Dexterous manipulation devices are provided having an end effector enabling large curvature with a diameter of 1 mm or less that can articulate about an axis in a working space of about or less than 4 mm by 4 mm. Preferred devices are robotically actuated and controlled and can be used for a variety of therapeutic and diagnostic applications.

A multi-layer, super-planar laminate structure can be formed from distinctly patterned layers. The layers in the structure can include at least one rigid layer and at least one flexible layer; the rigid layer includes a plurality of rigid segments, and the flexible layer can extend between the rigid segments to serve as a joint. The layers are then stacked and bonded at selected locations to form a laminate structure with inter-layer bonds, and the laminate structure is flexed at the flexible layer between rigid segments to produce an expanded three-dimensional structure, wherein the layers are joined at the selected bonding locations and separated at other locations. A layer with electrical wiring can be included in the structure for delivering electric current to devices on or in the laminate structure.

A movement amplifying actuation device may include two piezoelectric beams, one beam being attached at a fixed point, and a hinge connecting a first beam and a second beam between them. Each hinge may include a first flexible portion connected to the first beam, a second flexible portion connected to the second beam, a first rigid portion connecting the first and second flexible portions, a second rigid portion capable of being positioned against a fixed point, and a third flexible portion connecting the second beam to the second rigid portion at a pivot point of the second beam such that the assembly formed by the second rigid portion and the second beam forms a lever around the pivot point. The flexible and rigid portions may form a single piece.

This device includes a propulsion element including at least one portion deformable in elongation/contraction according to a main axis (X.sub.2) connecting a front portion and a rear portion. At least two guide elements adapted to generate, under the effect of an energy supply, a rotation of the propulsion element respectively about a first axis of rotation and about a second axis of rotation transverse to each other and to the main axis (X.sub.2) of the propulsion element. A control unit configured to actuate a rotation of the propulsion element about at least one axis transverse to the main axis (X.sub.2) in a coordinated manner with a deformation of the deformable element of the propulsion element in elongation/contraction according the main axis (X.sub.2).

The present disclosure relates to a method for locomotion of at least one nanorobot through a biochemical environment. The present disclosure also reveals a method for locomotion of nanorobots for use in drug delivery, delivery of materials for medical imaging and medical diagnosis.

A surgical instrument assembly may comprise a guide tube including a distal end and a first instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end. The surgical instrument may also include an imaging instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end.

In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

A medical device includes a tube, a plurality of tensions elements, a plurality of routing members, and an actuation mechanism. The tube includes a wall with a plurality of slits oriented generally transverse to a longitudinal axis of the tube. The tube includes a proximal portion and a distal portion. The plurality of tension elements are coupled to the tube and actuatable to alter the tube between a bendable state and a rigid state. The plurality of routing members are configured to receive and route the plurality of tension elements along the tube while permitting the tube to flex and compress. The actuation mechanism is configured to simultaneously apply a first tension force to a first tension element and a second tension force equal to the first tension force to a second tension element to compress the tube, shortening a length of the tube and creating the rigid state.

A robotic surgical assembly includes a slave manipulator connected to a surgical instrument. A jointed subassembly includes at least first, second and third links. The first and second links are associated in a first joint providing a degree of freedom between the first link and the second link. The second and third links are associated in a second joint providing a degree of freedom between the second link and the third link. The surgical instrument includes a tendon for moving a degree of freedom; the tendon including a tendon distal portion secured to the third link. The first link and/or the second link includes a tendon contact surface on which the tendon slides remaining in contact with the tendon contact surface, defining one or more sliding paths on the tendon contact surface. The sum of all sliding paths defines a total winding angle of at least 120°.

A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism configured to tension the pair of driving elements; and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.