An apparatus includes cart including a plurality of transport elements to position the cart near a patient. The apparatus includes a manipulation device configured to releasably couple to a cartridge including a needle, a catheter, and a guidewire that are coaxially disposed. The manipulation device includes a plurality of motors guidewire. The motors are configured to selectively rotate a different screw shafts to selectively translate the at least one of the needle, the catheter, and the guidewire. The manipulation device includes mechanical element(s) configured to hold the manipulation device to the cartridge. The apparatus includes a robotic arm having a first end mounted to a top portion of the cart and a second end coupled to the manipulation device, the robotic arm having a plurality of segments joined together via a plurality of joints such that the robotic arm can be moved to position the needle, the catheter, and the guidewire for insertion into a target vessel of the patient.

A robotic surgical tool includes a handle and an elongate shaft extendable through the handle and including an outer proximal tube and an inner spline rotatably received within the outer proximal tube. A first actuation system is housed within the handle and operable to rotate the inner spline relative to the outer proximal tube and thereby transfer torque to a proximal or distal end of the shaft. A second actuation system is housed within the handle and operable to drive the outer proximal tube and thereby advance or retract the elongate shaft in z-axis translation through the handle.

Systems, devices, methods, and computer program products for identifying and mitigating image-to-body divergence are disclosed herein. In some embodiments, a method includes receiving sensor data from a medical device while the medical device is inserted within an anatomic region of a patient and after it has been registered to an anatomic model of the anatomic region, where the anatomic model is based on previously-obtained image data of the anatomic region and includes a virtual path extending throughout the anatomic model to an anatomic structure of interest, and where sensor data indicates a location of at least a portion of the medical device; comparing the sensor data to a corresponding portion of the virtual path; based at least in part on the comparison, producing a divergence classifier indicative of a divergence of the anatomic region from the anatomic model; and generating an alert when the divergence classifier exceeds a predetermined threshold.

A medical system includes a manipulator assembly that includes a first and second actuator. The first actuator drives an articulable body portion of a flexible elongate device in a first direction along an articulation degree of freedom by increasing tension on a first pull wire of the articulable body portion. The second actuator drives the articulable body portion in a second direction along the articulation degree of freedom opposite the first direction by increasing tension on a second pull wire of the articulable body portion. The medical system further includes a control system that causes the articulable body portion to enter a bent state by increasing tension on the first pull wire, detects a retraction of the flexible elongate device while the flexible elongate device is in the bent state, and based on the detection of the retraction, counters the bent state by increasing tension on the second pull wire.

The invention relates to a robotic device with a base structure for insertion into a blood vessel of a vascular system and a foldable structure. The foldable structure comprises a closed retaining section configured for retaining an agent for medical use. The foldable structure further is configured for opening the closed retaining section and releasing the agent upon reaching a predefined internal energy level.

Ultrasound image devices, systems, and methods are provided. A medical ultrasound image system, comprising an communication interface in communication with an imaging device and configured to receive a first image representative of a subject's body from the imaging device while the imaging device is positioned at a first imaging position with respect to the subject's body; and transmit a motion control configuration for repositioning the imaging device from the first imaging position to a second imaging position; a processor in communication with the communication interface and configured to generate a database by associating the first image, the motion control configuration, and a score associated with the second imaging position and a target image view including a clinical property; and a storage device in communication with the processor and configured to store the database to facilitate training of a predictive network for aligning the imaging device to the target image view.

A system includes a uterine manipulator having a shaft. The uterine manipulator is coupled with the robotic arm. An imaging instrument is operable to provide an image of an exterior of the uterus of the patient. A console includes a display screen and is configured to provide a view from the imaging instrument of the exterior of the uterus of the patient, on the display screen. The console is further configured to provide an indicator on the view from the imaging instrument, on the display screen, the indicator indicating a location of a predefined anatomical structure, the indicator being provided as an overlay on the predefined anatomical structure.

A medical instrument can include alignment and attachment mechanisms for aligning and attaching the medical instrument to another device, such as an adapter on an instrument drive mechanism. For example, a medical system can include a medical instrument having an instrument handle and an elongated body. The system can include an alignment mechanism configured to provide rotational alignment between the medical instrument and an adapter. The system can also include an attachment mechanism configured to secure the medical instrument to the adapter. The attachment mechanism can include at least three locking elements positioned circumferentially about the axis.

Provided are systems for performing a medical procedure in the intestine of a patient. The system comprises an elongate device and a console. The elongate device comprises a proximal portion, a middle portion, and a distal portion. The elongate device further comprises a functional assembly positioned on the distal portion, the functional assembly being configured to treat and/or diagnose target tissue. The console comprises a human interface device and a controller. The console is configured to robotically manipulate one or more portions of the elongate device, and/or the functional assembly.

A tissue segmentation device, controller, and methods therefore are disclosed. The device has an active electrode, a return electrode, a mechanical force application mechanism, voltage and current sensors, and a controller. The controller has a processing component, configured to assign a circuit status to a circuit comprising the at least one electrode. IF (PF0) and ((Vrms/Irms)T), THEN the circuit status is open. IF (PF0) and ((Vrms/Irms)<T), THEN the circuit status is short. PF is a power factor of power applied to the electrosurgical device. T is a threshold value.