A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool. The first steering device is insertable into the instrument lumen to shape the guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the guide tube to hold its shape. The guide tube may be steered by remote control with one or more actuators.

An endoscope and an illuminator are safely placed in a body cavity without generating a noticeable postoperative scar. A method of placing medical insertion instruments into a body cavity includes a first step of inserting, into the body cavity through a first opening formed on a body wall, an endoscope together with a first illuminator; and a second step of inserting, into the body cavity through a second opening formed at a position different from the first opening, a second illuminator. Preferably, the method further includes a third step of pulling out the first illuminator from the first opening and inserting the first illuminator into the body cavity through a third opening formed at a position different from the first and second openings.

The invention discloses a percutaneous puncture and dilation visible irrigation-suction system and a method of using the same. The system comprises a main tube, which is contiguous with the sheath tube and has an end for an endoscope insertion. The sheath tube comprises an inner sheath and an outer sheath joined together in a sleeve type. There is a space between inner and outer sheath. The inner sheath is connected to main tube, together building a channel via which the endoscope is inserted and withdrawn. The sheath tube is connected to main tube after completing puncture and dilation, then endoscope system is introduced for observation and operation. The present invention provides a percutaneous puncture and dilation visible irrigation-suction system and a method of using the same, with a continuous controllable visible negative pressure aspirator, achieving high irrigation and powerful suction efficiency, as well as clear endoscopic view.

An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.

Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.

Techniques for retracting an instrument into an entry guide include receiving a retraction command for the instrument, the retraction command commanding movement of the instrument into the entry guide; causing, in response to the retraction command and using an instrument manipulator, movement of a rotational joint of the instrument that is external to the entry guide toward a distal end of the entry guide; actuating, after the rotational joint reaches a minimum distance from the distal end of the entry guide, the rotational joint to orient a link of the instrument so that the link can be retracted into the entry guide, the link being adjacent to and distal to the rotational joint; and causing, after the link is oriented so that the link can be retracted into the entry guide and using the instrument manipulator, further movement of the rotational joint toward the distal end of the entry guide.

A medical device includes a longitudinal portion with one or more tubes, a distal portion with one or more arms, and one or more actuation mechanisms. The one or more arms each includes an arm lumen. Each arm lumen is connected to a respective tube, and at least one of the longitudinal portion and the distal portion is configured to be coupled to a distal end of an insertion device. The one or actuation mechanisms are movable to transition one or more arms from a closed configuration to an open configuration.

A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.

A single body port or body flange access device and method for performing laparoscopic surgery are disclosed. The device comprises a plurality of crisscrossing conduits through which surgical instruments may be inserted. The instruments are manipulated so that triangulation is obtained using one patient body flange while standard surgical procedures are performed on the patient.