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.

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 medical system may comprise a processor and a surgical device including a tracking system disposed along a length of an elongate flexible body. The processor may receive a first model of anatomic passageways of a patient anatomy. The first model may include a set of model passageways representing proximal and distal branches. The processor may also receive from the tracking system a shape of the elongate flexible body positioned within the proximal and distal branches. The processor may also determine, based on the shape of the elongate flexible body, a set of forces acting on the patient anatomy in response to the surgical device positioned within the proximal and distal branches. The processor may also generate a second model by deforming the first model based on the set of forces and display the second model and a representation of the elongate flexible body within the second model.

A guiding and support device, particularly for a robot for minimally-invasive surgery through a single parietal incision and/or natural orifice, includes mutually associated rigid bodies, and stiffening elements associated with the guiding and support device and adapted for the transition of the device from an inactive configuration, the rigid bodies can move with respect to each other, to an active configuration, in which the rigid bodies are mutually aligned so as to define a rigid guide, and vice versa. The device further includes elements for combined rotary and translational motion which are adapted, in the active configuration of the guiding and support device, to translate and/or to rotate a robot.

A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

For surgical and/or medical instruments, a smart handle for easily and more accurately manipulating an elongated functional system inside the body of a subject, including a handle body extending along a longitudinal axis having a first electrical interface including at least two electrical connectors, a second electrical interface with at least two circular conductive elements and a chamber for receiving a power supply; the power supply being connected to one of the electrical interfaces, at least one first external command being arranged on the outer surface of the handle body, and when activated, the first external command allows to flow an electrical current through the electrical connectors; the electrical connectors being maintained in contact with the other electrical interface by a spring force, the electrical connectors including at their distal end a round tip for ensuring a permanent contact between the electrical connectors and the circular conductive elements during rotation.

Example embodiments relate to surgical systems and methods. System includes an end-effector assembly and arm assembly. End-effector assembly includes an instrument assembly and wrist assembly. Instrument assembly includes an instrument and instrument driven portion. Instrument driven portion includes an instrument connection portion and instrument driven gear. Instrument connection portion connects the instrument driven gear to the instrument. Wrist assembly includes a wrist driven gear and wrist body, which connects the wrist driven gear to the instrument assembly. Arm assembly includes a wrist connector portion and integrated motors. Arm assembly attaches to and detaches from the wrist assembly. When the arm assembly is attached to the wrist assembly, the instrument driven gear and wrist driven gear are drivable to rotate by the integrated motors. When the arm assembly is detached from the wrist assembly, the instrument driven gear and wrist driven gear are not drivable to rotate by the integrated motors.

The present invention relates to a medical robot system capable of effectively removing a calcified thrombus in a blood vessel. The present invention proposes a new guide-wired helical microrobot for mechanical thrombectomy applied to a calcified thrombus. Also, the present invention proposes an electromagnetic navigation system (ENS) which uses a high frequency operation that is based on a resonant effect in order to enhance the boring force of a microrobot. The microrobot system of the present invention can precisely tunnel through a blood vessel blockage site by means of the electromagnetic navigation system without damaging blood vessel walls. The microrobot system of the present invention has a wide range of applications including not only for thrombosis, but also thromboangiitis obliterans caused by vasoocclusion, cerebral infarction, strokes, angina or myocardial infarction, peripheral artery occlusive disease, or atherosclerosis, etc.

Certain aspects relate to manually and robotically controllable medical instruments. A manually and robotically controllable medical instrument can include an elongated shaft articulable by pull wires. The elongated shaft can be connected to an instrument handle that attaches to an instrument drive mechanism. The instrument handle can include a pulley assembly on which the pull wires can be mounted. Rotation of the pulley assembly can actuate the pull wires to cause articulation of the elongated shaft. The medical instrument also includes a manual drive input connected to the pulley assembly such that manual actuation of the manual drive input causes rotation of the first pulley assembly and a robotic drive input configured to engage with a robotic drive output of the instrument drive mechanism such that rotation of the first robotic drive output causes rotation of the pulley assembly.

A urolithiasis removing device according to one embodiment can comprise: an insertion tube; a guide which is inserted into the insertion tube and which is relatively movable with respect to the insertion tube; a wire which is inserted into the guide and which is relatively movable with respect to the guide; a basket positioned in front of the wire and capable of holding urolithiasis; and a control unit for determining the size of the urolithiasis on the basis of the relative movement of the guide with respect to the insertion tube or the relative movement of the wire with respect to the guide.