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: The disclosure features wireless power transfer systems that include a wirelessly powered capsule endoscope comprising a camera, a light source, electronics, an antenna, a device resonator, and a capsule enclosure; and a power supply resonator; wherein the power supply resonator is configured and arranged to resonantly couple with the device resonator to provide power to the wirelessly powered capsule endoscope via an oscillating magnetic field.

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.

Abstract: The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods.

Abstract: The present disclosure relates to a guide assembly including a guide having a body and a joint including at least one through hole, wherein the joint is configured for sliding along a length of the body, and a first surgical device. The guide is coupled to the first surgical device and a longitudinal axis of the through hole is co-radial with an end of the first surgical device. Other guide assemblies and methods of creating multiple portals during surgery are also disclosed.

Abstract: An array of surgical assistance devices that may be used to provide a source of light to the surgical site; collect video or photo imaging of the surgical site; and/or provide smoke/vapor evacuation from the surgical site. The primary elements of the invention include lengths of flexible or malleable tubing or light wave guides that, through a first flexible section, may be connected to standard operating room equipment, through to a moveable base that may be positioned by the surgeon or the surgery personnel. The moveable base includes a clip structure designed to receive the tubing or wave guide conduit, and to be placed on or near the patient at or near the surgical site. The base may be provided with a moderately weighted material to facilitate the support of the surgical assistance device or may comprise a bendable ribbon or band with a securing clip.

Abstract: A handle used to control movement of a medical instrument. The medical instrument may be coupled to a robotic arm that is connected to a controller. The medical instrument may have a plurality of functions such as wrist locking and motion scaling. One of the functions may be selected through a graphical user interface operated by the end user. The handle may have a plurality of buttons. One of the buttons may allow the end user to control the selected function. For example, when wrist locking/unlocking is selected, depressing the button can toggle the medical instrument wrist between a locked state and an unlocked state.

Abstract: A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.

Abstract: An endoscope holding device includes an insertion part that is long and holds the distal end part of an endoscope so as to freely protrude and retract; a distal end face that specifies a protruding direction of the endoscope, and is formed at the distal end of the insertion part, a displacement part which has a displacement face that is curved from the distal end toward a proximal end and provided at a position apart from the distal end face in order to displace living body tissue in front of the insertion part to secure a space for operating the distal end part of the endoscope protruded from the distal end face to curve; and a fixing portion that fixes the displacement part and the insertion part such that the distal end side of the displacement face intersects a direction orthogonal to the distal end face.

Abstract: A multiple viewpoint endoscope system having a multiple viewpoint camera setup and/or an intelligent or cognitive image control system and display device particularly adapted for localizing internal structures within a cavity or an enclosing structure, such as an animal body, for instance the abdomen of an animal or human, or for localizing a real or synthetic image of such internal structures within an overview image or on an overview 3D model.

Abstract: A capsule endoscopic system is disclosed for receiving data from a capsule device and providing inductive power to the capsule device wirelessly, where the capsule endoscopic system incorporates a feature to automatically protect the capsule device and the docking device from damage if the capsule device is docked in a backward orientation. In one embodiment, the docking device comprises a current sense circuit to detect the current flowing through the primary coil or primary drive circuit. The occurrence of wrong orientation can be detected from the current. A detection/control circuit can be used to provide the needed control in order to prevent damage to the system. In another embodiment, a resonant circuit comprising a capacitor and the primary coil is used to provide the needed protection when the capsule device is docked with a wrong orientation.

Abstract: An endoscope apparatus according to the present invention is featured by including: an endoscope which has a connector main body; an apparatus main body to which the connector main body can be detachably mounted; a closed space which, after the connector main body is mounted to the apparatus main body, is formed in exterior housings of the apparatus main body and the connector main body by being closed by the exterior housings; a heat generating portion which is provided in the closed space; and a fan which is provided in the closed space, and performs at least one of dissipation of heat of the heat generating portion to the closed space and transfer of heat in the atmosphere in the closed space to the exterior housing.

Abstract: With an endoscope including a long, thin inserted portion that is inserted into the body of a patient, securing means for securing the inserted portion to tissue inside the body, the securing means being provided at least at a distal-end portion of the inserted portion, an observation optical system that is provided at the inserted portion and that acquires an image of the tissue, and observation-distance adjusting means for adjusting the distance between the observation optical system and a surface of the tissue, it is possible to attain a stable field of view without having to stop the pulsation or the like of the heart or other tissue.

