3D image data of a skeletal portion is acquired. While a portion of a tool is disposed at a first location along an insertion path, first and second x-rays are acquired from first and second image views. A processor registers the x-rays with the 3D image data, identifies a location of a tool within the x-rays, and computes an anticipated forward path of the tool within the 3D image data from the x-rays. The tool is moved to a second location along the insertion path and an additional x-ray is acquired from a single image view. The processor facilitates identifying if the tool has deviated from the anticipated forward path by registering the additional x-ray to the 3D image data and identifying a location of the portion of the tool within the additional x-ray. Other embodiments are also described.

A robotic medical system with a flexible guide tube such as a lung catheter can record the shape of the guide tube in a target configuration. If the shape includes a bend that is sharper than a sharpest permitted bend for insertion or removal of a tool such as a biopsy needle, a control system can find any locations of sharp bends and automatically retract the guide tube to a location associated with a sharp bend. With the tip backed up to that location, the needle can be inserted into or removed from the catheter. The control system can automatically move the catheter between the target configuration and the retracted configuration of the guide tube.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

Specimen collectors configured for use with robotic medical systems are described herein. A robotic medical system can include a medical instrument that can be inserted into a patient to capture a specimen. A robotic manipulator can be engaged with the medical instrument and configured to operate the medical instrument. A sterile barrier can be used to separate a sterile field containing the medical instrument from a non-sterile field containing the robotic manipulator. A specimen collector can include a receptacle portion in the sterile field and configured to receive the specimen when the distal end of the medical instrument is withdrawn from the patient and a connector coupled to the receptacle portion and configured to attach to the robotic medical system. The robotic system can deposit the specimen in the receptacle portion.

A system with coupled control modes includes a first manipulator, a second manipulator, an input device for commanding movement of the first manipulator or the second manipulator, and one or more controllers. The one or more controllers are configured to detect movement of the input device; when movement of the first manipulator is responsive to movement of the input device: determine a commanded movement for the first manipulator from the detected movement of the input device and command the second manipulator to move in response, at least in part, to the commanded movement of the first manipulator; and when movement of the second manipulator is responsive to the movement of the input device: determine a commanded movement for the second manipulator from the detected movement of the input device and command the first manipulator to move in response, at least in part, to the commanded movement of the second manipulator.

A control system, including a controller having a display and a handle detachably coupled to the display and including an input device, a motor assembly, wherein the display is detachably coupled to the motor assembly, the motor assembly including a drive motor in communication with the handle, and a catheter drive detachably coupled to the motor assembly, wherein actuation of the drive motor effectuates movement of a catheter operatively coupled to the catheter drive.

The present invention relates to a medical device which monitors biological data, includes: a microscopic medical device configured to be disposed within a human body, the microscopic medical device having a plurality of components which operate in real-time to continuously obtain data from within the human body; a processor configured to receive the data from the plurality of components and analyze the data; wherein at least one of said plurality of components is utilized to change a structure, a form, or a content of the microscopic medical device based upon the analysis of the data; and wherein the microscopic medical device implements a medical intervention within the human body based upon said analysis of the data and the change in structure, form or content of the microscopic medical device.

A suturing instrument is provided. The suturing instrument comprises: a flexible shaft comprising an articulatable bending section; and a needle end effector located at a distal end of the bending section. The needle end effector comprises a toggle-based rotation mechanism to switch an orientation of a needle to engage and disengage the needle with a ferrule.

A control device (100) for controlling movement of a medical instrument is presented. The control device comprises a limiting indicator providing unit (101) configured to provide an indicator (12) of a limiting position for an instrument (10) beyond which the position of the instrument is considered as out-of-limit, and a position providing unit (102) configured to provide a position (11) of the instrument from a received image including a portion of the instrument and/or retrieved movement of the instrument. The control device further comprises a controller (103) configured to control a movement of the instrument based on the indicator of the limiting position and the position of the instrument such that the position of the instrument maintains a predetermined relation with respect to the limiting position. This allows for an improved movement control for medical and other instruments.

The present invention relates to a magnetic-field generating device for a precision procedure and, more specifically, to a magnetic-field generating device for a precision procedure, in which, by extending a magnetic field generated from a magnetic coil to the upper side to extend the area of the magnetic field, a procedural robot that is inserted into a patient's body can be safely and precisely moved up to a target position by using the magnetic field. The magnetic-field generating device for a precision procedure, according to an embodiment of the present invention for solving the problem described above, comprises: a moving unit configured to be movable; a first magnetic-field generating unit installed in a moving enclosure; a second magnetic-field generating unit that generates a magnetic field so as to overlap the area of the magnetic field generated by the first magnetic-field generating unit.