Abstract: A gaze contingent control system for a robotic laparoscope holder which has a video-based remote eye tracking device and at least one processor capable of receiving eye gaze data from said eye tracking device and in response outputting a series of control signals for moving said robotic laparoscope.

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 scaffold assembly includes an instrument pod and a plurality of actuable movers. The instrument pod may include one or more instruments operably coupled thereto. The instrument pod is inserted through a tissue tract into the body cavity. Each actuatable mover includes an insertion member extending therefrom for insertion within tissue. Each mover has one or more lines removably attachable to the instrument pod that are configured to move the instrument pod between different positions relative to each mover upon the actuation of one or more of the movers to move the instrument pod within the body cavity.

Abstract: A robotic system and method are provided. The robotic system includes a continuum robot, an actuation unit, and a flexible positioning shaft. The continuum robot is configured to perform minimally invasive diagnostic, surgical or therapeutic techniques, and includes at least one continuum segment including a plurality of backbones. The continuum segment carries at least one diagnostic, surgical or therapeutic instrument in a flexible instrumentation housing that has a plurality of instrumentation channels. The actuation unit is configured to actuate the continuum robot by providing linear actuation to each of the plurality of backbones, and includes force sensors for measuring actuation forces. The flexible positioning shaft is configured to direct a position and orientation of the continuum robot and to couple the actuation unit to the continuum robot.

Abstract: A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.

Abstract: An anatomical probe system comprises an elongated flexible body and an operational component extending within a channel of the flexible body. The system also comprises a support member at a distal end of the elongated flexible body. The support member includes a fluid director adapted to direct a fluid from the channel toward the operational component. The fluid may be automatically directed towards the operational component in response to detecting a material obstruction of an image.

Abstract: A system for autonomous camera control is provided. The system may include 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.

Abstract: Methods and devices are provided for allowing a surgical instrument to be supported by a surgical support system configured to controllably guide the instrument to a desired position at surgical site. A surgical support system is provided that includes a guide port defining a pivot point about which a surgical instrument advance therethrough can pivot. The guide port, and hence the pivot point, can be located a distance above a tissue surface through which the instrument is advanced. Methods and devices are also provided for allowing insufflation of a body cavity without introduction of an insufflation fluid therein. A mechanical insufflation device is provided that includes an expandable distal member configured to selectively expand and unexpand to mechanically insufflate a body cavity. The mechanical insufflation device can optionally be used with the surgical support system.

Abstract: A telescopic tilting device 12 comprises a telescopic arm 14 which is extendable and retractable along an arcuate path 16. Preferably, the telescopic arm 14 includes two arcuate members 22, 24 which are telescopically slidable relative to each other. More preferably, the device further comprises a drive unit 20 having a flexible belt 43 for moving the telescopic arm 14. There is also provided an endoscope holding device 10 which has such a telescopic tilting device 12.

Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.

Abstract: The present invention relates to a system for positioning with respect to a patient's body an observation and/or intervention device having a portion penetrating into the patient's body comprising a base laid on the patient's body; a means for supporting the device formed of a first portion movably assembled on the base according to a connection with one degree of freedom, and of a second portion movably assembled on the first portion according to a connection with one degree of freedom and connected to the device; and means for actuating the first portion with respect to the base, and the second portion with respect to the first portion, in which the base surrounds at a distance at least partially the device, said device being detachably connected to the second portion to enable removal of the positioning system while leaving in place the device.

Abstract: A medical robot system has a plurality of first robot arms supporting respective manipulators thereon; a second robot arm supporting an endoscope thereon; and a controller for controlling the first robot arms and the second robot arm. The manipulators and endoscope are inserted into a body cavity through a common trocar supporting member, wherein each of said manipulators includes a rod-shaped member for insertion through the trocar supporting member into the body cavity, a distal-end working unit mounted on a distal end of the rod-shaped member and having at least one joint, and at least one intermediate joint disposed in the rod-shaped member for bending said rod-shaped member.

