The disclosure provides a diagnosis and treatment integrated soft medical robot for gastrointestinal endoscopy, including a robot body, a camera, illumination devices, a flexible dielectric elastomer actuator, air cylinders, linear motors, a controller and external hoses. Wherein the robot body is a multichannel hose, and includes a central channel and circumferential channels, the central channel is configured to accommodate conducting wires and signal wires, the circumferential channels include at least three microfluid channels. The front end of each microfluid channels is a sealed end, a rear end of each of the microfluid channels is an open end. The open end of each microfluid channels communicates with an end opening of a flow channel of one air cylinder. The linear motors control fluid pressures in the microfluid channels by driving piston rods of the air cylinders so that the robot body steers through being driven by fluid. The camera performs real-time image acquisition. The controller controls the flexible dielectric elastomer actuator to capture a target. The disclosure realizes the real-time image acquisition on a digestive tract, particularly a lesion, and can integrally and fast complete diagnosis and treatment.

A needle and suture assembly is provided for use with an endoscopic suturing device with a needle holder arm. The needle assembly includes a needle tip and a needle body. The needle tip has a sharp end, a capture groove, a tab groove and a plug portion positioned between the capture groove and the tab groove. The needle body has first and second ends, tip tabs, retainers for removably retaining the needle body relative to the needle holder arm, and a suture opening. The needle tip is fixed relative to the needle body by plastic deformation of the tip tabs into the tab groove. A suture extends into the suture opening of the needle body and is fixed therein.

A shield component for an endoscopic surgical blade is disclosed. An endoscopic surgical blade assembly is disclosed. The endoscopic surgical blade assembly contains an endoscopic surgical blade having a distal end, a proximal end, a top edge, a bottom edge and one or more cutting surfaces at the distal end, and a protective shield attached to the blade above the one or more cutting surfaces and extending away from the distal end of the blade. The blade is structurally configured for attachment to the distal end of an endoscope.

A measuring device and methods of use for measuring a section of a bowel of a patient. The measuring device includes a tubular section having a longitudinal axis and at least one wing normally projecting outward transverse to the longitudinal axis. The tubular section is configured for mounting on a conventional or robotic laparoscopic grasper adjacent the grasper's movable jaws. The at least one wing is are pivotable to a closed position so that grasper with the measuring device mounted thereon can be inserted through a conventional trocar, whereupon the at least one wing projects outward transversely to the longitudinal axis. The at least one wing is of a predetermined length to serve as a measurement tool enabling a surgeon to measure off a desired length of the bowel.

Disclosed is a surgical member driving apparatus. According to an embodiment of the disclosure, a surgical member driving apparatus for operating a surgical member detachably mounted to an endoscope includes a cartridge module including a base unit fastened to one end portion of the endoscope and coupling with the surgical member at one side, a wire including a first end portion coupled to the base unit and transmitting driving force to the base unit, and a cartridge provided with a power transmitter coupled to a second end portion of the wire; and a driving module including an accommodating portion to which the cartridge is detachably coupled, and providing the driving force to the wire of the cartridge module coupled to the accommodating portion.

Example embodiments relate to robotic arm assemblies. Embodiments of the robotic arm assembly include a shoulder segment and upper arm segment having a motor drive portion. Embodiments also include a shoulder coupling joint assembly connecting the upper arm segment to the shoulder segment. Shoulder coupling joint assembly includes a distal shoulder joint subassembly connected to the upper arm segment. The distal shoulder joint subassembly includes a distal shoulder joint forming a first axis. The distal shoulder joint subassembly includes a shoulder planetary gear assembly. Embodiments include an elbow coupling joint assembly connecting the upper arm segment to the forearm segment. The elbow coupling joint assembly includes a proximal elbow joint subassembly connected to the upper arm segment. The proximal elbow joint subassembly includes a proximal elbow joint forming a second axis. The proximal elbow joint subassembly includes an elbow planetary gear assembly.

A medical system includes: an endoscope and at least one treatment tool; a treatment-tool coordinate calculating unit that extracts the treatment tool by processing two or more images acquired at different times by the endoscope, that determines directions of longitudinal axes of the extracted treatment tool, and that calculates a coordinate of an intersection of the determined two or more longitudinal axes; and a judgment unit that judges whether the treatment tool serves as a follow target, on the basis of the coordinate of the intersection calculated by the treatment-tool coordinate calculating unit.

A medical device may include a first body having a lumen and a central longitudinal axis; a second body positioned at least partially within the lumen of the first body; and an arm assembly. The arm assembly may include a first arm coupled to the first body and extending distal to the first body; and a second arm coupled to the second body and extending distal to the second body. A distal end portion of the first arm may be coupled to a distal end portion of the second arm. Distal movement of the second body may be configured to move the first arm and the second arm radially-outward away from the central longitudinal axis. Proximal movement of the second body, relative to the first body, may be configured to move the first arm and the second arm radially-inward towards the central longitudinal axis.

An endoscopic instrument is disclosed that includes an elongate shaft and an instrument insert releasably connected to a distal end portion of the shaft, the distal end portion of the shaft being in the form of a sleeve and a proximal end region of a base of the instrument insert being in the form of a coupling shaft, or the distal end portion of the shaft being in the form of a coupling shaft and a proximal end region of a base of the instrument insert being in the form of a sleeve, with the coupling shaft being releasably held in the sleeve and the sleeve and/or the coupling shaft at least in portions having a cross-sectional profile which is reversibly changeable for detaching the coupling shaft from the sleeve. The invention also relates to a shaft for an endoscopic instrument, and to an instrument insert for an endoscopic instrument.

Embodiments of a system, a machine-accessible storage medium, and a computer-implemented method are described in which operations are performed. The operations comprising receiving a plurality of image frames associated with a video of an endoscopy procedure, generating a probability estimate for one or more image frames included in the plurality of image frames, and identifying a transition in the video when the endoscopy procedure transitions from a first phase to a second phase based, at least in part, on the probability estimate for the one or more image frames. The probability estimate includes a first probability that one or more image frames are associated with a first phase of the endoscopy procedure.