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.

Respective longitudinal insertion paths for two tools are planned and associated with 3D image data of a skeletal portion. While respective portions of the tools are disposed at first respective locations along their respective longitudinal insertion paths, first and second x-rays of the respective portions of the tools and the skeletal portion are acquired from respective first and second views. A computer processor matches between a tool in the first x-ray and the same tool in the second x-ray by: (A) identifying respective tool elements of each tool within the first and second x-rays, (B) registering the first and second x-rays to the 3D image data, and (C) based upon the identified respective tool elements and the registration, identifying for at least one tool element a correspondence between the tool element and the respective planned longitudinal insertion path for that tool. Other applications are also described.

A robotic medical system can include a patient platform. The patient platform includes a tilt mechanism. The tilt mechanism can include a lateral tilt mechanism and a longitudinal tilt mechanism. The lateral tilt mechanism can include a tilt plate and a pivot housing. A linear actuator mounted on the tilt plate can apply a linear force to the pivot housing. The lateral tilt mechanism can also include a first linear guide that extends along a first axis, and the pivot housing can translate along the first linear guide. Application of the linear force to the pivot housing tilts the tilt plate by causing the pivot housing to translate along the first linear guide.

Systems, devices, methods, and computer program products for identifying and mitigating image-to-body divergence are disclosed herein. In some embodiments, a method includes receiving sensor data from a medical device while the medical device is inserted within an anatomic region of a patient and after it has been registered to an anatomic model of the anatomic region, where the anatomic model is based on previously-obtained image data of the anatomic region and includes a virtual path extending throughout the anatomic model to an anatomic structure of interest, and where sensor data indicates a location of at least a portion of the medical device; comparing the sensor data to a corresponding portion of the virtual path; based at least in part on the comparison, producing a divergence classifier indicative of a divergence of the anatomic region from the anatomic model; and generating an alert when the divergence classifier exceeds a predetermined threshold.

A method can include inserting a first device into a body lumen having a bend, sliding a first sheath having a first sheath diameter over first device, sliding a second sheath having a second sheath diameter larger than the first sheath diameter over the first device, and navigating the first device through and beyond the bend. The method can also include at least partially straightening the first device to at least partially straighten the bend, removing the first device and the first sheath from the body lumen, leaving the second sheath in place within the at least partially straightened bend, and introducing a second device into the second sheath to navigate the second device through the at least partially straightened bend to an opening of the second sheath.

The present invention relates to autonomous medical devices, which are capable of self-navigation with real-time adjustment for changing anatomy and pathology. The autonomous medical devices include embedded signal emitters and/or receivers, which perform real-time tracking, and which create real-time anatomic visualization maps for the purposes of monitoring smart device activity and location in vivo, to ensure proper localization of the devices in question, and augment guidance technologies contained within the medical devices. The data derived from the smart medical device technologies can be automatically recorded, stored, and analyzed for the purpose of determining best practices, and the creation of machine learning and artificial intelligence algorithms. The autonomous smart medical devices can be applied to a wide variety of medical applications and work in combination with one another in the performance of complex medical tasks to create independent medical technology which can rapidly adapt, iteratively learn, and synergistically function in vivo.

In one embodiment, a medical system includes a medical instrument having a grasper head including first and second complementary grasping jaws, and first and second conducting surfaces disposed on respective distal portions of the first and second grasping jaws, the conducting surfaces being electrically isolated from each other in the grasper head, an actuator configured to close the grasping jaws so as to bring the conducting surfaces into contact with a tissue of a body part of a living subject, and a proximity sensor configured to output at least one proximity signal responsive to a displacement between the grasping jaws, and processing circuitry coupled to sense the displacement between the first and second grasping jaws responsively to the at least one proximity signal, and apply an electrical current between the first and second conducting surfaces of the grasping jaws when the sensed displacement is less than a given threshold displacement.

A robotic system can include a high force instrument that amplifies input forces such that output forces are greater than input forces. The high force instrument can include an end effector. The high force instrument can further include a first pulley configured to rotate about a pulley axis and a first jaw member connected to the first pulley by a first drive pin. The high force instrument can also include a second pulley configured to rotate about the pulley axis and a second jaw member connected to the second pulley by a second drive pink. A link can provide a first pivot point about which the first jaw member can pivot and a second pivot point about which the second jaw member can pivot.

The present invention relates to fully autonomous self-navigational medical devices which can be transported within a host subject without existing physical constraints, including those of current physical force limitations, and which are free to undergo a variety of structural and functional adaptations including the ability to perform real-time dynamic adjustment and adaptability to ever changing physiologic, anatomic, and pathologic conditions within the host subject.

A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.