Abstract: An endoscopic system may include a catheter or tubing and at least one optical sensor disposed along the catheter or tubing and configured to capture image information from a body lumen when disposed within the body lumen and activated. The system may further include an untethered module operatively arranged with the at least one optical sensor and configured to store or transmit image information captured by the at least one optical sensor. The catheter or tubing, at least one optical sensor and module may be portable during use.

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 distal arm that holds a rigid endoscope includes a multi-joint articulated arm including first to fourth distal arm portions sequentially connected from a base portion side, and these first to fourth distal arm portions are configured so as to move on a vertical plane with horizontal rotational shafts as supports. In addition, behaviors of the respective distal arm portions are linked by a linking mechanism so that the first distal arm portion and the third distal arm portion behave in parallel to each other, and the second distal arm portion and the fourth distal arm portion behave in parallel to each other.

Abstract: The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Abstract: Described herein is a three-dimensional scanning system that features a camera integrated with a user-guided haptic interface device. The system allows an operator, through the sense of touch, to intuitively and interactively identify optimum locations for obtaining images or scans of an object. The system then assembles these scans to produce a virtual three-dimensional representation of the object with a high degree of accuracy and with a minimum of data artifacts.

Abstract: An endoscope apparatus includes an insertion part having an imaging mechanism at a distal end portion and which is bendable and elongated; a display part which displays an image acquired by an imaging mechanism; a manipulating part which performs curving manipulation of the insertion part; and a housing which the display part and the manipulating part are provided to a front face thereof, and which connects the insertion part with a back face opposite to the front face. The housing is capable of being self-supported in a state where the edge of the back face at the display part, and a connecting portion between the insertion part and the housing are brought into contact with the ground.

Abstract: An augmented reality image display system may be implemented together with a surgical robot system. The surgical robot system may include a slave system performing a surgical operation, a master system controlling the surgical operation of the slave system, an imaging system generating a virtual image of the inside of a patient's body, and an augmented reality image display system including a camera capturing a real image having a plurality of markers attached to the patient's body or a human body model. The augmented reality image system may include an augmented reality image generator which detects the plurality of markers in the real image, estimates the position and gaze direction of the camera using the detected markers, and generates an augmented reality image by overlaying a region of the virtual image over the real image, and a display which displays the augmented reality image.

Abstract: An apparatus for cochlear endoscopy is provided, comprising a noninvasive head holder with a frame to attach to a head, an otologic tool for examining or operating on an ear, and a manipulator for moving the otologic tool with a translation precision of better than or equal to 0.5 mm. The otologic tool comprises an endoscope.

Abstract: A surgical device includes a jaw portion and a shaft portion that is pivotably coupled to the jaw portion. The shaft portion defines an interior space having first and second openings on respective radially-opposite sides of the shaft portion. A camera assembly is coupled to the shaft portion and is moveable between a first position, in which the camera assembly is positioned within the interior space of the shaft portion, and, for example, second and third positions, in which the camera assembly extends through a respective one of the first and second radially-opposite openings of the shaft portion. In this manner, the camera assembly may be positionable on, and may provide imaging data of, either side of the surgical device, irrespective of which lateral side the jaw portion is articulated relative to the shaft portion.

Abstract: The invention relates to an attachment adapter for attaching additional functions to a surgical tool. The attachment adapter provides a joint or a coupling between two instruments, e.g. a surgical tool and a navigation marker. The attachment adapter comprises an attachment body for attaching a surgical tool to the attachment adapter and a mounting seat with a mechanical coupling for fastening an add-on device to the attachment adapter. The attachment body comprises an elongate part adapted to receive the winding of a line and provided with at least two legs adapted to fit in an astride position on an elongate part of a surgical tool. It also comprises a line securing means adapted for securing a line, wound around the attachment body to join the attachment adapter to the surgical tool, in a locking position.

Abstract: The present invention relates to magnetically coupleable robotic surgical devices. More specifically, the present invention relates to robotic surgical devices that can be inserted into a patient's body and can be positioned within the patient's body using an external magnet.

Abstract: An antenna apparatus is configured to acquire information from a body-insertable apparatus that is configured to be inserted into a subject to move inside the subject. The antenna apparatus includes an antenna that includes one sheet on which plural receiving antennas are fixed and in which a first positioning hole is formed; and an antenna holder that includes a container portion which is configured to hold the antenna at a predetermined position and in a predetermined orientation and in which second positioning hole is formed at a position corresponding to the first positioning hole when the antenna is held. The antenna holder is configured to be attached to a predetermined position of the subject using the first and second positioning holes as an index when the antenna is held in the antenna holder.

Abstract: In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.

