A medical system comprising a medical instrument including at least one elongated actuation member used to move at least a portion of the medical instrument, a motor coupled to the medical instrument and used to operate the at least one elongated actuation member, and a control system in communication with the medical instrument and with the motor. The control system is configured to receive at least one input from the medical instrument and determine a force on a tip of the medical instrument by applying the at least one input to a lumped model of the medical instrument. The lumped model comprises a mass of the motor and a spring parameter coupling the mass of the motor to a mass of the portion of the medical instrument.

A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

The endoscopic device includes a main member having a front slot and a shaft member having a spiral strip selectively running through the slot. The spiral strip is connected to a rotational element whose front end is provided with an optical element. A camera support element is extended from the main member and a camera element is supported by the camera support element. By running the spiral strip through the slot to turn the rotational element and the optical element, a viewing direction of the camera element is altered by the optical element.

A control apparatus controls an operation of a self-propelled mechanism of an endoscope. The control apparatus includes a drive circuit that outputs a motor current, a motor current detection circuit that acquires a value relating to magnitude of the motor current as a detection value, a storage circuit that stores a limit value relating to the detection value, and a control circuit that performs an operation as a first controller that controls the drive circuit so as to stop the motor when it is determined that the detection value exceeds a value relating to the limit value, and performs an operation as a second controller that controls the drive circuit so as to stop the motor when it is determined that the detection value exceeds the value relating to the limit value.

The present disclosure relates generally to the field of medical devices and establishing access to body passageways. In particular, the present disclosure relates to devices, systems and methods to facilitate entry of an endoscopic accessory tool into and/or through patient-specific anatomies. For example, the devices, systems and methods of the present disclosure may transmit mechanical motion to the distal end of an endoscopic accessory tool to facilitate atraumatic access to tortuous or otherwise restricted anatomies.

A polymeric device including: an elongated hollow tube having an outer surface; and a spiral fin wound around the outer surface of the hollow tube; wherein the hollow tube and the spiral fin are formed of a single unitary piece through a molding process. The polymeric device can further include a longitudinal projection projecting from the outer surface of the hollow tube, the longitudinal projection having a greater thickness than other portions of the hollow tube and the longitudinal projection extending at least a portion of a longitudinal length of the hollow tube.

A hybrid vision device is provided. The hybrid vision device comprises: an articulating elongate member comprising a proximal end and a distal end, and a positional sensor is located at the distal end of the articulating elongate member; and a multimodal sensing probe removably coupled to the articulating elongate member, and the multimodal sensing probe comprises an ultrasound transducer and a camera located at a distal portion of the multimodal sensing probe.

An endoscope system includes: an endoscope including a bending portion that is capable of bending; a drive device that is detachably connected to the endoscope and drives the endoscope; and an operation device that is communicably connected to the drive device and has an input portion that inputs an operation for driving the endoscope, wherein the drive device can select a method of controlling the bending portion with respect to the operation input from the input portion from fine movement control and coarse movement control, and the distance at which the drive device bends the bending portion by the coarse movement control with respect to a predetermined operation input is larger than the distance at which the drive device bends the bending portion by the fine movement control.

A system includes a uterine manipulator having a shaft. The uterine manipulator is coupled with the robotic arm. An imaging instrument is operable to provide an image of an exterior of the uterus of the patient. A console includes a display screen and is configured to provide a view from the imaging instrument of the exterior of the uterus of the patient, on the display screen. The console is further configured to provide an indicator on the view from the imaging instrument, on the display screen, the indicator indicating a location of a predefined anatomical structure, the indicator being provided as an overlay on the predefined anatomical structure.

A medical endoscope that has a reusable portion to which either of two different single-use portions can be snapped in by hand to thereby form two different assembled endoscopes. When one of the single-use portions is assembled with the reusable portion, a motor in the reusable portion robotically rotates a cannula about a proximal end of the single use portion. When the other single-use portion is assembled with the reusable portion, the motor robotically angulates the distal end of the cannula. Another medical endoscope is single-use in its entirety and has motor-driven angulation of the cannula's distal end. Another has manually controlled angulation.