A base is configured to support a hemostasis valve having a driven surface configured to be rotatably driven to rotate a catheter secured thereto. The base may include a drive mechanism and a sideloading hemostasis valve holder configured to retain the driven surface of the hemostasis valve in engagement with the drive mechanism.

A micro-robot operating system using an ultrasonic transducer according to an embodiment of the present invention may comprise: a micro-robot moving in an inspection object; and a micro-robot operating device for controlling the location of the micro-robot. A micro-robot operating device using an ultrasonic transducer may comprise: an ultrasonic transducer unit including a plurality of ultrasonic transducers; and a control unit for controlling the plurality of ultrasonic transducers, wherein the plurality of ultrasonic transducers are arranged to form a curved surface toward a particular location in a space.

Devices, systems, and methods are disclosed that help deliver catheters or other medical devices to locations within a patient's body. The device includes a transporter catheter having a proximal end and a distal end, at least a first balloon located adjacent to the distal end, and at least a second balloon located between the first balloon and the proximal end of the transporter catheter. The first balloon is configured for holding a prosthetic device in place. In another embodiment, the transporter catheter has a third balloon, an orienting balloon, substantially at the tip of the distal end of the transporter catheter.

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.

Apparatus for controlling motion of an invasive probe relative to a sheath enclosing the probe. The apparatus includes an outer casing, configured for connection to the sheath. The apparatus further includes a drive mechanism, fixedly connected to the outer casing. The drive mechanism has a first set of components, configured to translate the probe along a direction parallel to as axis of the probe, in order to advance and retract the probe with respect to the sheath in a translational stepwise manner. The drive mechanism also includes a second set of components, configured to rotate the probe around the axis of the probe, in order to rotate the probe clockwise and counter-clockwise, with respect to the sheath, in a rotational stepwise manner.

An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

For robotically operating a catheter, translation and/or rotation manipulation is provided along the shaft or away from the handle, such as near a point of access to the patient. A worm drive arrangement may allow for both translation and rotation of the shaft. Some control may be provided by robotic manipulation of the handle, while other control (e.g., fine adjustments) are made by robotic manipulation of the shaft.

A robot controller (515) includes a first input (502) configured to receive images (524) from an imaging device for a region of interest. A target identification device (516) is configured to identify a target region in the images. A control system (517) is coupled to a robotically controlled treatment device to generate control signals to control the treatment device to treat the target region when the treatment device is positioned corresponding to the target region.

A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. A method and system controls the needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.

Described is a locomotive implant for usage within a predetermined magnetic field. In one embodiment magnetohydrodynamics is used to generate thrust with a plurality of electrodes. In another embodiment, asymmetric drag forces are used to generate thrust.