Abstract: An endoscopic system is a system which an insertion portion of an endoscope is inserted from an insertion opening of an object to observe an inner surface of the object. The endoscopic system includes an electromagnetic radiation unit configured to radiate electromagnetic waves, a detection section configured to detect the electromagnetic waves, and a determination section configured to determine whether the insertion portion is present in the object based on a detection result of the detection section. One of the electromagnetic radiation unit and the detection section is arranged outside the object, and the other is arranged at the insertion portion.

Abstract: An endoscope system includes at least an endoscope of the endoscope and an accessory, a placement unit on which the endoscope is adapted to be placed, a detecting unit configured to detect whether the endoscope is placed on the placement unit or not, an actuating unit for at least one of the endoscope and the accessory, an operating unit for operating the actuating unit, and a control unit configured to be switched between a normal mode wherein the actuating unit is controlled according to an operation to the operating unit and a restricting mode wherein the actuating unit is controlled regardless of an operation to the operating unit, on the basis of a result of detection by the detecting unit.

Abstract: A probe holder having a removable mechanical retention device; a first tube having a longitudinal slot and two opposing notches at each end, the notches configured for engaging the removable mechanical retention device; a second tube having a longitudinal slot and configured for rotational mating with the first tube; a top cap and a bottom cap, each of the top cap and bottom cap being configured for releasably engaging the first tube with the removable mechanical retention device, and for restraining rotation of the first tube when so engaged, while permitting rotation of the second tube relative to the first tube between an open configuration and a closed configuration.

Abstract: A surgical tool assembly is provided having a surgical tool, a scope; and a detachable clip which couples the tool and scope. The clip includes a first grip which engages a peripheral surface of the tool and a second grip which engages a peripheral surface of the scope. Additionally, the first and second grips may be formed continuously with one another.

Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

Abstract: An apparatus includes an endoscope and a surgical instrument guide device. An elongated surgical instrument is allowed to insert through a working channel of the endoscope to cooperate with a processor module of the endoscope. The surgical instrument guide device includes a base member, an adjustment member, a catch, a cap member, fasteners, and a tubing. Pegs of the catch are fitted in positioning holes of the base member. A tube of the endoscope is inserted through the tubing of the surgical instrument guide device so as to dispose in close proximity to a target.

Abstract: A surgical support assembly is disclosed, including a plurality of tissue penetrating support members, a plurality of position controlling members through which the plurality of tissue penetrating support members are inserted, and an imaging member attached at the vertex of the plurality of tissue penetrating support members. Also disclosed is a method of assembling and using a surgical support assembly in conjunction with minimally invasive surgical procedures.

Abstract: To stably and properly monitor an inside of a body by using an easily operable placement technique, a capsule endoscope 101 to be swallowed from an oral cavity 200 to acquire in-vivo information of a subject 201 and to wirelessly output for a transmission of the in-vivo information to an outside of a body, a string member 103 that is connected to the capsule endoscope 101 for positioning the capsule endoscope 101 at a gastric cardia 202, and a fixing portion 104 that is a portion of the string member 103, is provided on a position with which a length from the capsule endoscope 101 corresponds to a length from the gastric cardia 202 to the inside of an esophageal region 203 for fixing the string member 103 that has located the capsule endoscope 101 at the gastric cardia 202 to the inside of the esophageal region 203 by an endoscopic fixture are included.

Abstract: An instrument assembly support apparatus is disclosed. In some embodiments, the instrument assembly support apparatus may be for supporting an instrument assembly. The instrument assembly may include an instrument support arm. In some embodiments, the instrument assembly support apparatus may include a base fixedly mountable onto the external frame, a pivot assembly mounted for pivoting relative to the base, an arm assembly extending along a longitudinal axis, and a support assembly configured to support the instrument assembly on the arm assembly.

Abstract: An instrument support apparatus is disclosed. In some embodiments, the instrument support apparatus may be for supporting an instrument having a shaft extending along a shaft axis relative to a patient positioned adjacent to an external frame. In some embodiments, the instrument support apparatus may include a base fixedly mountable onto the external frame, a pivot assembly mounted for pivoting relative to the base, an arm assembly extending along a longitudinal axis, and a support assembly configured to support the instrument on the arm assembly.

