Described herein are systems and apparatus of surgical instruments engineered for integration with robotic surgical systems to enhance precision in surgical procedures. Also described herein are methods of using such surgical instruments in performing surgical procedures. The use of such surgical instruments reduce complications arising from misalignment during surgery. The disclosed technology assists in stages of a surgical procedure that require a precise trajectory to be followed. Surgical instrument guides are attached to a universal surgical instrument guide, which is engineered to attach directly or indirectly with a robotic arm of a robotic surgical system. Surgical instruments can then be precisely guided along an axis defined by the universal surgical instrument guide. Individual instruments are easily inserted and removed from the channel of the universal surgical instrument guide, thus allowing a range of instruments to be used throughout a procedure while maintaining the surgical trajectory.

Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least two degrees of freedom of movement, and an end effector coupled to the wrist. The end effector can include an upper jaw, a lower jaw, and a firing mechanism configured to form staples in tissue. Actuation of the firing mechanism can be decoupled from the movement of the wrist in the at least two degrees of freedom.

A control unit including a master control apparatus that is able to transmit a master signal for providing overall control of a plurality of operating devices capable of operating medical instruments used at a medical site, and a hub control apparatus that receives the master signal from the master control apparatus, and provides motion control of the operating devices according to the master signal. The hub control apparatus provides coordinated control of the plurality of operating devices according to the master signal.

A support system, a support method, and a support program in the form of a non-transitory computer readable medium are disclosed that support a medical action during an operation. The support system includes a data acquisition unit configured to acquire, during an operation, use state data on a use state of a medical device during the operation, and target lesion data on a target lesion of a patient during the operation, a learning unit configured to perform machine learning using the use state data and the target lesion data, and a presentation unit configured to present a recommended operation policy based on a result of the machine learning.

A surgical instrument adaptor comprises a member including a first mating surface that is removably attachable with a surgical instrument and a second mating surface that is connectable with an actuator. An image guide is attachable with the member and oriented relative to a sensor to communicate a signal representative of a position of the surgical instrument. Systems, surgical instruments, spinal implants and methods are disclosed.

A medical system may comprise a catheter (101) for ablating tissue including a flexible longitudinal body including a distal end; and a distal portion extending distally from the distal end of longitudinal body. The distal portion may include a plurality of electrodes (103). The medical system may also comprise one or more control units (112) coupled to the catheter and configured to (1) control a supply of electrical energy to each of the plurality of electrodes and (2) automatically control a position of the distal portion of the catheter.

A surgical virtual reality user interface generating system comprising a sensor and tracking unit for sensing and tracking a position a user and generating position data based on movement of the user, a computing unit for receiving the position data and processing the position data and generating control signals. The system also includes a surgical robot system for receiving the control signals and having a camera assembly for generating image data, and a virtual reality computing unit for generating a virtual reality world. The virtual reality computing unit includes a virtual reality rendering unit for generating an output rendering signal for rendering the image data for display, and a virtual reality object generating unit for generating virtual reality informational objects and for emplacing the informational objects in the virtual reality world. A display unit is provided for displaying the virtual reality world and the informational objects to the user.

A surgical robotic platform operates within a constrained space of an imaging scanner in which a patient resides. The platform includes a gross positioning stage configured to be located outside of the constrained space An end-effector having a rotatable shaft is extendable from the gross positioning stage and into the constrained space of the imaging scanner. The shaft has a proximal end operatively coupled to the positioning stage outside of the constrained space and a distal end configured to be located in the constrained space. The distal end has a medical instrument gripper for holding a medical instrument used in a percutaneous procedure. The end-effector further includes a joint arrangement operatively coupling the shaft to the medical gripper for providing motion to the medical instrument gripper for enabling position and/or orientation control of the medical instrument. A drive module controls the joint arrangement.

Provided are robotic systems and methods for navigation of luminal network that detect physiological noise. In one aspect, the system includes a set of one or more processors configured to receive first and second image data from an image sensor located on an instrument, detect a set of one or more points of interest the first image data, and identify a set of first locations and a set of second location respectively corresponding to the set of points in the first and second image data. The set of processors are further configured to, based on the set of first locations and the set of second locations, detect a change of location of the instrument within a luminal network caused by movement of the luminal network relative to the instrument based on the set of first locations and the set of second locations.

Certain aspects relate to systems and techniques for luminal network navigation. Some aspects relate to incorporating respiratory frequency and/or magnitude into a navigation system to implement patient safety measures. Some aspects relate to identifying, and compensating for, motion caused by patient respiration in order to provide a more accurate identification of the position of an instrument within a luminal network.