Provided herein are intravascular robots and corresponding system that may navigate the robot through one or more blood vessels and treat intravascular disease of the one or more blood vessels.

An apparatus includes a housing and a first elongate member extending distally from the housing to a first distal end. A proximal portion of the first elongate member defines a longitudinal axis. The apparatus also includes a first drive input rotatably retained by the housing. The first drive input is configured to deflect the first distal end relative to the longitudinal axis. The apparatus further includes a second elongate member. The apparatus also includes a second drive input rotatably retained by the housing. The apparatus further includes a feed assembly configured to translate the second elongate member along the longitudinal axis in response to rotation of the second drive input.

A feeder mechanism for advancing or retracting an endovascular tool is described. The feeder mechanism is drivable by outputs of a helm on a robotic medical system. A first input of the feeder mechanism is driven by a first output of the helm to open and close the feeder mechanism so that the endovascular tool can be inserted. A second input of the feeder mechanism is driven by a second output of the helm to cause rollers of the feeder mechanism to advance or retract the endovascular tool.

The present invention provides a robotic locomotive device that is capable of driving itself forwards and backwards, anchoring and steering itself whilst inside a tubular structure, for example, the human colon, or any structure comprising two opposing walls. In this respect, the device is made up of two or three segments covered in an elastic material and driven by an internal actuating mechanism. All of the segments have a concertina configuration that enable a shortening and lengthening motion. As well as contracting and extending in length, at least one of the end segments is capable of bending at an angle away from the longitudinal axis such that it becomes wedged or jammed between the walls of the tubular structure. That is, the end segments are capable of both a bending action and a contracting and extending action. The device moves by alternately jamming a segment between the walls of the tubular structure, and then contracting or extending the segments to inch the device forward with a more effective locomotive action. As such, the present invention provides a simplified design that is more robust to harsh or unclean environments, whilst still maintaining the level of performance required from such a device.

A robot-assisted surgical system comprises a plurality of robotic system components independently positionable relative to a patient in a room, at least one of the robotic system components being a robotic manipulator configured for robotic positioning of a surgical instrument in a body cavity. Other robotic system components may include a second robotic manipulator and/or a patient bed. A camera is positioned to generate an image of a portion of the room, including the robotic manipulator, or an instrument carried by the robotic manipulator as it is moved within the body. Image processing is used to detect the robotic system components on the image captured by the camera, or the tracked portion of the instrument. Once the robotic components or tracked portion of the instruments are detected in the image, the relative positions of the bases within the room may be determined.

An ultrasound probe includes a probe body including a side surface and a bottom surface, a display unit on the side surface, first and second imaging units arranged on the bottom surface, separated from each other in a first direction, and each configured to acquire a cross-sectional image of a human body, and a controller configured to determine a position of a blood vessel using the cross-sectional image acquired by each of the first and second imaging units, determine an orientation of the blood vessel based on the determined position of the blood vessel, and control the display unit to display an indicator indicating the orientation of the blood vessel.

Systems, devices, and methods for evaluating and/or removing slack in an elongate shaft of a medical instrument are discussed herein. For example, an instrument feeder device can be configured to engage with the elongate shaft to facilitate axial motion of the elongate shaft. An amount of slack between the instrument feeder device and an instrument handle of the medical instrument can be determined. Further, slack in the elongate shaft can be removed by moving the instrument handle in a direction away from the instrument feeder device and/or controlling the instrument feeder device to insert the elongate shaft.

A system for controlling a robotic drive including a plurality of cassettes, each of the plurality of cassettes to support and move a respective elongated medical device. The system includes a housing, one or more first controls integrated with the housing and manipulable to select at least two of the one or more elongated medical devices, and a second control integrated with the housing and manipulable to input, while the at least two of the one or more elongated medical devices are selected, an instruction to rotate the at least two selected elongated medical devices. In response to the instruction, the system is to transmit a first signal to the robotic drive to rotate a first one of the at least two selected elongated medical devices, and not transmit a second signal to the robotic drive to rotate a second one of the at least two selected elongated medical devices.

A medical manipulator includes a manipulator flexible portion extending in a longitudinal direction; and two arms arranged at a distal end of the manipulator flexible portion, and each of the two arms includes a first bending portion, the first bending portion has an artificial muscle that drives the first bending portion to bend, and a bending tube, and the artificial muscle and the bending tube extend along the longitudinal direction and are arranged side by side.

An apparatus and method for minimally invasive suturing is disclosed. A suturing device for minimally invasive suturing includes proximal section having a proximal end, a distal end, and a longitudinal axis therebetween; a suture head assembly extending from the distal end of the proximal section; a suturing needle having a pointed end and a blunt end, the suturing needle capable of rotating about an axis approximately perpendicular to a longitudinal axis of the proximal section, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to and after rotation of the suturing needle; and an actuator extending from the proximal end of the proximal section to actuate a drive mechanism having a needle driver for engaging and rotating the suturing needle.