Abstract: A medical apparatus according to the present invention is a medical apparatus used in a state in which the medical apparatus is led into a body and fixed. The medical apparatus includes: a fixing section that fixes the medical apparatus on a body wall in the body; an image pickup section that picks up an image of a subject in the body and is provided pivotably around a first axis; and a holding section that includes the fixing section and holds the image pickup section pivotably around a second axis different from the first axis. Therefore, the medical apparatus can change a photographing range and a visual field direction as desired to photograph the subject by performing magnified observation and photographing the subject from different directions without using a zoom function in the state in which the medical apparatus is fixed in a limited space in the body.

Abstract: An airway positioning device facilitates the maintenance of a patent airway by correctly positioning a patient's head during anesthesia. A flat base supports a supine patient's head. A pair of rails slope downward from a first end of the base to a second end of the base. A track mounts with at least one of the rails. At least one adjustable support arm movably mounts with the track via a locking coupling device at an end of the arm distal to the patient's head. A patient engaging member mounted with an end of the arm proximal to the patient's head supports the patient's head in a desired position during an operation or procedure.

Abstract: A clean and inexpensive medical manipulator device can be provided in which a risk of failure caused by current leakage or disconnection is eliminated and reliability is higher than in a manipulator device using an electrically driven actuator or electric motor. The medical manipulator device includes a stage section 3 that can hold a medical instrument 2; a plurality of actuators 4 each linked at one end to the stage section 3; and a base section 5 linked to the other end of each of the plurality of actuators 4 and serving as a base for the plurality of actuators 4, wherein each of the actuators 4 causes the medical instrument 2 and the stage section 3 to displace with respect to the base section 5 by extending or contracting in the longitudinal direction of the actuator 4 in response to a pressure of a liquid 6.

Abstract: According to endoscope manipulator for MIS capable of overcoming disadvantages of multiaxial endoscope manipulator including conventional robot arm and providing compact and light-weight structure to obtain maximum activity space for medical staff, multi-joint arm is configured so that movement of all joints from base link to tip link is manually locked-unlocked by user and not controlled by motors. Endoscope mounted on end of multi-joint arm is manipulated using motors to enable movement of three-degrees of freedom, thereby accomplishing compact and light-weight endoscope manipulator. Tube of endoscope can be press-fitted onto tip of multi-joint arm, and three-axis movement function for vertical, lateral and forward/backward conveyance of endoscope is implemented in tip of multi-joint arm. Since external manual joints are not moved during operation, disturbance or restriction to activities of medical staff can be minimized.

Abstract: Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.

Abstract: A system for positioning a laparoscopic device includes a curvilinear articulating arm and a holder. The holder has at least two rotational regions and a clamping portion for receiving the laparoscopic device, and the holder is coupled to the curvilinear articulating arm. The at least two rotational regions are permitted to articulate. In addition, a method of positioning a laparoscopic device in a skin port of a mammal includes: securing the laparoscopic device to a holder having at least two rotational joints; coupling the holder to a curvilinear articulating arm; disposing the laparoscopic device partially within the skin port; positioning the laparoscopic device by selectively articulating the curvilinear articulating arm and selectively rotating portions of the holder with respect to one another.

Abstract: Endoscope manipulator for MIS can overcome disadvantages of multiaxial endoscope manipulator including conventional robot arm and provide compact and lightweight structure to obtain maximum activity space for medical staff. According to the endoscope manipulator for MIS, multi-joint arm is configured so that movement of all of the joints from base link to tip link is manually locked and unlocked by user and not controlled by motors. Additionally, endoscope mounted on an end of multi-joint arm is manipulated using motors to enable movement of three degrees of freedom, thereby accomplishing compact and lightweight endoscope manipulator. Additionally, tube of endoscope can be press-fitted onto tip part of multi-joint arm, and triaxial movement function for vertical, horizontal and forward/backward conveyance of endoscope is implemented in the tip part of multi-joint arm.

Abstract: One embodiment provides a portable endoscope. The portable endoscope includes a case configured to enclose at least electrical components of the portable endoscope. The electrical components include a camera configured to capture video content within a body of a patient. The components include one or more lights at least partially encompassing the camera. The one or more lights are adapted to illuminate internal portions of the body of the patient. The components include a transceiver in electrical communication with the camera. The transceiver is configured to receive the video content from the camera and wirelessly transmit the video content to a computing or communications device. The components include a battery configured to provide electrical energy to the camera, the one or more lights, and the transceiver. Each of the electrical components are interchangeable within the case.

