A slave-end apparatus for an interventional robot includes: a body, and a first drive mechanism, a second drive mechanism and a third drive mechanism that are successively mounted on the body; wherein in a case that the guide wire runs into the second catheter, the second catheter runs into the first catheter, and the first catheter, the second catheter and the guide wire are respectively clamped by the first drive mechanism, the second drive mechanism and the third drive mechanism, the first drive mechanism, the second drive mechanism and the third drive mechanism move along the same axial direction on the body to respectively drive the first catheter, the second catheter and the guide wire to move.

A magnetic drive system is disclosed. The magnetic drive system comprises: a first magnetic field generation unit; a second magnetic field generation unit which is disposed under the first magnetic field generation unit in a Z-axis direction with an operation area interposed therebetween, and generates a magnetic field in the operation area in combination with the first magnetic field generation unit; and a moving module for moving at least one of the first magnetic field generation unit and the second magnetic field generation unit.

Disclosed is a catheter system. The catheter system includes: a catheter module including a catheter and a first fastening magnet coupled to a tip of the catheter; and a magnetic robot including a second fastening magnet magnetically coupled to the first fastening magnet, and coupled to and released from the catheter module.

A surgical robotic platform operates within a constrained space of an imaging scanner in which a patient resides. The platform includes a gross positioning stage configured to be located outside of the constrained space An end-effector having a rotatable shaft is extendable from the gross positioning stage and into the constrained space of the imaging scanner. The shaft has a proximal end operatively coupled to the positioning stage outside of the constrained space and a distal end configured to be located in the constrained space. The distal end has a medical instrument gripper for holding a medical instrument used in a percutaneous procedure. The end-effector further includes a joint arrangement operatively coupling the shaft to the medical gripper for providing motion to the medical instrument gripper for enabling position and/or orientation control of the medical instrument. A drive module controls the joint arrangement.

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 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.

Certain aspects relate to systems, devices, and techniques for clot manipulation and removal. At least some of the devices for clot manipulation and removal can be robotically controlled. These devices can include one or more elongate members that can be robotically driven through a patient's vasculature. One such device can include a first elongate member that can serve as an access sheath, a second elongate member that can serve as a clot removal catheter, a third elongate member that can serve as a clot disruptor, and a fourth elongate member that can serve as a guidewire.

A medical system comprises an elongate instrument and a control system. The control system is adapted to generate a first model of the elongate instrument and generate a second model of the elongate instrument based at least in part on a reference pose of the elongate instrument. The control system is further adapted to compare the first model with the second model and determine a difference between the first model and the second model. The control system is further adapted to characterize the difference between the first model and the second model and determine a state of instrument buckling based on the characterization of the difference between the first model and the second model.

A system for controlling a robotic drive configured to move one or more elongated medical devices. The system may include a housing comprising a first surface and a second surface not co-planar with the first surface, a first control integrated with the first surface and manipulable by a first digit of a first hand of a user to select one of the one or more elongated medical devices, and a second control integrated with the second surface and manipulable by a second digit of the first hand of the user to instruct the robotic drive to move the selected elongated medical device in a first degree of freedom, wherein the first control and the second control are simultaneously manipulable by the first digit and the second digit.

Methods and systems provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data and CT data, are used to model the tubular networks, and the model information is used to generate a camera pose representing a specific site location within the tubular network and/or to determine navigation information including position and orientation for the medical instrument.