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.

Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

A robotic surgical system for treating a patient is disclosed including a surgical tool movable relative to the patient and a user input device configured to remotely control the surgical tool. The surgical tool includes a shaft and an end effector. The user input device includes a base and a controller movable to effect a first control motion a second control motion. The controller includes a first accessibility mode and a second accessibility mode. The robotic surgical system further includes a control circuit configured to receive a motion control signal from the user input device, determine a controller accessibility mode, permit the first control motion in response to the motion control signal in the first accessibility mode and in the second accessibility mode and permit the second control motion in response to the motion control signal in the second accessibility mode but not the first accessibility mode.

A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes an end portion and transmission systems, each of which couples the end portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of the end portion and a desired configuration of the end portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on constant offset tensions. The constant offset tensions are independent of current tensions experienced by the transmission systems.

The present application provides an endoscopic device having at least one shaft, which has at least one portion deflectable in at least one plane, and having at least one deflection mechanism, which is configured to deflect the deflectable portion and includes, arranged in series, at least one first connection member and at least one second connection member interacting for a deflection with the first connection member. The first connection member is formed at least partially from a first material, and the second connection member is formed at least partially from a second material, of which the elasticity differs from that of the first material.

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

A method for controlling an articulating surgical instrument is disclosed. The instrument includes a manipulator and a positioner actuable to position a distal segment within an instrument workspace. The manipulator is attached to the distal segment and includes a distal end configured for mounting an operational tool for performing an operation within the instrument workspace, the manipulator being actuable to manipulate the distal end of the manipulator. The method involves receiving input including position input signals representing a position within an input workspace and orientation input signals representing an orientation within the input workspace and causing generating position control signals for actuating the positioner to move the distal segment within the instrument workspace to a physical position represented by the position input signal and generating manipulation control signals based on the orientation input signals for actuating the manipulator to orient the distal end within the instrument workspace.

In an aspect, the present disclosure provides a cartridge that is pre-loaded with a surgical mesh, where the cartridge is configured to be inserted into an internal body cavity of a subject and for the surgical mesh to be deployed while the cartridge is in the internal body cavity of the subject. In another aspect, the present disclosure provides a surgical robotic system comprising a set of sensors embedded thereon, wherein the surgical robotic system is configured to perform a surgical hernia repair procedure with increased consistency.

A training device according to an embodiment may be used for training for surgery using a surgical system that includes: a patient side apparatus including first and second robot arms; and a doctor side control apparatus including first and second input devices configured to operate the first and second robot arms respectively and a display. The training device may include: a training control unit configured to display, on the display, a first virtual surgical instrument that moves in response to operation on the first input device, and a second virtual surgical instrument that moves in response to operation on the second input device; and a storage storing therein a surgical video. The training control unit is configured to display on the display the surgical video stored in the storage with overlaying the first virtual surgical instrument and the second virtual surgical instrument on the surgical video.

A compliant surgical device such as a flexible entry guide employs tendons to operate or steer the device and attaches asymmetric or constant force spring systems to control tension in the tendons. As a result, the surgical device can be compliant and respond to external forces during a surgical procedure without rapidly springing back or otherwise causing a reaction that damages tissue. The compliance also permits manual positioning or shaping of the device during or before insertion for a surgical procedure without damaging the tendons or connections of the tendons within the device or to a backend mechanism.