A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.

The present invention provides a system and single or multi-functional element device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space, such as a subject's abdominal cavity to provide therewith access to the site of interest in connection with minimally invasive surgical procedures. The insertable device may be configured such that the functional elements have various degrees of freedom of movement with respect to orienting the functional elements or elements to provide access to the site from multiple and different orientations/perspectives as the procedure dictates, e.g., to provide multiple selectable views of the site, and may provide a stereoscopic view of the site of interest.

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.

A control device for a capsule endoscope is provided. The control device includes a balance arm device, a permanent magnet, a 2-DOF rotary platform and an examination bed. The bottom of the balance arm device is fixed, and the active end of the balance arm device connects with a boom. The 2-DOF rotary platform is fixed below the boom and the permanent magnet is located in the 2-DOF rotary platform. The examination bed is put below the 2-DOF rotary platform, and the area between the examination bed and the 2-DOF rotary platform is an examination area.

A method is provided for the alignment of a multiaxial manipulator with an input device, which serves to control the manipulator, which method includes the steps of execution of one or more reference movements with the input device, execution of one or more reference movements with the manipulator, recording of the executed reference movements, calculation of a transformation matrix based on the recorded reference movements, and use of the calculated transformation matrix for the alignment of the movements of the input device with the manipulator.

A system includes one or more processors configured to execute instructions to cause the system to access a plurality of images generated by one or more imaging devices of an endoscope when the endoscope is disposed within anatomy of a patient, for each of the plurality of images, determine a value for each of one or more image reliability metrics, and determine a position of the endoscope within the anatomy of the patient based at least in part on the one or more image reliability metrics of each of the plurality of images.

Surgical visualization systems and related methods are disclosed herein, e.g., for providing visualization during surgical procedures. Systems and methods herein can be used in a wide range of surgical procedures, including spinal surgeries such as minimally-invasive fusion or discectomy procedures. Systems and methods herein can include various features for enhancing end user experience, improving clinical outcomes, or reducing the invasiveness of a surgery. Exemplary features can include access port integration, hands-free operation, active and/or passive lens cleaning, adjustable camera depth, and many others.

An instrument support device for a manipulator of a robotic surgical system, comprising: an arm having first, second and third arm elements; an interface for connecting the first arm element to the manipulator via a rotational joint; a torsional joint connecting the first and second arm elements; a first rotational joint connecting the second and third arm elements; a sliding joint connecting the third arm element to an instrument mounting for receiving a surgical instrument with a longitudinal axis; and a controller with drives for moving the arm elements and instrument mounting. The instrument mounting is connected to the third arm element via a second rotational joint, the rotational axes of the first and second rotational joints lie parallel to each other, and the longitudinal axis is guidable through a pivot point on the rotational axis of the torsional joint in an extension from the second arm element, without constraint.

According to one aspect, an endoscope system may include a shaft having a proximal end and a distal portion configured for insertion into a subject. The distal portion may have a distal end. The shaft may also include a lumen extending between the proximal end and the distal end. The lumen may be configured to receive an instrument extendable through the lumen of the shaft. The endoscope system may also include a visualization system coupled to the shaft for visualizing a region distal to the distal end of the shaft. The endoscope system may also include a handle coupled to the proximal end of the shaft. The handle may be configured for gripping by a user. The handle may include a shaft control system for controlling operation of the shaft. The handle may also include an instrument control system for controlling operation of an instrument extendable through the shaft.

A dental imager includes an elongated handle with a rotatable head coupled to a distal end thereof and having a central platform with a plurality of arcuate scanning arms pivotally coupled thereto by a hinge. The arcuate scanning arms are of a shape and size for general deployment around a tooth and each include at least one scanner and a roller guide that comfortably rolls along the surface of the tooth or gums to bias the scanners a desired distance from the surface of the tooth, conducive for imaging thereof. In this respect, such a dental imager may be used in a process to scan and record the contours of an intraoral surface, the data of which may be used to create a digital three-dimensional surface impression printable by a 3D printer or the like.