Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

There is provided a system for cardiac electromagnetic/magnetic catheterization for diagnosing and treating blood vessels of a patient. The system having at least one electromagnetic intraluminal capsule able to force its way through a narrowing blood vessel, the capsule carrying a camera allowing visualization of blood vessels of a patient. There is a portable electromagnetic tip, where the tip pulls the electromagnetic capsule by electromagnetic force, and when the magnetic tip moves along a body of a patient and pulls the intraluminal electromagnetic capsule along with it towards a narrowing blood vessel visualized by the camera, so that the capsule then treats the narrowing site and clears the blood vessel from coronary plaque. In addition working capsule can replace diseased valve in any cardiac position for either temporary or permanent needs.

The disclosure relates to localizing medical devices within a body lumen, such as for identifying the location of, or navigating to, a target tissue. Embodiments include localizing a medical device extended out of a working channel of a delivery device. The medical device may include an imaging sensor, such as for mapping the body lumen. In many embodiments, a delivery device may include one or more sensors including a first sensor to interact with a tracking system to determine the location of the delivery device within a tracking volume and a second sensor to determine the location of the medical device relative to the delivery device. In many such embodiments, a controller may determine the location of the medical device in the tracking volume based on the location of the delivery device in the tracking volume and the location of the medical device with respect to the delivery device.

A system configured to remotely maneuver a magnetic miniature device within a patient along a path conforming to a predetermined route is provided. The system comprises two coils, each configured to produce a magnetic field, and to be selectively pivoted about at least a first pivot axis within a first predetermined range of angles, a horizontal platform configured to support thereon the patient and to be disposed within the coils, and a controller configured to direct operation of the system. The predetermined range of angles constrains the system from maneuvering the miniature device along the route. The controller is configured to calculate a path comprising a plurality of segments, the path conforming to the route within a predetermined deviation. The controller is further configured to operate the coils within the predetermined range of angles to induce a magnetic field to maneuver the miniature device along the path.

The invention relates to a measurement device 1 comprising a rotatable magnetic object 4 which can oscillate with a resonant frequency if excited by an external magnetic torque. The measurement device 1 is adapted such that the resonant frequency depends on the temperature or on another physical or chemical quantity like pressure, in order to allow for a wireless temperature measurement or measurement of the other physical or chemical quantity via an external magnetic field providing the external magnetic torque. This measurement device can be relatively small, can be read-out over a relatively larger distance and allows for a very accurate measurement.

A method is provided for auto registration for a robotic endoscopic apparatus. The method comprises: (a) generate a first transformation between an orientation of the robotic endoscopic apparatus and an orientation of a location sensor based at least in part on a first set of sensor data collected using the location sensor; (b) generating a second transformation between a coordinate frame of the robotic endoscopic apparatus and a coordinate frame of a model representing an anatomical luminal network based at least in part on the first transformation and a second set of sensor data; and (c) updating, based at least in part on a third set of sensor data, the second transformation using an updating algorithm.

There is provided a system for cardiac electromagnetic/magnetic catheterization for diagnosing and treating blood vessels of a patient. The system having at least one electromagnetic intraluminal capsule able to force its way through a narrowing blood vessel, the capsule carrying a camera allowing visualization of blood vessels of a patient. There is a portable electromagnetic tip, where the tip pulls the electromagnetic capsule by electromagnetic force, and when the magnetic tip moves along a body of a patient and pulls the intraluminal electromagnetic capsule along with it towards a narrowing blood vessel visualized by the camera, so that the capsule then treats the narrowing site and clears the blood vessel from coronary plaque. In addition working capsule can replace diseased valve in any cardiac position for either temporary or permanent needs.

An endoscopic capsule system comprising: an endoscopic capsule having magnetic characteristics; an extracorporeal guiding and moving apparatus having a moveable multi-hinged cantilever arm which is pivotably mounted at a support stand at one end and at an effector having magnetic characteristics at the other end to move the endoscopic capsule in accordance with movement of the effector; a controller device to define the position and orientation of the endoscopic capsule relative to the effector, and a force and/or moment generation device or a braking device to generate counter forces and/or counter moments or braking forces against moving and/or guiding forces that are manually applied to the cantilever arm and/or effector in accordance with the actually defined position and/or orientation of the endoscopic capsule relative to the effector.

The present invention describes an electromagnetically positioning system, which can measure a position and orientation of a remote object in an isolated targeted examination area with time. Specifically, the remote object is a remote miniaturized examination device. During the location process, both the electromagnetically positioning system and the remote miniaturized examination device can have expected or unexpected, controlled and can-not-be-controlled movement. By implementing the electromagnetically positioning system, disclosed herein, position and orientation information of the remote miniaturized examination device can be linked with time, any information collected by the remote miniaturized examination device, for example, the photo images collected, can be associated kinetically with time and positioning information of the examination device, when the remote miniaturized examination device travels inside an isolated target examination area.

A control system for a capsule endoscope is provided. The control system includes a balance arm device, a mechanical arm, a permanent magnet and a 2-DOF rotary platform. The bottom of the balance arm device is fixed, and the active end of the balance arm device connects with a boom. The bottom of the mechanical arm is fixed, and the active end of the mechanical arm connects with a spherical hinge. The 2-DOF rotary platform is fixed below the boom and the permanent magnet is located in the 2-DOF rotary platform. The spherical hinge connects to the boom, assisting the permanent magnet to move around a fan-shaped area around a subject.