A medical system comprises a flexible device configured to be positioned at least partially within an anatomical passageway of a plurality of anatomical passageways within a patient anatomy. The medical system further comprises a memory device including computer executable instructions. The computer executable instructions are for performing operations comprising determining a deformation force exerted by a section of the flexible device. The operations further comprise registering a model of a candidate anatomical passageway of the plurality of anatomical passageways to a model of the flexible device based on: a shape of the flexible device; and the deformation force exerted by the section of the flexible device.

A device sized and shaped for insertion into a body comprising: at least one mechanical limb comprising: a support segment; a first flexible section extending from the support segment and terminating in a coupling section; and a second flexible section extending from the coupling section and terminating in a tool or a connector for a tool; wherein a long axis of one or more of the flexible sections is bendable in a single bending plane; wherein a long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis; wherein a long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

A method of dispensing surgical fasteners includes providing an applicator instrument having a housing with a cartridge opening, an elongated shaft extending from the housing, a firing system disposed within the housing for dispensing surgical fasteners, and an actuator for activating the firing system. The method includes forming a surgical opening in tissue, inserting a distal end of the elongated shaft into the surgical opening, inserting a cartridge containing a plurality of first surgical fasteners into the cartridge opening, and engaging the actuator for dispensing one of the first surgical fasteners from the distal end of the elongated shaft. While maintaining the distal end of the elongated shaft inside the surgical opening, the cartridge is removed from the cartridge opening, a second cartridge containing a plurality of second surgical fasteners is inserted into the cartridge opening, and the actuator is engaged for dispensing one of the second surgical fasteners from the distal end of the elongated shaft.

This application provides an endoscopic device having at least one shaft with at least one portion deflectable, and having at least one deflection mechanism, which is configured to deflect the deflectable portion and includes at least one first connection member and at least one second connection member. When the connection members are arranged in a straight position relative to each other, a straight-position spacing exists defined by a shortest connection between a geometric midpoint of the first connection member and a geometric midpoint of the second connection member and, when the connection members are arranged in a deflection position relative to each other, a deflection-position spacing exists which is defined by a shortest connection between a geometric midpoint of the first connection member and a geometric midpoint of the second connection member, and the deflection-position spacing in the deflection position is greater than the straight-position spacing in the straight position.

A surgical robotic system includes a first robotic arm, a second robotic arm, a control tower, and a surgeon console. The first robotic arm is engaged with a first movable cart. The second robotic arm is engaged with a second movable cart. The control tower is configured to control movement of the first robotic arm. The surgeon console is configured to provide instructions to the control tower. The control tower is electrically coupled to the surgeon console via a first cable. The surgeon console is electrically coupled to the first movable cart via a second cable.

A parallel kinematic mechanism apparatus includes a frame, a handle and an input joint that connects having at least two independent and functionally parallel paths for transmission of motion coupling the handle to the frame. A first path includes a first intermediate body connected to the frame by a first connector and to the handle by a third connector while the second path that is independent from the first path includes a second intermediate body that is connected to the frame by a second connector and to the handle by a fourth connector. The first connector and the fourth connector both allow rotation in a first rotational direction and restrict rotation in a second rotational direction and the second and third connectors allow rotation in the second rotational direction and restrict rotation in the first rotational direction.

A method of dispensing surgical fasteners includes providing an applicator instrument having a housing with a cartridge opening, an elongated shaft extending from the housing, a firing system disposed within the housing for dispensing surgical fasteners, and an actuator for activating the firing system. The method includes forming a surgical opening in tissue, inserting a distal end of the elongated shaft into the surgical opening, inserting a cartridge containing a plurality of first surgical fasteners into the cartridge opening, and engaging the actuator for dispensing one of the first surgical fasteners from the distal end of the elongated shaft. While maintaining the distal end of the elongated shaft inside the surgical opening, the cartridge is removed from the cartridge opening, a second cartridge containing a plurality of second surgical fasteners is inserted into the cartridge opening, and the actuator is engaged for dispensing one of the second surgical fasteners from the distal end of the elongated shaft.

A surgical instrument assembly is provided. In some embodiments, an example surgical instrument assembly includes a surgical instrument configured to pass through a guide tube having a proximal end and a distal end. The surgical instrument can include one or more arms configured to extend from the intermediate position, each arm having one or more joints positioned along the arm and an end effector attached at the distal end of each arm. The surgical instrument assembly can include a control assembly positioned at the proximal end and configured to control the movement of the joints and the end effectors.

An exemplary embodiment relates to an end effector (1), in particular a robot end effector, a device (20) with an operating element (25) for controlling an end effector (1), a robot with at least one end effector (1) and a medical telemanipulation system.