A propelling device and methods of use thereof. The device is configured to propel through a medium, using external magnetic stimuli applied thereon; the device comprises: a propelling-element and a magnet in communication with the propelling element. The magnet is configured to respond to the applied magnetic stimuli and to rotate the propelling-element; the propelling-element is configured to convert rotary motion thereof into translation motion, and thereby to propel the device through the medium.

A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including a first jaw providing a first jaw extension and a second jaw providing a second jaw extension, and an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint rotatable about a first pivot axis, and first and second pulleys rotatably mounted to the articulation joint at a second pivot axis perpendicular to the first pivot axis, the first pulley interposing the first jaw extension and a first joint portion of the articulation joint, and the second pulley interposing the second jaw extension and a second joint portion of the articulation joint. Joining the first and second joint portions secures the first and second pulleys within the wrist.

A robotic surgical tool includes a handle providing a first drive input and a second drive input, an elongate shaft extendable through the handle and having an end effector arranged at a distal end thereof, and a rack extending along a portion of the shaft and operatively coupled to a knife located at the end effector. Actuation of the first drive input transitions the rack between a locked configuration, where the rack is locked to the shaft, and a released configuration, where the rack is released from the shaft. Actuation of the second drive input with the rack in the locked configuration drives the rack and causes z-axis translation of the shaft through the handle. Actuation of the second drive input with the rack in the released configuration drives the rack relative to the shaft and thereby advances or retracts the knife at the end effector.

A robotic surgical tool includes an elongate shaft extended through a handle and having an end effector arranged at a distal end thereof, a rack extending along a portion of the shaft and operatively coupled to a knife located at the end effector, a first actuation system housed within the handle and operable to drive the rack and thereby advance or retract the knife at the end effector, the first actuation system including a sector gear engageable with the rack and including a tooth-free zone, and a second actuation system housed within the handle and operable to cause z-axis translation of the shaft through the handle. Rotating the sector gear such that the tooth-free zone faces the rack decouples the shaft from the first actuation system to allow the shaft to freely move in z-axis translation.

Provided are systems and methods for weight-based registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

Certain aspects relate to systems and techniques for an input device for controlling a robotic surgical tool. The input device can include a first pair of opposing links and a second pair of opposing links. The first pair of opposing links and second pair of opposing links can be arranged radially symmetrically. The input device can be configured to control operation of the robotic surgical tool.

A method for removing tissues may comprise disposing a tissue resection device at a target tissue site, causing the tissue resection device to resect a core of tissue from the target tissue site, removing the core of tissue from the body, wherein the removing the core of tissue from the body creates a core cavity at the target tissue site. A tracking apparatus may be configured to determine a position of a portion of the tissue resection device in three dimensional space.

A robotic surgical tool for a robotic instrument driver that includes a handle having a first end, at least one spline rotatably coupled to the handle and extending proximally from the first end, a carriage movably mounted to the at least one spline and including a first layer and a second layer operatively coupled to the first layer. At least one spline extends through a portion of at least one of the first and second layers and the carriage translates along the at least one spline. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof and an activating mechanism coupled to one or both of the first and second layers and actuatable to operate a function of the end effector.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

A micro robot that is moveable in a body includes first quantum dots.