection section which detects a posture of the display section, and a generation section which generates the control signal based on a posture signal detected by the posture detection section.

Abstract: System and methods are provided for adaptively and interoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.

Abstract: The present invention provides a decoupling and coupling type medical instrument which includes a bending deformation portion and a manipulation unit. The medical instrument is excellent in operability while preventing removal, cutting and the like of a wire of the bending deformation portion. A medical instrument which satisfies 0<T1<T2 in which tension in a wire is T1 in a decoupled state and is T2 in a coupled state.

Abstract: Surgical visualization devices are provided which include a substrate having at least one imaging device and a plurality of fasteners coupled thereto for attaching the substrate to patient tissue. Systems and methods utilizing the surgical visualization devices are also provided.

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: Fixation mechanism assemblies and methods are disclosed. A fixation mechanism assembly can include a first fixation member and a second fixation member moveably engaged with the first fixation member. The first fixation member can include a housing having a tissue facing surface and an opposing non-tissue facing surface, one or more guide apertures extending between the tissue facing surface and the non-tissue facing surface, and one or more first fixation elements. The first fixation member includes a longitudinal body and a proximal end attached to, or integrated with, the tissue facing surface of the housing. The second fixation member can include one or more second fixation elements. The second fixation element can correspond to a guide aperture and includes a longitudinal body, a proximal end attached to, or integrated with, the second fixation member, and a distal end movable through the corresponding guide aperture.

Abstract: A surgical device includes a console having a visual display and a manipulator arm, a robotic device having a camera and a connection component. The robotic device is configured to be positioned completely within a body cavity. The camera is configured to transmit visual images to the visual display. The connection component operably couples the console and the robotic device. The manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

Abstract: Holding arrangements for a surgical access assembly are disclosed. One holding arrangement includes a body portion, an engagement barrel and a retaining member. The retaining member is configured as a hook at a distal end of the body portion and is sized to partially encircle a portion of an outer sheath. The engagement barrel is position on a proximal end of the body portion and is configured to be operatively connected to a surgical holding arrangement.

Abstract: A system for accessing a surgical target site and related methods, involving an initial distraction system for creating an initial distraction corridor, and an assembly capable of distracting from the initial distraction corridor to a secondary distraction corridor and thereafter sequentially receiving a plurality of retractor blades for retracting from the secondary distraction corridor to thereby create an operative corridor to the surgical target site, both of which may be equipped with one or more electrodes for use in detecting the existence of (and optionally the distance and/or direction to) neural structures before, during, and after the establishment of an operative corridor to a surgical target site.

Abstract: Disclosed herein are various systems and methods for facilitating control of a tool or tools. The systems can allow a user to control multiple degrees of freedom. One such system allows a user to control multiple degrees of freedom of two tools simultaneously. Another such system allows a user to control multiple degrees of freedom with a single hand. Frames and rails for supporting and/or constraining movement of a tool or tools are also described herein.

Abstract: A coupling attachment includes a sleeve configured to at least partially surround a shaft or one or more other portions of a surgical instrument, such as a laparoscopic, during a surgical procedure. A grip is attached to the sleeve and used to hold the coupling steadily during the procedure.

Abstract: Localized strain is effectively eliminated in a shape sensing optical fiber where the fiber exits a link in a kinematic chain. In one aspect, the fiber is positioned in a channel within a fiber fixture portion of the link, and a surface of a lip of the channel is curved. The curved surface of the lip begins tangent to a wall of the channel and has a maximum radius of curvature that is less than the minimum bend radius that the fiber will experience during shape sensing. In another aspect, the fiber is positioned within a shape memory alloy tube that extends from the link.

Abstract: This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system.

Abstract: An endoscopic tissue grasper device includes a flexible tubular member, a flexible shaft extending through the tubular member, a proximal handle for moving the shaft and tubular member relative to each other, and a distal helical coil having a sharpened end for engaging tissue. The helical coil has a proximal close wound portion, a distal open wound portion, and an intermediate transition portion between the proximal and distal portions. The flexible shaft extends into the proximal and intermediate portions and is secured thereto, which prevents tissue engaged by the helical coil from becoming wedged in the transition portion and thereby facilitates release of the coil from engaged tissue. In addition, a bearing sheath is provided between the shaft and tubular member to prevent the shaft from binding during operation.

