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 surgical system includes a control circuit, a surgical instrument, and a user interface is disclosed. The surgical instrument includes a plurality of components and a sensor. Each of the plurality of components of the surgical instrument includes a device parameter and is configured to transmit its respective device parameter to the control circuit. The sensor of the surgical instrument is configured to detect a tissue parameter associated with a proposed function of the surgical instrument, and transmit the detected tissue parameter to the control circuit. The control circuit is configured to analyze the detected tissue parameter in cooperation with each respective device parameter based on a system-defined constraint. The user interface is configured to indicate whether the surgical instrument comprising the plurality of components is appropriate to perform the proposed function.

A surgical instrument connectable to a surgical energy module that is configured to provide a first drive signal at a first frequency range for driving a first energy modality and a second drive signal at a second frequency range for driving a second energy modality is provided. The surgical instrument can comprise a surgical instrument component configured to receive power from a direct current (DC) power source, an end effector, and a circuit. The circuit can be configured to convert the first electrical signal to a DC voltage, apply the DC voltage to the surgical instrument component, and deliver the second energy modality to the end effector according to the second drive signal. Alternatively, the circuit can be disposed within a cable assembly configured to connect the surgical instrument to the surgical energy module.

A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient. The method includes advancing a first alignment sensor into the cavity through a patient lumen. The first alignment sensor provides its position and orientation in free space in real time. The alignment sensor is manipulated until it is located in proximity to the object. A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time. The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.

An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.

A system includes a robotic arm, an autosteroscopic display, a user image capture device, an image processor, and a controller. The robotic arm is coupled to a patient image capture device. The autostereoscopic display is configured to display an image of a surgical site obtained from the patient image capture device. The image processor is configured to identify a location of at least part of a user in an image obtained from the user image capture device. The controller is configured to, in a first mode, adjust a three dimensional aspect of the image displayed on autostereoscopic display based on the identified location, and, in a second mode, move the robotic arm or instrument based on a relationship between the identified location and the surgical site image.

A surgical instrument comprising a housing, an elongate shaft defining a longitudinal axis, an end effector, a firing member, and a laminate firing actuator connected to the firing member is disclosed. The elongate shaft comprises an articulation joint defining an articulation axis that is transverse to the longitudinal axis, a first lateral buckling support positioned on a first side of the articulation joint, and a second lateral buckling support positioned on a second side of the articulation joint. The laminate firing actuator extends through the articulation joint. The laminate firing actuator extends intermediate the first lateral buckling support and the second lateral buckling support. The first lateral buckling support and the second lateral buckling support engage the laminate firing actuator when the end effector is articulated about the articulation joint.

A fetal intrauterine positioning fixation device is configured for entering an amniotic cavity through a vaginal cervical fetal membrane access and/or abdominal wall uterine fetal membrane access to adjust and fix a fetal position in a maternal uterus. The fetal intrauterine positioning fixation device includes a manipulator, a mechanical arm and a surgical robot, the manipulator and mechanical arm can enter an amniotic cavity through a vaginal cervical fetal membrane channel or abdominal wall uterine fetal membrane channel, so that a doctor can control the manipulator and mechanical arm through the surgical robot or a handle to identify a fetus, adjust a fetal position and fix the fetus according to a preoperative planning, and monitor a fetal status in real time, expose a surgical treatment area, and create an operation space for implementing intrauterine fetal surgery.