A medical instrument drive assembly includes a base portion, a first set of one or more drive outputs, a platform secured to the base portion, and a latching mechanism. The first set of one or more drive outputs are coupled to and/or extending from the base portion and are configured to drive a first medical instrument. The platform is secured to the base portion and movable between an elevated configuration and a depressed configuration. The platform is biased in the elevated configuration. The latching mechanism is configured to cause the platform to be held in the depressed configuration.

The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors.

A system includes a robotic drive comprising a plurality of cassettes, each cassette to move an elongated medical device (EMD) loaded therein, and an input module to issue instructions to the robotic drive. The input module includes a first two or more selection buttons to select a first two or more EMDs loaded in respective ones of the plurality of cassettes, a first control actuatable to cause issuance of an instruction to the robotic drive to simultaneously move each of the first two or more EMDs linearly, and a second control actuatable to cause issuance of an instruction to the robotic drive to simultaneously rotate each of the first two or more EMDs.

A control system for a surgical robot is provided. The control system includes a first embedded computer and a second embedded computer configured to receive status information from the first embedded computer. The status information includes a status of zero-return for a surgical tool driving module or an imaging tool driving module. The control system also includes a host computer configured to receive the status information from the second embedded computer. The surgical tool driving module or the imaging tool driving module includes a controller, a motor connected with a first coupling and configured to drive the surgical tool or an imaging tool, and a zero point switch configured to detect whether the first coupling is at a zero position. The controller is configured to transmit the status of zero-return to the first embedded computer based on whether the first coupling is at the zero position.

A method where a propeller is set into locomotion relative to a medium at least partially surrounding the propeller. An actuator induces a rotation of the propeller relative to the medium and about a rotational axis of the propeller, and the propeller converts its rotational movement into locomotion relative to the medium. The aspect ratio of at least one cross-section of the propeller is three or more. Also a helical or modifiedly helical propeller for converting rotational movement of the propeller into locomotion of the propeller relative to a medium at least partially surrounding the propeller, where the aspect ratio of at least one cross section of the propeller is three or more. And a method of producing a propeller, including the step of providing a plate extending along the helical axis, where the aspect ratio of at least one cross section of the plate is three or more.

A system and a method are disclosed for forming an anastomosis between a first layer of tissue and a second layer of tissue of a patient's body. The system includes a first anastomosis device component and a second anastomosis device component configured to interact with the first anastomosis device component. The first anastomosis device component is configured to be delivered to a first lumen inside the patient's body. The second anastomosis device component is configured to be delivered to a second lumen inside the patient's body. The second anastomosis device includes one or more sensors configured to capture sensor data for determining an alignment of the second anastomosis device component relative to the first anastomosis device component, or for characterizing the position or orientation of the second anastomosis device component in three-dimensional space.

A robotic surgical tool includes a handle having a plurality of drive inputs rotatably mounted thereto, an elongate shaft extending through the handle and having an end effector arranged at a distal end thereof, and a plurality of drive members extending along the shaft to the end effector. A plurality of input stacks are arranged within the handle and operatively coupled to the plurality of drive inputs such that actuation of the plurality of drive inputs rotates the plurality of input stacks. Each input stack includes a drive member engagement device that locates and captures a corresponding one of the plurality of drive members at the handle upon rotation of the input stack.

Robotic medical systems can generate recommended port locations for a patient and communicate the recommended port locations to users of the robotic medical systems. A robotic medical system can include a robotic arm and one or more processors in communication with a 3-D scanner. The robotic medical system can be configured to obtain, via the 3-D scanner, data including a view of a patient of the robotic medical system, determine a recommended port location for the patient in accordance with the obtained data, and provide information indicating the recommended port location for the patient.

A medical device includes a medical instrument guide. The medical instrument guide includes a guide body, The guide body includes a foam and a bore through the foam. The foam includes a plurality of open cells that hold a biocompatible lubricant. And, the bore is sized to receive a medical instrument shaft and is defined at least in part by a surface exposing the plurality of open cells holding the biocompatible lubricant to the medical instrument shaft.

In one embodiment, a medical image processing apparatus includes: processing circuitry configured to extract 3D blood vessel data of an object from 3D image data of the object, detect a tip position of a medical device moving in a blood vessel in real time from a fluoroscopic image of the object inputted during an operation, and calculate at least one of a recommended route and a recommended direction of the medical device from the 3D blood vessel data, a rough route of the medical device, and the tip position of the medical device; and a terminal device configured to display a 3D blood vessel image of the object generated from the 3D blood vessel data and to designate the rough route of the medical device on the 3D blood vessel image.