Abstract: A surgical robot and a control method for the enables measurement of external force applied to a surgical tool of a slave device. In the surgical robot, the slave device may include an external force measurement unit, an image capture unit, and a controller. The external force measurement unit may include a force sensor attached to a surgical instrument to measure external force applied to a surgical tool provided at the surgical instrument, and a visual information display unit connected to the force sensor to display visual information corresponding to the external force output from the force sensor. The image capture unit acquires an image with regard to the visual information. The controller extracts the visual information from the image using image processing, and converts the extracted visual information into corresponding external force information.

Abstract: Systems and methods for maneuvering an endoscope are disclosed. The system includes: at least one first pivoting support that is pivotally attached to the endoscope and that permits the endoscope to pivot around at least one first axis of rotation; at least one second pivoting support that is in communication with the at least one first pivoting support and that is adapted to rotate around at least one axis that is substantially orthogonal to said first axis so as to permit the endoscope to rotate around an insertion point into a body in at least two orthogonal axes; and at least one controller attached to either the first or the second pivoting. The controller is adapted to provide a constant dynamic equilibrium between said endoscope and at least one of the pivoting supports.

Abstract: The present invention provides an electric bending endoscope device which has an endoscope supporting device. The endoscope supporting device is provided with an electric bending unit and an insertion portion detachably configured in a state that an electric bending endoscope is always supported to improve an efficiency of an operation to be performed before and after an inspection and to reduce the work or burdens of the users, and in the state that the endoscope is being supported, the endoscope can be used, and similarly, the supporting device can be stored in the state that the endoscope is being supported.

Abstract: In a method and an apparatus for conducting minimally-invasive procedures involving heart valves at least one multi-access articulated x-ray imaging robot is employed that allows a radiation detector carried by the robot to be moved in arbitrary paths, such as in circle, an ellipse, or along a spiral, around a patient in order to generate multiple projection exposures of the relevant region of the patient during the procedure. An image processor reconstructs a 3D image from the projection exposures substantially in real time during the procedure, and the 3D image is displayed to operating personnel during the procedure.

Abstract: A biological optical measurement apparatus includes a connector unit to which a measurement probe is detachably connected, a supply unit configured to supply air to the connector unit, a pipe that connects the connector unit and the supply unit, a pressure detection unit configured to detect a pressure value in the pipe, and an abrasion determination unit configured to determine abrasion of the connector unit based on the pressure value detected by the pressure detection unit under conditions that the measurement probe is connected to the connector unit.

Abstract: The present invention relates to a surgical robot system with at least two robot arms (45, 47, 49, 51), on each of which is arranged at least one endoscope for a minimally invasive surgery, wherein the first endoscope on the first robot arm (47) comprises a main support means (4b) and which comprises at the distal end at least one lighting unit (23, 24) and two image-taking devices (20a, 21a, 22a, 20b, 21b, 22b), and a trocar (1b), and wherein the second endoscope on to the second robot arm (45) comprises a main support means (4a), a trocar (1a), and an auxiliary support means (3).

Abstract: An endoscope testing apparatus including a base, a main rail coupled to the base, a first centering mount coupled to the main rail, an optical test target holder coupled to the main rail, a second centering mount coupled to the optical test holder, the second centering mount being coaxially alignable with the first centering mount, and an optical scanning device coupled to the main rail and coaxially alignable with the first centering mount and the second centering mount. The test target holder includes an optical test target having a selectively adjustable distance between the optical test target and the second centering mount and a selectively adjustable angle formed between an axis formed by the centering mounts and the test target.

Abstract: The present invention provides a surgical tracking system for assisting an operator to perform a laparoscopic surgery of a human body, said surgical tracking system comprising: a. at least one endoscope adapted to acquire real-time images of a surgical environment within said human body; b. a maneuvering subsystem adapted to control the spatial position of said endoscope during said laparoscopic surgery; and, c. a tracking subsystem in communication with said maneuvering subsystem, adapted to control the maneuvering system so as to direct and modify the spatial position of said endoscope to a region of interest.

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: A plug-in unit with integral cable connection to the operating part of an endoscope and plug connections for lamps, mechanical, and/or electronic modules is characterized in that a hollow tube extending to the distal end of the endoscope is inserted into the plug-in unit by the integral cable connection and the operating part and has its proximal end positioned so that it is freely movable in the plug-in unit in such a way that can be conducted out of a closeable bore-hole in the wall of the plug-in unit.

