A transrectal probe manipulator system includes a probe comprising a biopsy needle and a manipulator. The manipulator includes a base including first and second base support shafts on a base body, a main frame, and a mounting plate. A lower end of the main frame is rotatably connected to the base through a first shaft to define a first degree of freedom. The mounting plate includes first and second mounting plate support shafts and a probe receiver, and is rotatably connected to the main frame through a second shaft to define a second degree of freedom. The probe receiver is rotatable about a central axis to define a third degree of freedom, and linearly moveable along the central axis to define a fourth degree of freedom. The probe is secured to the probe receiver. The manipulator is driven by cables which are attached to the shafts in an actuation assembly.

The present invention relates to the process of using signal-emitting and/or receiving objects or smart medical devices for image acquisition, and which can utilize a variety of external energy sources which are directly applied and/or incorporated into the host subject to produce a continuous and dynamic visual representation of the host subject on a computer display, which representation hereafter will be referred to as a visualization map. The derived images can be targeted, to small (i.e., focal) areas of clinical interest, to organ systems, or the entire body. The present invention provides a scalable method for continuous and dynamic imaging over prolonged periods of time, as dictated by the clinical context.

Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.

A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.

A surgical system. The surgical system comprises a surgical instrument comprising an end effector, wherein the end effector is configured to perform an end effector function, and a control circuit configured to control the end effector function and automatically adapt the control of the end effector function over time, and limit the automatic adaptation of the control of the end effector function.

The present disclosure describes a rolling sleeve having a malleable body. The rolling sleeve is configured to protect an endoluminal shaft from surrounding tissue during insertion, navigation, and/or treatment within a body lumen.

An endoluminal robotic system includes at least one robotic arm that operates tools to perform suturing procedures. The tools may include at least one of a suture needle driver tool, an endoscope, and a grasping tool. Methods performed by the endoluminal robotic system include driving a suture needle through anterior and posterior sides of a defect using the suture needle driving tool, the end portion of which is rotated after passing through tissue, to form a desired suture pattern. Then, the two ends of the suture thread are pulled and tied together to form a knot. Methods performed by the endoluminal robotic system also include overlaying a suture needle path on an image captured by the endoscope and controlling the at least one robotic arm to operate the driving tool and the suture needle driver tool based on the overlaid suture needle path.

The invention has been particularly developed for a controlled embolisation application in arterial and venous embolisation, and relates to a device used for halting the progression of aneurysm and reflux closing/aneurysms, blocking/arteries closing/arteriovenous malformations/-venous reflux procedures.

System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.

A magnetic guidance system (20) for guiding a guidewire (70) or other elongate medical device includes a magnet unit (20) disposed in one implementation adjacent a head end of a patient table (30). The magnet unit is disposed on a magnet support which enables the magnet unit (20) to move in a periodic motion substantially around a single plane. The preferred motion is a rotary motion about a patient's head, which creates a repetitive repulsive force at the distal end of the medical device, causing the distal end of the medical device to move in different directions within the patient's vasculature, useful in assisting the guidance of the medical device through tortuous vessel structures. The repetitive alternating medical field makes guidance of a medical device within a patient's vasculature a relatively simple task.