Abstract: A procedural sheath holding device includes a base member and a securing member. The base member is positionable in contact with an outer skin surface adjacent to an incision. The securing member is attached to the base member and includes a securing portion operable to releasably secure a procedural sheath in a fixed axial position relative to the skin surface when a vascular closure device is inserted through the procedural sheath to seal the incision. The securing member may be pivotal relative to the base member.

Abstract: An operation support device having a surgical instrument unit and a surgical instrument unit support section, includes: an intermediate member connected to the surgical instrument support section and configured to hold the surgical instrument unit; a shielding member having a hole portion engaged with the intermediate member; and a driving force supply unit installed at the surgical instrument support section. A first space and a second space are formed by an assembly constituted by the shielding member and the intermediate member engaged with the hole portion as a boundary. The intermediate member is connected to the surgical instrument support section at a side of the first space, and holds the surgical instrument unit at a side of the second space. The driving force supply unit and the surgical instrument support section are disposed in the first space.

Abstract: A system for autonomous camera control includes a first robot having a surgical tool mounted as an end effector and a second robot having a camera mounted as an end effector. A controller may be provided for manipulating the second robot, where the controller stores a first kinematic model for the first robot and a second kinematic model for the second robot. The controller may be configured to automatically manipulate the second robot to position the camera based on the second kinematic model and an expected position of the surgical tool according the first kinematic model of the first robot. The controller is further configured to identify a threshold angle from a viewing axis of the camera, calculate a tool angle from the viewing axis of the camera, and move the camera toward or further away from the tool depending on if the tool angle is greater than or less than the threshold angle.

Abstract: A laparoscopic port assembly includes a cannula unit including three cannulas each extending at an acute angle relative to a base. The cannulas are flexible for receiving respective angulated laparoscopic instruments. The cannula unit is rotatingly received in a port holder for rotation about a longitudinal axis of the holder, the holder being disposable in an opening in a patient's skin.

Abstract: A surgical access assembly is presented including an expandable sleeve having a proximal end and a distal end, the proximal end including a first pair of wings and a second pair of wings outwardly extending away from the sleeve, the second pair of wings detachably connected to a distal end of the first pair of wings. The surgical access assembly also includes a cannula assembly having a cannula housing and a tubular member configured to be inserted through the expandable sleeve. The surgical access assembly further includes an adhesive member attached to an end point of each of the pair of second wings, the adhesive member of each of the pair of second wings facilitating attachment of the surgical access assembly to a skin surface.

Abstract: Disclosed are a hinged connector and a video display assembly containing an attachment panel having a front surface and a back surface, with a video display attached to the front surface and at least one hinged connector attached to the back surface.

Abstract: In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two end effectors, a fastener to rotatably couple the two end effectors together, and a cam mechanism. At least one of the two end effectors is a moveable end effector having a jaw portion, an off-center portion, and a base portion. The cam mechanism is coupled to the base portion of the at least one moveable end effector to pivot it about the fastener to open and close the jaw portion of the at least one moveable end effector with respect to the other.

Abstract: An apparatus and method for warming a medical scope to a temperature at or near body temperature in order to prevent fogging and remove debris. A system for warming medical scopes and a variety of other medical items is to be used in conjunction with a liquid warming device for heating sterile fluids. The anti-fogging apparatus is described with emphasis on the properties of said apparatus and its interaction with a liquid warming device with a removable basin. Also disclosed are various desirable aspects for an apparatus used to warm and clean medical scopes and other medical items before, during and after medical procedures.

Abstract: A surgical support device includes: a driving member which is moved to transmit a driving force to a target; a first position detection unit and a second position detection unit configured to detect a first and a second moving amounts of the driving member; a difference calculation portion configured to detect a difference in length between the first moving amount and the second moving amount, an operating force computing portion configured to compute a magnitude of a force transmitted to the target from the driving member based on the difference in length; and a breakdown detection portion configured to detect at least one of the first position detection unit and the second position detection unit which has broken down, by use of the first moving amount and the second moving amount.