Abstract: The present embodiments provide apparatus and methods suitable for facilitating positioning one or more medical components. In one embodiment, the apparatus comprises a rail member having proximal and distal ends and a generally longitudinal axis. A first connector is adapted to be selectively coupled to the rail member, and a first medical component is adapted to be coupled to the first connector. The first connector is disposed for selective longitudinal movement along the rail member, thereby permitting movement of the first medical component with respect to the rail member. In this manner, one or more components, such as a catheter and a needle, may be inserted into a human or animal body in a controlled fashion with respect to one another.

Abstract: An arrangement for manipulating a medical device is inserted into the body of a patient. There is a drive element to be driven by a motor. There is also a control element for controlling at least one motion of the medical device. A transmission arrangement transmits motion from the drive element to the control element, the transmission arrangement having first and second members which are frictionally engaged with one another so that motion may be transmitted from one to the other. There is a manual manipulation control, which may be grasped by a user to move the medical device manually while the first and second members remain in frictional engagement with one another.

Abstract: An operating room control system that is soft configurable allowing a user to completely configure the control and function of the system. The system includes a touchscreen that provides a video display received from a video endoscope and presents icons on the touchscreen allowing the user to control and interface with the tools/equipment in the operating room as well as hospital systems. The controls, displays, tools, equipment, etc. are configured to be operated from a single centralized platform.

Abstract: The present invention discloses a system for handling a surgical instrument, useful for observation and/or intervention with respect to a patient's body. The system comprising a fixed support; hinge which enable changing of the inclination of the system; actuators system that produce the rotation movement utilized by handling surgical instrument mechanism; a flexible power transmission system; gear housing adapted to change the direction of the motors rotation transmitted by the flexible power transmission system; and, handling surgical instrument mechanism, said mechanism comprising: a first small size moveable element, connected to the gear housing is adapted to simultaneous maneuver of a second moveable element to the four main directions, and/or any other maneuver, e.g.

Abstract: An endoscope apparatus includes an apparatus main body having a housing with a concave portion formed in one surface, and an endoscope unit including a detachable connector portion in the concave portion, wherein, when the connector portion is mounted to the concave portion, the connector portion constitutes a part of the one surface. More preferably, a packing is provided in the housing or the connector portion that, when the connector portion is mounted to the housing, retains the mutual mating surfaces of the housing and the connector portion in a closely contacting state.

Abstract: The present invention discloses an endoscope positioning system for maneuvering, orienting and positioning an endoscope relative to an organ within a patient's body during an endoscopic operation. The endoscope positioning system comprises a gripper that reversibly attaches the positioning system to the patient's body while allowing full adjustment of the endoscope in four degrees of freedom.

Abstract: Aspects of the present invention provide improved visualization systems and methods for minimally invasive surgery. Some embodiments include the use of reverse kinematic positioning of camera systems to provide rapid and manual surgeon controllable positioning of camera systems as well as display of 3D surgical area images along the line of sight between a surgeon's eyes and the surgical area itself.

Abstract: A surgical imaging device and method configured to be inserted into a surgical site. The surgical imaging device includes a plurality of prongs. Each one of the prongs has an image sensor mounted thereon. The image sensors provide different image data corresponding to the surgical site, thus enabling a surgeon to view a surgical site from several different angles. The prongs may be moveable between a first position, suitable for insertion through a small surgical incision, and a second position, in which the prongs are separated from each other. In addition, the prongs may be bendable.

Abstract: Embodiments of the present invention provide improved visualization systems and methods for minimally invasive surgery. Some embodiments include the use of reverse kinematic positioning of camera systems to provide rapid and manual surgeon controllable positioning of camera systems as well as display of 3D surgical area images along the line of sight between a surgeon's eyes and the surgical area itself.

Abstract: A clip or flexible handles extension facilitate simultaneous retention and operation of a bronchoscope and associated bronchoscopic tools held in one hand to allow operation by a single practitioner. Also provided is an adapter for the connection port of the working channel of a bronchoscope which performs both sealing and tool-locking functions. Also disclosed is a guide sheath arrangement with a reduced flexibility proximal portion to facilitate insertion of tools into the guide sheath.

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.

Abstract: A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position.

Abstract: A locking device for a maintaining an elongated member at a selected place within a body lumen includes a substantially rigid body including an attachment portion adapted to be coupled to a proximal portion of a medical instrument. When in an operative position, the distal portion of the medical instrument is received within the body lumen and a head coupled to the substantially rigid body. The head is configured to overlie an access port of the medical device when the attachment portion is coupled to the proximal portion of the medical device in a predetermined configuration. A plurality of locking features extends from the head to immobilize a section of the elongated member relative to the medical device.