Abstract: An improved interface between the surgeon and an endoscope system for laparoscopic surgery, holding a laparoscopic came and/or controlling an automated endoscope assistant includes at least one wireless transmitter with at least one operating key (12a). at least one wireless receiver (11), at least one conventional laparoscopy computerized system (15) loaded with conventional surgical instrument spatial location software, and conventional automated assistant maneuvering software, software loaded onto to the conventional laparoscopy system that enables a visual response to the depression of at least one key on the wireless transmitter as well as an interface with the conventional automated assistant maneuvering software so as to achieve movement of the endoscope, and at least one video screen (30).

Abstract: An endoscope device comprises a replaceable endoscope probe, a carriage for holding the endoscope probe, a zoom unit, a tilting unit, and a rotation unit. Preferably, the tilting unit comprises a telescopic arm which is extendable and retractable along an arcuate path, the telescopic arm includes two rigid arcuate members which are telescopically slidable relative to each other, wherein the tilting device is rotatable about an axis of rotation which passes through the fixed point, so that the telescopic arm is movable in a plane perpendicular to the axis of rotation.

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: An endoscope storage cabinet for use with at least one endoscope having at least one signal emitting member associated therewith and configured to emit a signal indicative of at least one attribute of the at least one endoscope to which it is associated, the cabinet including: an enclosed structure formed by a plurality of walls defining an inner area which is accessible by at least one door; at least one hanger arrangement configured to support at least a portion of at least one endoscope positioned thereon; at least one signal receiving device associated with the enclosed structure and configured to receive the signal emitted by the at least one signal emitting member; and a local control device in communication with the at least one signal receiving device and configured to receive and process the signal emitted by the at least one signal emitting member.

Abstract: A hand-mounted, video-guided system comprising: an element for mounting to at least one finger of a user; a video input carried by said element; an irrigation line carried by said element; a fenestrated suction head for mounting to the hand of a user, said fenestrated suction head comprising a hollow body having fenestrations formed therein, and a suction line having a fenestrated distal end disposed within the interior of said hollow body.

Abstract: The invention relates to a holding device for medical purposes having a carrier arm on whose distal end at least one medical instrument can be secured and having at least one joint for positioning the carrier arm and/or the medical instrument, wherein the at least one joint can be transferred between a position that releases the joint and a position that blocks the joint and wherein the at least one joint is coupled with a touch sensor for actuating the joint. To produce a holding device for medical purposes that ensures simple construction, simple handling, and reliable positionability, it is proposed with the invention that the sensor should be coupled with the medical instrument mounted on the distal end of the carrier arm.

Abstract: A device (10) for laparoscopic or thoracoscopic surgery, the device (10) comprising: a first member (20) to be moved across the body (5) of a patient; and a second member (30) to be placed within the body (5), the second member (30) comprising an image capturing device (32) to capture images from within the body (5) and to transmit the captured images for display; wherein the second member (30) is in magnetic engagement with the first member (20) such that the movement of the second member (30) within the body (5) is in response to movement of the first member (20) across the body (5).

Abstract: An improved interface between the surgeon and an endoscope system for laparoscopic surgery, holding a laparoscopic came and/or controlling an automated endoscope assistant includes at least one wireless transmitter with at least one operating key (12a). at least one wireless receiver (11), at least one conventional laparoscopy computerized system (15) loaded with conventional surgical instrument spatial location software, and conventional automated assistant maneuvering software, software loaded onto to the conventional laparoscopy system that enables a visual response to the depression of at least one key on the wireless transmitter as well as an interface with the conventional automated assistant maneuvering software so as to achieve movement of the endoscope, and at least one video screen (30).

Abstract: A surgical instrument has a distal end portion with an outer surface with an outer radius. One or more image capture elements are movably mounted in the distal end portion. In a first state, the one or more image capture elements are un-deployed. In the first state, a surface having an aperture of at least one of the one or more image capture elements is enclosed within the outer surface of the surgical instrument so that the surface having the aperture does not extend beyond the outer surface. In a second state, the one or more image capture elements are deployed. In the second state the surface having the aperture of the at least one of the one or more image capture elements extends beyond the outer surface.