Abstract: Methods of controlling a gripping force of an end effector of a robotically-controlled surgical instrument are provided. The method includes receiving a first input signal indicative of a high grip level input at a master gripping mechanism that controls a slave gripping force of the end effector; receiving a second input signal indicative of a user's readiness to operate the surgical instrument to perform a surgical procedure; and outputting an actuation signal in response to receiving the first input signal and the second input signal together to increase the slave gripping force from a first level to a second level higher than the first level during the surgical procedure.

Abstract: Embodiments of a surgical access port system that comprises a retractor that is adapted for being coupled to a cap and that is particularly useful in natural orifice surgery are described. The retractor comprises an outer ring, wherein the outer ring is configured to be disposed proximate the natural orifice of the patient and substantially surround the orifice; a tubular body; and a funnel segment extending between and coupling the outer ring and the tubular body, wherein the funnel segment provides a diametric reduction between the relatively large diameter of the outer ring and the relatively smaller diameter of the tubular body, which is sized to fit within a natural orifice with minimal distention of the orifice.

Abstract: An apparatus for deploying a wireless camera includes a mobile cart, a camera and camera support frame, a display/monitor and a display/monitor positioner, an enclosed power supply such as a battery, a removable camera support frame for mounting the camera, a battery box and the display/monitor on the cart and a light for illuminating an area at least partially within the field of view of the camera.

Abstract: A capsule type medical device having a substrate section that includes at least a single layer substrate; an antenna conductor that is arranged on and closely attached to at least one surface of the substrate section; a transmitting circuit that is arranged on the one surface of the substrate section within an area surrounded by the antenna conductor; and a plurality of lands that are arranged to another surface of the substrate section, and electrically connected with the transmitting circuit.

Abstract: Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.

Abstract: A guiding apparatus includes a magnetic field generation unit, a translation mechanism that translates the magnetic field generation unit relative to a subject, a rotation mechanism that rotates the magnetic field generation unit relative to the subject, an input unit that receives first and second information about operations for changing a position a posture of a capsule medical device, respectively and a control unit that controls the translation mechanism and the rotation mechanism on the basis of the first information and the second information such that the magnetic field generation unit is translated and rotated relative to the subject, wherein, when the input unit receives the second information, the control unit corrects a change in the position of the capsule medical device caused by the rotation of the magnetic field generation unit relative to the subject by translating the magnetic field generation unit relative to the subject.

Abstract: An electromechanical surgical device includes a motor system configured to drive drive-shafts and a steering cable arrangement. A control system may be provided for controlling the motor system. A remote control unit may also be provided for controlling the motor system via the control system. Optical or Hall-effect devices, may be provided for determining the position of the elements of the surgical instrument based on the detected rotation of the drive-shafts. A memory unit stores a plurality of operating programs or algorithms, each corresponding to a type of surgical instrument attachable to the electro-mechanical surgical device. The control system reads or selects from the plurality of operating programs or algorithms, the operating program or algorithm corresponding to the type of surgical instrument attached to the electromechanical surgical device.

Abstract: An operator telerobotically controls instruments to perform a procedure on an object at a work site while viewing real-time images of the work site on a display screen. An assistant controls movement of another instrument towards or away from the work site to relieve the operator from such task. Control of the instrument is automatically switched from the assistant to the operator upon the working end of the instrument entering the view on the display screen.

Abstract: A medical scope attachment device and system includes one or more expandable rings, each having a resilient main body and an inside diameter defining a central opening that corresponds to a dimension of a medical scope. One or more sets of opposing magnetic elements are disposed within each of the rings. The system also includes a ring attachment device having a shelf that is interposed between a pair of opposing electromagnets. The ring attachment device functioning to transition the expandable rings between an expanded and non-expanded state to receive an existing medical scope.

