A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.

A tool comprises a distal portion and a proximal portion spaced apart by a shaft along a longitudinal axis. The distal portion includes a distal link and the proximal portion including a proximal link. The distal link and proximal link form a pair of links. The tool also comprises a set of tension load bearing members connecting the proximal link and the distal link and terminating at the links of the pair to transfer movement therebetween. The tool also comprises an articulation lock positioned between the distal portion and the proximal portion and configured to allow through passage of the set of tension load bearing members. The articulation lock is adjustable between an unlocked configuration in which the proximal and distal links are moveable and a locked configuration in which an effective length of the shaft is increased, creating a force to impede movement of the proximal and distal links.

A forceps device includes a grasping part, a support that holds the grasping part, a first rotating shaft that turnably supports the support, a base member that holds the first rotating shaft, guide pulleys arranged coaxially with the first rotating shaft, grasping portion wires, a support pulley, and a support wire. The grasping portion wires run over the guide pulleys and the grasping part without other pulleys therebetween, and transmit a first driving force to the grasping part to move the grasping part. The support pulley is provided on the support, and the support wire runs over the support pulley and transmits a second driving force to the support to turn the support about the first rotating shaft.

An apparatus for guiding an elongated flexible instrument, includes a first plurality of linkages forming a first side of a channel of a variable-length support assembly, a second plurality of linkages forming a second side of the channel, opposite the first side, a third plurality of linkages disposed between the first and second plurality of linkages and forming a third side of the channel, and a fourth plurality of linkages disposed between the first and second plurality of linkages and forming a fourth side of the channel, opposite the third side. Each of the first, second, third, and fourth pluralities of linkages are separable from each other to transition the variable-length support assembly from an elongated configuration to a compact configuration.

A torque transducer for mounting a motor includes a mounting flange, a motor flange, a body, and a strain gauge. The mounting flange is configured to secure the torque transducer to a fixed structure. The motor flange is configured to secure to a motor. The body interconnects the mounting and motor flanges. The body defines a channel about a longitudinal axis of the body and is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the motor. The strain gauge is positioned on the body to measure flexation of the body.

A medical arm device to support a medical instrument has a tip part with a structure in which three rotation axes are disposed in order of a rotation axis around a longitudinal axis of the medical instrument, a yaw axis that rotates the medical instrument left and right with respect to a tip of a link, and a pitch axis that rotates the medical instrument up and down with respect to the tip of the link, and a first wire for rotation transmission of the yaw axis, a second wire for rotation transmission of the roll axis, a first rerouting pulley that reroutes the first wire between the pitch axis and the yaw axis, a second rerouting pulley that reroutes the second wire between the pitch axis and the yaw axis, and a third rerouting pulley that reroutes the second wire between the yaw axis and the roll axis.

A multicatheter subsystem is provided for a steerable catheter robotic system. The subsystem includes a flexible output sheath, a plurality of flexible multi-lumen assemblies and a plurality of robotic instruments for performing a surgical procedure. The plurality of flexible multi-lumen assemblies extends through the outer sheath. Each of the multi-lumen assemblies has a proximal end and a distal end. Each of the robotic instruments is operatively and removably attachable to the distal end of one of the multi-lumen assemblies such that each instrument is teleoperable independently of every other robotic instrument. At least a first of the robotic instruments includes a plurality of interconnected articulating segments. Each of the articulating segments is operatively and removably attachable to a different one of the multi-lumen assemblies.

A fetal intrauterine positioning fixation device is configured for entering an amniotic cavity through a vaginal cervical fetal membrane access and/or abdominal wall uterine fetal membrane access to adjust and fix a fetal position in a maternal uterus. The fetal intrauterine positioning fixation device includes a manipulator, a mechanical arm and a surgical robot, the manipulator and mechanical arm can enter an amniotic cavity through a vaginal cervical fetal membrane channel or abdominal wall uterine fetal membrane channel, so that a doctor can control the manipulator and mechanical arm through the surgical robot or a handle to identify a fetus, adjust a fetal position and fix the fetus according to a preoperative planning, and monitor a fetal status in real time, expose a surgical treatment area, and create an operation space for implementing intrauterine fetal surgery.

Knuckle joint assembly for a medical device support system. The knuckle joint assembly includes a cartridge assembly that includes a cartridge housing and a rotary bearing. The cartridge housing includes a bore having a central axis and a bearing mount in the bore. The rotary bearing is press fitted in the bearing mount and configured to receive axially therethrough a spindle to rotatably support the spindle about the central axis. The knuckle joint assembly includes a retaining clip and a retaining pin. The retaining clip is selectively movable to disengage and engage a groove in a spindle to respectively support or release the spindle along a central axis. The retaining pin is movable between a first position to allow movement of the retaining clip between positions but prevent removal of the retaining clip, and a second position to block movement of the retaining clip from the engaged position.

A system includes an endoscope defining a proximal end, a distal end and an elongated shaft extending between the proximal end and the distal end of the endoscope. A fluid collecting sheath defines a proximal end and a distal end. The fluid collecting sheath is configured for insertion into a vaginal opening. The fluid collecting sheath includes fluid collecting apertures defined at the distal end of the fluid collecting sheath. A fluid line is in fluid communication with the fluid collecting apertures. A channel is formed in the fluid collecting sheath. The channel extends between the proximal end and the distal end of the fluid collecting sheath. The channel defines an opening therein. The channel of the fluid collecting sheath is configured to operably engage the elongated shaft of the endoscope by passing the elongated shaft of the endoscope through the opening of the channel.