Abstract: An instrument for an endoscope includes an insertion portion inserted into an instrument insertion channel of the endoscope, and a pair of biopsy cups provided at the distal end of the insertion portion so as to be able to be openable and closable. Also, an operation portion for operating the paired biopsy cups is provided at the proximal end of the insertion portion. The operation portion is provided with a hook, and an engaged member engageable with the hook is attached to a part protruding out from the endoscope, of the insertion portion.

Abstract: The electric medical instrument fitting is attached to a medical instrument holding device. The electric medical instrument fitting includes a fitting body, drive units for a plurality of second medical instruments, and an intermediate member. The fitting body has a fitting portion that enables attachment/detachment of a first medical instrument which can be arranged with an observation device and provided with channel holes for inserting treatment instruments, or which is provided with an observation device. The drive units for the second medical instruments can each be detachably connected with each second medical instrument provided with an insertion portion to be inserted into each channel hole, with a treatment portion being provided on the side of a distal end thereof. Each of the drive units for the second medical instruments is provided with a joint driver, an advancing/retreating driver and a rotation driver, for changing the position and the posture of the treatment portion.

Abstract: A probe holder having a removable mechanical retention device; a first tube having a longitudinal slot and two opposing notches at each end, the notches configured for engaging the removable mechanical retention device; a second tube having a longitudinal slot and configured for rotational mating with the first tube; a top cap and a bottom cap, each of the top cap and bottom cap being configured for releasably engaging the first tube with the removable mechanical retention device, and for restraining rotation of the first tube when so engaged, while permitting rotation of the second tube relative to the first tube between an open configuration and a closed configuration.

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

Abstract: A supporting apparatus for medical device comprises a balance mechanism which movably and tiltably maintains a flexible endoscope and balances a weight of the flexible endoscope and a link mechanism section. Further, the supporting section of the flexible endoscope comprises a transparent photo interrupter which detects attachment/detachment of the flexible endoscope, and the supporting apparatus for medical device is provided with a controller which outputs a control signal to switch lock sections to a fixed state, based on a detection signal from the photo interrupter, when the flexible endoscope is detected to be detached from the supporting section by the photo interrupter.

Abstract: A robotic medical system comprises a medical instrument assembly having a retainer, a serial array of instruments disposed in the retainer, a chamber, and an instrument driver. The robotic medical system further comprises a user interface configured for generating at least one command signal, a drive unit coupled to the first mechanism, second mechanism, and instrument driver, and an electric controller configured, in response to the command signal(s), for directing the drive unit to linearly displace the array of instruments within the retainer, to displace a selected one of the instruments from the retainer into the chamber, and to distally advance the instrument driver within the chamber to engage the selected instrument.

Abstract: A solenoid system for magnetically guided capsule endoscopy, has the following components arranged under a patient table which defines a flat plane: a central coil with normal direction being perpendicular to the flat plane, and four coil pairs arranged in the form of a cross around the central coil with respect to the flat plane. Each pair includes two single coils, the normal directions of which are parallel to the flat plane and offset by 90 degrees in relation to each other.

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: An endoscope apparatus includes: an endoscope including at least an elongated insertion section having flexibility and an image pickup device, the insertion section including, at a distal end portion, an observation window forming an observation optical system and an illumination window forming an illumination optical system and the image pickup device including an image pickup surface on which an optical image passing through the observation window is formed; and an apparatus body incorporating a display section that displays an image picked up by the image pickup device, the apparatus body including the display section on one surface having a largest area of the apparatus body and including a holding member that holds the insertion section on a rear surface of the one surface in a wound state.

Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

Abstract: A connection mechanism is provided with a plate member formed with a polygonal hole, the plate member including a first plate and a second plate overlaid with each other, each of the first plate and the second plate being formed with the polygonal hole, a shaft member formed with a polygonal column section fitted in the polygonal hole formed on the plate member, and a fixing mechanism that fixes the first plate and the second plate with each other to retain a status where the first plate and the second plate are urged oppositely in a rotational direction about a central axis of the shaft member.