Described here are methods, systems, and devices, useful for minimally invasive surgical procedures. The methods may include introducing a grasper through an opening into an abdominal cavity, grasping a portion of a left lobe of a liver with the grasper, rotating the grasper towards a control element located outside the abdominal cavity by applying a magnetic field to the grasper across a body wall, and moving the control element over a set of ribs such that the liver bends into a folded configuration.

Example embodiments relate to systems for performing a surgical action. The system includes an instrument assembly transitionable between insertion and non-insertion configurations. Instrument assembly includes an instrument arm having a shoulder section, first and second arm sections, wrist section, and end effector section. A second end of the securing portion is secured to a first end of the shoulder section. Instrument assembly is in the insertion configuration when: the shoulder section, first arm section, second arm section, and end effector section are arranged along a central axis; and a distance between the end effector section and second end of the securing portion is greater than a distance between the shoulder section and second end of the securing portion. Instrument assembly is in the non-insertion configuration when the shoulder section, first arm section, second arm section, and/or end effector section are not arranged along the central axis.

Embodiments relate to surgical devices, systems, and methods. The system includes a port assembly and surgical arm assembly. The port assembly includes a main body having a main channel. The main channel includes a left channel portion, right channel portion, left anchor channel portion, and right anchor channel portion. The left channel portion is shaped in such a way that, when a surgical arm of the surgical arm assembly is inserted through the left channel portion, a movement of the surgical arm is restricted to be a movement within the left channel portion and along a first central axis. The right channel portion is shaped in such a way that, when the surgical arm is inserted through the right channel portion, a movement of the surgical arm is restricted to be a movement within the right channel portion and along a second central axis.

Example embodiments relate to surgical systems. The surgical system includes a port assembly and instrument arm assembly. The port assembly includes a central access channel, anchoring portions, and anchor channels. The instrument arm assembly includes a shoulder section, first arm section, shoulder joint portion, elbow joint portion, second arm section, wrist section, end instrument, and instrument arm anchor segment. The instrument arm anchor segment includes an anchor body and instrument arm anchor portion. The anchor body is secured to the shoulder section. The anchor body is inserted through one of the anchor channels. The instrument arm anchor portion secures to one of the anchoring portions when the anchor body is housed in one of the anchor channels. The central access channel remains as an open access channel through the port assembly when the instrument arm anchor portion is anchored to one of the anchoring portions.

A light emitting type capsule treatment tool for irradiating light with a specific wavelength required for photoimmunotherapy, includes a power receiving coil, a magnetic member, a light emitting member and a capsule. The power receiving coil is formed by winding a conductive wire and configured to receive electric power supplied from an external transmission antenna via a magnetic flux. The magnetic member is placed on an inner circumference of the power receiving coil. The light emitting member is configured to be supplied with electric power from the power receiving coil and to emit the light with the specific wavelength. The capsule houses the power receiving coil, the magnetic member and the light emitting member.

Described here are devices, systems, and methods for moving and/or supporting an internal organ or other tissue, such as during minimally-invasive surgery. Generally, a system for moving and/or supporting tissue may comprise a magnetic control component and a retractor having at least one magnetic portion. The retractor may have a first low-profile configuration for passing through an incision into a surgical site within a patient and a second expansive configuration for engaging tissue. The magnetic control component may be placed over the surgical site external to the patient and generate a magnetic field to manipulate the retractor and engaged tissue.

A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

Devices, systems, and methods for providing remote traction to tissue may include a grasper and a control element. The grasper may have a first jaw, a second jaw, a main body, and a first magnetic element. The control element may include a second magnetic element. The first and second magnetic elements may attract the grasper to the control element such that the grasper is oriented parallel, perpendicularly, or at an angle between parallel and perpendicular with respect to the control element and/or a body. In some instances, the grasper may include first and second magnetic elements and the control element may include third and fourth magnetic elements.

The invention discloses an in vivo large organ turnover and fixing device applied in minimally invasive surgery, which comprises a device A and a device B which can be connected detachably, the device A comprises a connector I, a connecting rod I, a joint part and a control part I, the connector I is fixedly connected with the inner end of the connecting rod I, the control part I extends into the abdominal cavity through a minimally invasive hole on the abdominal cavity, the joint part is fixedly connected to the inner end of the control part I, and the movable end of the joint part is connected with the connecting rod I; the device B comprises a connector II, a connecting rod II and a control part II, the control part II extends into the abdominal cavity through a minimally invasive hole on the abdominal cavity, the connecting rod II is connected with the inner end of the control part II, and the connector II is fixedly connected with the connecting rod II. The invention relates to the technical field of surgical operating instruments, in particular to an in vivo large organ turnover and fixing device applied in minimally invasive surgery, which improves the turnover efficiency and precision of large organs under minimally invasive conditions and provides a guarantee for the minimally invasive surgery of liver transplant recipients.

Described here are devices, systems, and methods for providing remote traction to tissue. Generally, the systems may include a grasper and a delivery device configured to releasably couple to the grasper. The grasper may have a first jaw and a second jaw and a main body having a barrel portion. The barrel portion may have a lumen extending therethrough, and a portion of the delivery device may be advanced through the lumen to rotate one or both of the jaws. The delivery devices may include a handle, a shaft, and a distal engagement portion. The delivery devices may further include an actuation rod which may be advanced through a barrel portion of a grasper to actuate the grasper. In some instances, the delivery device may further include a locking sheath, wherein the locking sheath is configured to temporarily couple to a grasper.