Abstract: The objective is to control a movement velocity of an endoscope in a body in response to an amount of insertion of the endoscope in view of safety without influence of a strong magnet. A velocity-control computation section 48 adjusts a velocity of an imager to be changeable in response to an amount of insertion of the imager of the endoscope in a body by computing a target velocity vector Vxy. Thereby, increasing of the insertion amount of the imager of the endoscope inserted in the body in a movement direction makes a target velocity vector V?xy of the imager of the endoscope larger. Decreasing of the insertion amount of the imager of the endoscope, or pulling the imager of the endoscope out of the body, makes a target velocity vector V?xy of the imager of the endoscope smaller.

Abstract: An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Abstract: An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Abstract: A system for visualizing an anatomical target includes a scope (102) for internal imaging having a field of view less than a region to be imaged. A planning module (104) is configured to receive video from the scope such that field of view images of the scope are stitched together to generate a composite image of the region to be imaged. An image guidance module (016) is configured to move the scope along the anatomical target during a procedure such that an image generated in the field of view of the scope is displayed as live video overlaid on a field of the composite image.

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.

Abstract: A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.

Abstract: A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.

Abstract: Devices and systems are provided for controlling movement of a working end of a surgical device by means of a robotic system. In one embodiment, systems and devices are provided for moving an end effector on a distal end of a surgical fastening device. Movement can include rotational movement of the end effector about an axis of the shaft, articulation of the end effector relative to the shaft, and actuation of an end effector, e.g., closing, firing, and/or cutting.

Abstract: A capsule endoscope magnetic control system includes a control handle assembly, and a capsule endoscope having a controlled unit, a wireless power receiving unit, an image capturing unit, a processing unit, and a wireless communication unit. The control handle assembly includes a magnetic control unit for generating a magnetic field and a wireless power transmission unit for generating electromagnetic waves. After the capsule endoscope is placed inside a test object, the controlled unit fixed to the outside of the capsule endoscope changes the rotational direction of the capsule endoscope according to the changes in the magnetic field. The wireless power receiving unit generates an induced current. The image capturing unit generates an image data, which is received and converted by the processing unit into an image signal, which is transmitted by the wireless communication unit to the control handle assembly. Therefore, the capsule endoscope has a long battery life.

Abstract: A medical operation device is attachable to an insertion portion of a medical instrument for observation.

Abstract: An object of the present invention is to provide an endoscopic surgery device and an outer tube, capable of easily obtaining an image desired by an operator to facilitate treatment as well as of performing minimally invasive surgery. In the endoscopic surgery device and the outer tube, an endoscope and a treatment tool are inserted into a body cavity through an outer tube. The outer tube is provided with a built-in slider. The slider is provided so as to be axially movable in the outer tube body. The endoscope and the treatment tool, inserted into the outer tube, are held by the slider. Moving the treatment tool allows endoscope to be moved in conjunction with the movement of the treatment tool.

Abstract: An endoscopic system according to the invention, in particular for colonoscopy, includes a flexible endoscope with an elongate, flexible shaft, a regulator part, and also an operating part which can be placed on or pushed onto the shaft and which has at least one control element, wherein the endoscopic system furthermore includes a shaft stop, which can be secured on a patient support and which has a locking mechanism, controllable by the at least one control element, for locking the shaft against movement in a longitudinal direction of the shaft.

Abstract: A support mechanism for a medical device may include an adjustable support that includes a plurality of elongate members movable relative to one another. The support mechanism may also include a bracket coupled to the adjustable support. The bracket may be adapted to be coupled to a first medical device that extends along a longitudinal axis. The support mechanism may also include an instrument holder that extends along a central axis. The instrument holder may be movably coupled to the bracket and adapted to be coupled to a second medical device. The bracket and the instrument holder may be oriented such that central axis of the instrument holder intersects the longitudinal axis at an angle.

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.

Abstract: A catheter winder/unwinder comprising at least a first system and a second system is disclosed wherein, the first system comprises a first receptacle that receives a catheter and a first drive mechanism that applies movement to the catheter, the second system comprising a second receptacle that receives a guide and including an outlet, said second receptacle being rotatable relative to the first receptacle, and a second drive mechanism that applies movement to the guide. The outlet includes a fastener device for fastening to the catheter.