A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of: conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, starless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition). The unique design of the proposed system provides an intuitive user interface to achieve such enhanced manoeuvrability, allowing each Joint of a teleoperated slave system to be driven by controlling the position of a mechanically connected master unit.

A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.

Apparatus for performing a minimally-invasive procedure, the apparatus comprising: a shaft having a distal end, a proximal end and a longitudinal axis extending between the distal end and the proximal end, wherein the shaft comprises a flexible portion and an articulating portion, wherein the flexible portion extends distally from the handle assembly and the articulating portion extends distally from the flexible portion, and further wherein the articulating portion is configured to articulate relative to the flexible portion; a handle assembly attached to the proximal end of the shaft; and an end effector attached to the distal end of the shaft; wherein a plurality of articulation cables extends from the handle assembly to the articulating portion, such that when tension is applied to at least one of the plurality of articulation cables, the articulating portion bends relative to the flexible portion of the shaft; wherein the plurality of articulation cables are mounted to the handle assembly such that moving the handle assembly to angle the handle assembly relative to the longitudinal axis of the shaft applies tension to at least one of the plurality of articulation cables, whereby to articulate the articulating portion of the shaft relative to the flexible portion of the shaft.

A cylindrical element with a hinge structure has: a first portion (524; 1124; 522(n−1); 1122(n−1)); a second portion (522(1); 1122(1); 522(n); 1122(n)) which is rotatable relative to the first portion (524; 1124; 522(n−1); 1122(n−1)) about two rotation sections (530(1); 1130(1); 530(n); 1130(n)) arranged at locations 180° rotated relative to one another viewed in a tangential direction of the cylindrical element; an attachment element (502(1); 1006; 502(n)).

The rotation sections (530(1); 1130(1); 530(n); 1130(n)) are implemented by: either the first portion (524; 1124; 522(n−1); 1122(n−1)) or the second portion (522(1); 1122(1); 522(n); 1122(n)) is provided with an opening accommodating a pin (556(1); 1156(1); 556(n); 1156(n)); the pin (556(1); 1156(1); 556(n); 1156(n)) is attached to a portion of the attachment element (502(1); 1006; 502(n)); the other one of the first portion (524; 1124; 522(n−1); 1122(n−1)) and the second portion (522(1); 1122(1); 522(n); 1122(n)) is attached to another portion of the attachment element (502(1); 1006; 502(n)); such that the first portion (524; 1124; 522(n−1); 1122(n−1)) and the second portion (522(1); 1122(1); 522(n); 1122(n)) cannot move relative to one another in a longitudinal direction, a tangential direction and a radial direction but are configured to rotate relative to one another about a center of rotation.

Disclosed herein are various systems and methods for guiding, supporting, and/or housing instruments. One exemplary system includes a guide tube having a manipulation section and mated with rails carrying instrument control members. Moving the rails with respect to the guide tube, or another point of reference, can control movement of the manipulation section.

A medical device and a system including same are provided. The medical device includes an elongated device body, at least a portion of which is steerable within a body of a subject via at least one control wire; and a plurality of control wire guides disposed along the elongated device body and being deployable to deflect the at least one control wire away from a longitudinal axis of the elongated device body.

Methods and devices described herein facilitate diaphragm entry for posterior access of body organs.

Devices for approximating multiple tissue edges internal to a body are disclosed.

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.

Described herein are various method of using a direct drive system to perform procedures at a distance. One exemplary method include tying a knot or suturing at a distance with a first and second end effector. The direct drive system can enable sufficient end effector dexterity, including the ability to control various degrees of freedom of end effector movement, and allow a user to perform complicated task at a distance. In one aspect the direct drive system includes flexible tools that permit access to surgical site via a natural orifice.