A medical support arm includes: a support arm that supports an endoscope; an arm control unit that is configured to cause the support arm to perform a plurality of different interference avoidance operations for avoiding an interference between the endoscope and a surgical tool while maintaining a state in which an objective lens of the endoscope is directed to an observation target; and a determination unit that determines a combination of operation amounts of the plurality of interference avoidance operations.

A compact, hand-held, robotic assisted endoscopic system configured to derive the position and/or orientation CamPose of a distal part of a single-use portion relative to coordinates HandPose of a reusable portion of an endoscope and display juxtaposed images of an object such a patient's organ being diagnosed or treated in a medical procedure with the endoscope and the distal part of the endoscope, and to provide guidance to the system user with display of images such as prior images of the object, standardized images of the object of tutorial images related to the medical procedure.

A tethered imaging camera encapsulated in a shell lens element of such camera enables viewing from inside and imaging of a biological organ in/from a variety of directions. A portion of camera's optical system together with light source(s) and optical detector mutually cooperated by housing structure inside the shell are moveable/re-orientable within the shell to vary a desired view of the object space without interruption of imaging process. A tether carries electrical but not optical signals to and from the camera and controllable traction cords to move the camera, and a hand-control unit and/or electronic circuitry configured to operate the camera and power its movements. Method(s) of using optical, optoelectronic, and optoelectromechanical sub-systems of the camera.

A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.

Provided are robotic systems and methods for navigation of luminal network that detect physiological noise. In one aspect, the system includes a set of one or more processors configured to receive first and second image data from an image sensor located on an instrument, detect a set of one or more points of interest the first image data, and identify a set of first locations and a set of second location respectively corresponding to the set of points in the first and second image data. The set of processors are further configured to, based on the set of first locations and the set of second locations, detect a change of location of the instrument within a luminal network caused by movement of the luminal network relative to the instrument based on the set of first locations and the set of second locations.

A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console having a surgeon input device, and a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument, the surgical robot arm operable in a full power mode in which the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the joints of the surgical robot arm are powered by a second power source, he control system configured to: whilst the surgical robot arm is operating in the full power mode, control the surgical robot arm in a surgical mode by converting inputs from the surgeon input device to control signals for moving joints of the surgical robot arm; detect a power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and control the surgical robot arm in a locked mode by sending control signals to lock joints of the surgical robot arm; whilst in the reduced power mode, detect a cessation of the power failure; and in response to detecting the cessation of the power failure, disable the reduced power mode, re-enable the full power mode, and control the surgical robot arm in the surgical mode.

A system and method for moving a robotic unit in vivo. The robotic unit can include a camera subassembly having a camera assembly coupled to a camera axially extending support member, a first robot arm subassembly having a first robot arm coupled to a first robot arm axially extending support member, and a second robot arm subassembly having a second robot arm axially extending support member, wherein when inserted in a cavity of a patient through an insertion point, the camera assembly and the first and second robot arms can be controlled for actuating at least one joint of each of the robot arms to reverse direction such that an end effector region of each of the first and second robot arms is facing towards the insertion point, and moving the camera assembly in a selected direction such that the camera elements are facing towards the insertion point.

An endoscope surgical robot system according to an exemplary embodiment may include an endoscope apparatus having an insertion tube and an endoscope camera to monitor an end image of the insertion tube, a driving module connected to the endoscope apparatus and configured to perform pitch rotation or roll rotation of the insertion tube, an operation module configured to be rotated to generate an input signal required for pitch rotation or roll rotation of the endoscope apparatus by a user, and a controller to control operation of the driving module based on the input signal generated by the operation module.

An imaging device positioning system for monitoring an anatomical region (10). The imaging device positioning system employs an imaging device (20) for generating an image (21) of an anatomical region (10). The imaging device positioning system further employs a imaging device controller (30) for controlling a positioning of the imaging device (20) relative to the anatomical region (10). During a generation by the imaging device (20) of the image (21) of the anatomical region (10), the imaging device controller (30) adapts the control of the positioning of the imaging device (20) relative to the anatomical region (10) to a physiological condition of the anatomical region (10) extracted from the image (21) of the anatomical region (10).

A robotic device is provided. The robotic device comprises: an articulatable elongate member comprising a proximal end and a distal end, and the distal end is steerable via a first driving mechanism; an articulatable imaging instrument removably coupled to the articulatable elongate member via a first lumen of the articulatable elongate member, and the articulatable imaging instrument comprises a camera located at a distal portion of the articulatable imaging instrument; an articulatable instrument removably coupled to the articulatable elongate member via a second lumen, and an operation of the articulatable instrument is captured by the camera of the articulatable imaging instrument.