Provided is a micro-robot which is integratedly or detachably coupled to one end of a catheter or a guidewire for performing a medical operation using the catheter. Steering and drilling are independently performed by using a catheter thinner in thickness than a related art catheter. The a micro-robot is smoothly inserted into a lesion part and removes a risk of injury and infection in an opening operation through precise steering.

A surgical end effector may comprise first and second jaw members. The second jaw member may comprise an offset proximal supply electrode that is positioned to contact an opposing member of the first jaw member when the first and second jaw members are in the closed position. The second jaw member may also comprise a distal supply electrode that is positioned distal of the offset proximal electrode and is aligned with a conductive surface of the first jaw member when the first and second jaw members are in the closed position. When the first and second jaw members are in the closed position, the proximal supply electrode may be in contact with the opposing member and the distal supply electrode is not in contact with the conductive surface of the first jaw member.

Surgical instruments are disclosed that are couplable to or have an end effector or a disposable loading unit with an end effector, and at least one micro-electromechanical system (MEMS) device operatively connected to the surgical instrument for at least one of sensing a condition, measuring a parameter and controlling the condition and/or parameter.

Example embodiments relate to surgical devices, systems, and methods. The system may include an end-effector assembly. The end-effector assembly may comprise an instrument assembly and a wrist assembly. The instrument assembly may comprise an instrument for performing a surgical action. The instrument assembly may further comprise an instrument driven portion configurable to be driven in such a way as to move the instrument relative to a first axis. The instrument assembly may further comprise an instrument insulative portion providable between the instrument and the instrument driven portion. The instrument insulative portion may be configurable to electrically isolate the instrument from at least the instrument driven portion when the instrument insulative portion is provided between the instrument and the instrument driven portion. The wrist assembly may include a wrist driven portion configurable to be driven in such a way as to move the instrument relative to a second axis.

A non-transitory machine-readable media storing instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of anatomic passageways of a patient anatomy. The deformable model comprises a plurality of model passageway links connected at connection points, and each of the model passageway links includes a centerline. At each respective connection point, the corresponding passageway links include an orientation. The instructions further cause the one or more processors to modify the deformable model by modifying relative orientations of one or more model passageway links of the plurality of model passageway links. The modifying is based on one or more modeling parameters that affect a shape of the plurality of model passageway links.

A system may comprise one or more processors and memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the one or more processors, may cause the system to receive image data including a segmented candidate target nodule, receive a seed point, and determine if the segmented candidate target nodule is within a threshold proximity of the seed point. Based on a determination that the segmented candidate target nodule is within the threshold proximity of the seed point, the segmented candidate target nodule may be identified as an identified target nodule. A target nodule boundary corresponding to the identified target nodule may be displayed.

The various embodiments disclosed herein relate to surgical robot positioning systems and devices that aid in the gross positioning of surgical devices during surgical procedures. For example, a gross positioning system for use with a robotic surgical device may include a positioning body, a yaw mechanism operably coupled to the positioning body at a yaw rotational joint, a pitch mechanism operably coupled to the positioning body at a pitch rotational joint, and a plunge mechanism operably coupled to the pitch mechanism, where the plunge mechanism is configured to slide and to be coupleable to the robotic surgical device.

Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

A patient console for a robotic surgical system can include a base, a vertical lift attached to a top of the base and configured to provide up and down motion in a vertical axis, a yaw rotation device attached to the top of the vertical lift and configured to provide a yaw rotation about the vertical axis, a pitch rotation device attached to the top of the yaw rotation device and configured to provide a pitch rotation about a pitch axis orthogonal to the vertical axis, a translation device attached to the top of the pitch rotation device and configured to provide sliding translation along a translation axis, and a roll rotation device attached to the translation device to roll relative to the translation device about a roll axis to provide a roll to an instrument controller assembly. An angle of the translation axis and the roll axis relative to horizontal can be a function of the pitch rotation provided by the pitch rotation device. A direction of the translation axis and the roll axis can be a function of the yaw rotation provided by the yaw rotation device.

Certain aspects relate to medical instruments including wrists with hybrid redirect surfaces. Such medical instruments can include, for example, a shaft with a wrist positioned at a distal end. The wrist can include a proximal clevis connected to the shaft and a distal clevis pivotally connected to the proximal clevis. The wrist can also include a static redirect surface, such as a face of a clevis, and a dynamic redirect surface, such as a pulley. The instrument can include an end effector connected to the distal clevis. A plurality of pull wires can extend through the shaft and the wrist and engage with and actuate the wrist and the end effector. A first pull wire segment of the plurality of pull wires can engage the static redirect surface, and a second pull wire segment of the plurality of pull wires can engage the dynamic redirect surface.