A treatment apparatus which uses thermal or non-thermal plasma to treat urinary tract infections (UTIs) by destroying bacteria. The apparatus comprises an elongate probe that includes a coaxial cable for conveying radiofrequency (RF) electromagnetic (EM) energy and/or microwave EM energy, a probe tip connected at the distal end of the coaxial cable for receiving the RF and/or microwave EM energy, and a gas conduit for conveying gas to the probe tip. The probe tip comprises a first electrode connected to the inner conductor of the coaxial cable, and a second electrode connected to the outer conductor of the coaxial cable, and wherein the first electrode and second electrode are arranged to produce an electric field from the received RF and/or microwave EM energy across a flow path of gas received from the gas conduit to produce a thermal or a non-thermal plasma.

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.

Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.

A method of alerting a user to the existence of an anomalous variation in local conditions during use of a thrombus retrieval device in a patient. The method including: inserting a thrombus retrieval device into a blood vessel in a patient having a thrombus within the vessel while a region including the thrombus is under sensed observation. Sensing a signal responsive to at least thrombus variations, the variations being in response to the use of the thrombus retrieval device, sensing the existence of the anomalous variation in the local conditions, with a server receiving data of the sensed anomalous variation in local conditions. The server executes software to identify available procedures to be used after identification of one or more anomalous variations in local conditions related to the sensed anomalous variation in local conditions. The server provides first visual data visible to a human eye identifying the available procedures.

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 robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including a first jaw providing a first jaw extension and a second jaw providing a second jaw extension, and an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint rotatable about a first pivot axis, and first and second pulleys rotatably mounted to the articulation joint at a second pivot axis perpendicular to the first pivot axis, the first pulley interposing the first jaw extension and a first joint portion of the articulation joint, and the second pulley interposing the second jaw extension and a second joint portion of the articulation joint. Joining the first and second joint portions secures the first and second pulleys within the wrist.

Systems and methods for determining a safety layer for an anatomical element are provided. A cutting tool contacting the anatomical element at a first surface may be detected and dimensional information about the anatomical element may be received. A safety layer may be determined for the anatomical element based on the dimensional information and the detected contact between the cutting tool and the anatomical element at the first surface.

The present invention relates to a micro robot driving apparatus which can increase the intensity of magnetic field generation in a driving area of a micro robot by attaching a magnetic shield unit to an electromagnetic drive coil unit for driving the micro robot, or locally focus a magnetic field through the combination of two electromagnets, and a system using the same. According to the present invention, there is an effect that driving the micro robot injected into the body may be controlled by increasing a magnetic field generation intensity in the region of interest or focusing the magnetic field.

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 telesurgical system may comprise a teleoperated manipulator and a control system to execute instructions to perform operations. The operations may comprise determining a remaining usable life value of a surgical instrument. The surgical instrument may comprise a distal end component and an actuation component coupled to move the distal end component when driven by the teleoperated manipulator. The operations may also comprise monitoring an amount of use of the actuation component during a use of the surgical instrument. Monitoring the amount of use of the actuation component comprises determining the amount of use of the actuation component based on a force or torque on the actuation component. The operations may also comprise updating the remaining usable life value to an updated usable life value of the surgical instrument based at least on the amount of use of the actuation component during the use of the surgical instrument.