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.

Provided herein are methods of analyzing tissue using a magnetic resonance imaging (MRI) compatible tissue analysis device that includes radio¬frequency (RF) tracking and imaging elements. Related kits, systems, and computer program products are also provided.

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.

A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.

Devices and methods for articulating a distal end of a surgical device are provided. In one exemplary embodiment, the device includes an articulation joint that includes both an inner guide and an outer sleeve. The inner guide includes one channel extending therethrough that receives both a cutting mechanism and a closure band. Further, an outer surface of the inner guide, in conjunction with the outer sleeve, can define two additional channels that each receive an articulation band for articulating an end effector coupled to the articulation joint. The outer surface of the inner guide can include a plurality of ribs that also help define the two additional channels. Further, the outer sleeve can include a plurality of slots formed in it to improve flexibility and stability. Additional configurations of articulation joints, and configurations of components of a surgical device, are also provided, as are methods for using the same.

This application is directed to a medical instrument with a hollow shaft, an actuating unit at the proximal end and an instrument tip with an instrument at the distal end, wherein the instrument can be actuated via an actuating element in the shaft, the element being in an connection with the actuating unit and the instrument tip being pivotable via a joint mechanism, the joint mechanism having pivoting members connected with a proximal-side drive via steering wires running in the direction of the shaft in such a way that movement of the proximal-side drive causes a corresponding movement of the distal-side pivoting members and a pivoting of the instrument tip and wherein the proximal-side drive includes a spatially adjustable disk on which the steering wires are mounted. In order that the steering wires may be controlled precisely and reproducibly, the drive for the spatially adjustable disk is a motorized drive.

This application is directed to a medical instrument with a hollow shaft, an actuating unit at the proximal end and an instrument tip with an instrument at the distal end, the instrument actuated via an actuating element, the element being in connection with the actuating unit and the instrument tip being pivotable relative to the shaft via a joint mechanism; the joint mechanism having pivoting members with proximal-side drive via steering wires such that movement of the proximal-side drive causes movement of the distal-side pivoting members and pivoting of the instrument tip; and a trigger mechanism with which the steering wires can be brought into a relaxed state that releases the articulation of the instrument tip. In order for the medical instrument to be cleaned and ensure that the medical instrument is safely removed even if the proximal-side drive fails, the trigger mechanism is a purely mechanical trigger mechanism.

Systems and methods can be employed for trans-tympanic membrane access to the middle ear for delivery of a therapeutic agent, for example, to the round window niche adjacent to the cochlea under direct visualization. The systems and methods can also be used to improve accessibility and visualization for various otological surgical procedures, such as, but not limited to, cholesteatoma removal, tympanic membrane repair and ossicular chain repair.

An electrode apparatus for nerve denervation or modulation in body includes a main body including a shaft; an electrode unit formed to be drawn out from one end of the shaft and configured to denervate or modulate at least part of nerves on a tube in the body; and an electrode guide coupled to the electrode unit and deformed into a wound state to bring the electrode unit into contact with the tube in the body. The electrode guide includes a plurality of joint units disposed to enclose the circumference of the tube with the electrode unit interposed therebetween in the wound state.

The current disclosure generally relates to systems and methods of guidewire control, and in particular to systems and methods for the control of multiple degrees-of-freedom bending and the bending length of a coaxially aligned robotically steerable guidewire. The current disclosure is manually actuated, and in others, is automatically/robotically actuated.