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.

An apparatus includes a hemostasis valve; a base having a clamp releasably coupling a catheter to the base; a base drive member moving the base relative to the hemostasis valve along a first path; and a mechanism maintaining the position of an elongated medical device relative to the hemostasis valve while the catheter is being moved along the first path.

A surgical arrangement includes an endoscope having an insertion tube with an imaging system disposed on its distal end and at least one instrument channel extending therethrough. A catheter subsystem of a steerable catheter robotic system is removably insertable into the instrument channel. The catheter subsystem includes a flexible outer sheath having a proximal end and a distal end. At least one flexible multi-lumen assembly extends through the outer sheath. The multi-lumen assembly has a proximal end and a distal end. A robotic instrument for performing a surgical procedure is operatively and removably attachable to the distal end of the multi-lumen assembly such that the robotic instrument is teleoperable

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.

Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

Certain aspects relate to systems and techniques for driving a medical instrument having an inner body and an outer body. In one aspect, a system includes a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body. The system may further include a set of one or more instrument manipulators configured to control movement of the outer and inner bodies and a set of one or more processors configured to: receive a change drive mode command, and in response to receiving the change drive mode command, change a drive mode of the medical instrument from a paired drive mode to an unpaired drive mode.

A system and method for ensuring safe and tolerable insertion of a needle into a subject's body according to a preplanned or continuously monitored sequence of insertion steps. The system comprises a gripping device for gripping the needle in order to perform robotic insertion steps, yet for releasing the grip between such insertion steps, until the next insertion step is initiated. Thereby, the robot has full control of the needle during insertion steps, but does not constrain the needle between insertions, such that movement of the subject can cause neither damage nor discomfort. The gripping and insertion steps may be coordinated to keep in synchronization with the subject's breathing cycles, such that the insertion steps may be performed in the same segment of each cycle of motion of the subject's chest. The gripper can either fully disconnect from the needle, or can partially disconnect but constrain motion within limits.

A material-mapped actuator useful as, or as part of, a soft robot along with automated methods of design and manufacture. The actuator exhibits mechanical properties that spatially vary along a coordinate system of the actuator. The actuator body has an initial shape with a corresponding initial map of mechanical attributes consisting of locally-varying stiffness at each point in a volume of the actuator body. The actuator is configured to change to a different shape or distribution of mechanical properties upon being activated by an actuation medium. The map of mechanical attributes influences and determines the new shape or distribution. The material-mapped actuator can incorporate a spatially-varying distribution of mechanical properties that dictates multiple desired shapes as the actuation medium is applied, including an actuation sequence in which the actuator transitions from a first shape to a desired intermediate shape(s), and from the intermediate shape to a desired final shape.

A motorized arm for a robotic medical system can include a shoulder coupled to a column of a table by a translational joint that allows translation of the shoulder along the column, a first link rotationally coupled to the column, a second link rotational coupled to the first link, and an arm support coupled to a distal end of the second link. The arm support can be configured to support one or more robotic arms usable during a robotic medical procedures. The motorized arm can include actuators for driving rotation of the links and arbors that can be engaged to increase the torsional stiffness of the motorized arm. The motorized arm can move the arm support between a stowed position below the table to a deployed position.

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.