A system comprising a surgical instrument is disclosed. The surgical instrument includes a handle, a shaft, a plurality of magnets, a plurality of sensors configured to determine a distance away from one or more of the plurality of magnets, and a processor communicatively coupled to the plurality of sensors. The processor is configured to determine a three dimensional change in position of the shaft by computing a three dimensional change in position of the one or more magnets, using the change in the distances determined by the one or more plurality of sensors.

The present invention relates to a micro robot driving apparatus which can increase the intensity of magnetic field generation in a driving area of a micro robot by attaching a magnetic shield unit to an electromagnetic drive coil unit for driving the micro robot, or locally focus a magnetic field through the combination of two electromagnets, and a system using the same. According to the present invention, there is an effect that driving the micro robot injected into the body may be controlled by increasing a magnetic field generation intensity in the region of interest or focusing the magnetic field.

A surgical device for retaining a tool, the surgical device comprises a multi-axis manipulator configured to generate relative movement between a moving end and a stationary end thereof; a housing fixed to the stationary end of the manipulator; a motor configured to rotate the tool by a rotating interface when the tool is retained to the rotating interface; an adaptor connected to the manipulator and in orientational fixation to the moving end of the manipulator, the adaptor being configured to move with the moving end, and the adaptor comprises a tool stopper disposed therein, wherein the tool stopper is configured to catch the tool if the tool is dropped from the rotating interface; a tool head latchless interface exposed to a channel of the adaptor and configured to provide attraction force within the channel for retaining the tool to the rotating interface.

Robotic devices and methods for performing minimally invasive procedures on the vascular system, particularly cerebrovascular and endovascular neurosurgical procedures, where a submillimeter-scale continuum robotic device is configured and adapted for active steering and navigation based on external magnetic actuation. The submillimeter-scale continuum robotic device includes an elongate body having an inner core and an outer shell, where the outer shell is fabricated of an elastomeric material having a plurality of ferromagnetic particles dispersed therein.

A surgical clip for use in endoscopic submucosal dissection includes first and second jaws configured to move between an open configuration and a closed configuration to grasp tissue therebetween, a spherical magnet, and a tether coupling the spherical magnet to the first jaw and/or the second jaw.

A surgical instrument is disclosed that comprises a motor, a radio frequency (RF) energy generator, a first jaw, a second jaw movable relative to said first jaw in response to an actuation from said motor to capture tissue, and a segmented circuit comprising a first electrode configured to measure tissue impedance at a first position and a second electrode configured to measure tissue impedance at a second position. The RF energy generator is configured to transmit RF energy to the tissue by way of said first electrode or said second electrode. A controller is configured to control said motor based on the measured tissue impedances, energize said first electrode with a first amount of RF energy based on the tissue impedance measured at said first position, and energize said second electrode with a second amount of RF energy based on the tissue impedance measured at said second position.

A magnetic field control system according to an embodiment of the present invention may comprise: a structure forming part for forming a three-dimensional structure having an inner space; a magnetic field generating part for generating a magnetic field, the magnetic field generating part being formed to extend from a predetermined position of the structure forming part and being disposed to face a target region defined in the inner space; and a power source part for supplying electric power to the magnetic field generating part.

A probe for use in an anatomical region of a patient. The probe can optionally include: a proximal portion; an insertion portion and a magnetizable element. The insertion portion can be coupled to the proximal portion and can extend distally thereof. The insertion portion can have an elongated extent and a longitudinal axis. The insertion portion can include a flexible section. The magnetizable element can be positioned at a distal end portion of the insertion portion and can be configured for use within the anatomical region to produce a magnetic force between the magnetizable element and an extracorporeal magnetizable element that can direct the distal end portion of the probe to a desired location within the anatomic region.

A magnetic catheter is disclosed. The magnetic catheter comprises: a first fixed magnet which is coupled to the front end of a catheter tube; a guide rod of which one end is coupled to the front end of the catheter tube, and the other end protrudes to the front of the catheter tube by a predetermined length; a body which is provided with a drill tip on the front end thereof, and has formed therein an inner space in which the other end of the guide rod is positioned; and a first drive magnet which is coupled to the body along the outer peripheral surface of the body.

Various embodiments of a system and method for controlling the shape, subdivision, recombination, movement and object manipulation of ferrofluid material in addition to pumping fluids with ferrofluid material using external electromagnetic fields are disclosed herein.