A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.

An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

A robotic surgical system employing a treatment catheter (30) (e.g., a thermoablation catheter or a cyroablation catheter), and an articulated robot (40) including a the linkages for navigating the treatment catheter (30) within an anatomical region. The robotic surgical system further employs a robot controller (41) for controlling a navigation by the articulated robot (40) of the treatment catheter (30) along a intraoperative treatment path within the anatomical region relative to the anatomical structure derived from a planned treatment path within the anatomical region relative to the anatomical structure based on a registration between the articulated robot (40) and a preoperative image (21a) illustrative of the planned treatment path within the anatomical region relative to the anatomical structure.

A surgical access assembly comprises a trocar and a surgical instrument. The trocar comprises a housing and an access tube extending distally from the housing. The housing comprises a hollow light emitter. The housing and the access tube define a lumen extending through the housing and the access tube. The hollow light emitter is configured to project light in the lumen. The surgical instrument comprises an end effector and a shaft extending proximally from the end effector. The shaft comprises an optical receiver positioned within reach of the light from the hollow light emitter. The shaft further comprises a light guide extending from the optical receiver along at least a portion of the shaft toward the end effector.

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.

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.

In order to reliably separate an unsterilized zone from a sterilized zone in a device for connecting a medical instrument, an adapter component set 28 is for connecting the medical instrument such as an endoscope to an unsterilized device having a timing pulley 27 included in a rotation mechanism for rotating the medical instrument. An adapter 47 holds the medical instrument. A separator 46 has a hollow cylinder shape for inserting the adapter therein. At least the inner surface of the separator is included in the sterilized zone, and the outer surface of the cylinder is connected to the pulley. As connecting parts for connecting a drape for isolating the device having the rotation mechanism from the sterilized zone, a pair of an outlet drape bearing 41 and an outlet drape bearing cover 42 and a pair of an inlet drape bearing 45 and an inlet drape bearing cover 44 are provided.

A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.

A robotic punch system employs a robot unit (70) and a control unit (80). The robot unit (70) includes a robot (71) and an endoscopic punch (72) mounted to the robot (71). The endoscopic punch (72) includes a calibrated spatial alignment of an endoscope (73) and a punch (74). The control unit (80) commands the robot (71) for deploying the endoscopic punch (72) in executing a puncture of an anatomical tissue (92).

A tool guide may be used with a computer-assisted medical device. The tool guide comprises an elongated body comprising a first end and a second end opposite the first end. The tool guide also comprises a joint attached to the first end of the elongated body and a mounting arm coupled to the elongated body via the joint. The tool guide also comprises a tool sleeve attached to the second end of the elongated body. The mounting arm is configured to be attached to a first articulated arm of the computer-assisted medical device, and the tool sleeve is adapted to receive an end effector attached to a second articulated arm of the computer-assisted medical device.