A robotic surgical system includes a controller, a surgical instrument supporting an end effector, and one or more connector members coupled to the end effector and movable to operate the end effector. Memory is operably coupled to the controller and is configured to maintain reference data of the one or more connector members. A sensor is secured to the one or more connector members and is disposed in electrical communication with the controller. The sensor is configured to register real-time data of the one or more connector members and communicate the real-time data to the controller. The controller is configured to compare the real-time data to the reference data and provide an output signal in response to a comparison of the real-time data to the reference data. A pair of connector members may be coupled to the end effector to impart three outputs.

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.

Endoscope apparatus includes: a tube unit coupled to a rotary shaft to which a rotational force is transmitted so as to be rotatable, the tube unit being formed to extend in one direction; steering unit having one end installed at one end of the tube unit to rotate with respect to the tube unit so that a direction thereof facing forward is adjusted, the steering unit rotating together with the tube unit by the rotational force transmitted from the tube unit; an end effector installed inside the steering unit to rotate together with the steering unit due to the rotation of the steering unit, the end effector being disposed to face forward; and shaft-fixing tube body installed at the end effector, wherein the direction of the steering unit facing forward and relative rotation of the steering unit with respect to the end effector are adjustable.

A tool for surgically removing tissue of a patient includes a body, a flexible rotating shaft that drives a distal cutting tool and is drivingly coupled to a motor supported by bearings in a flexible tubular sheath to allow the shaft to rotate and be shifted longitudinally. Steering cables in the sheath control the flexion of the sheath. A processor controls the operation to ensure that the cutting tool operates within a predetermined resection area, controlling a combination of motor speed, sheath flexion, and shaft retraction to assist surgery in the resection area.

Systems and methods of controlling instruments include first and second actuators configured to actuate a degree of freedom (DOF) in first and second directions using respective transmission mechanisms and a control unit. The control unit is configured to determine positions of the first and second actuators; determine an actuation command based on the positions of the first and second actuators, and a desired state of the DOF; determine respective actuation levels of the first and second actuators so as to maintain tensions in the transmission mechanisms above respective minimum tensions by: using a model based on the force or torque command, the minimum tensions, and the first and second actuator positions; and command actuation of the first and second actuators at the respective actuation levels. The model compensates for an external disturbance on the DOF and for dynamics of the first and second actuators.

The present invention relates to a hysteresis compensation control apparatus of a flexible tube and a method thereof for compensation control of hysteresis of a surgical instrument disposed in a channel of an overtube. The hysteresis compensation control apparatus includes: an input unit receiving image information and tension information of a flexible surgical instrument required for mode switching; a mode switching determining unit for determining a current state of the surgical instrument on the basis of the image information of the surgical instrument, and generating a control mode switching signal according to the current state of the surgical instrument; a mode switching unit for switching a control mode from a flexible tube control based on the image information to a flexible tube control based on the tension information according to the control mode switching signal; and a compensation control unit for compensatingly controlling a flexible surgical instrument having hysteresis characteristics on the basis of a tension error value calculated by a learning model.

An electromechanical surgical system having an instrument housing for connecting with a shaft assembly, a shaft assembly, and an end effector. The end effector is an articulating end effector and the system includes a cable tensioning system for tensioning the articulation cables. The system includes a clutch mechanism for preventing slippage of a drive cable.

A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising a first joint permitting the end effector to adopt a range of configurations relative to the longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the securement of a first chassis portion to a second chassis portion, wherein the first pair of driving elements are secured relative to the chassis, the chassis portions being configured to be secured together by sliding the chassis portions relative to each other in a longitudinal direction parallel to the longitudinal axis of the shaft.

An endoscopic system includes an elongate shaft, a pull wire that runs a length of the elongate shaft, a handle coupled to a proximal portion of the elongate shaft, the handle housing a proximal portion of the pull wire, the handle being couplable to a robotic driver configured to tension the pull wire to cause articulation of the elongate shaft, and one or more conductors that run the length of the elongate shaft, the one or more conductors being electrically coupled to the pull wire at a distal portion of the elongate shaft and configured to form part of a closed electrical circuit with the pull wire.

A surgical tool for compact articulating during surgical procedures includes a pitch cable, at least one yaw cable, a first link, a second link, at least one end-effector link, and at least one tensioning mechanism. The first link has a pitch joint end with a pitch joint pin and at least one yaw cable guide channel. The second link has a yaw joint end with a yaw joint pin. The second link is rotatably connected to the pitch joint pin. The at least one end-effector link is rotatably connected to said yaw joint pin. The yaw cables are coupled to the end-effector links such that the yaw cables can actuate the end-effector links about the yaw joint pin. The yaw cable guide channel is configured such that the yaw cables travel through a smooth trajectory to the end-effector links. The tensioning mechanism is configured to maintain a constant length.