A insertion apparatus includes a flexible tube, a detection section that detects state information of the tube, a calculation section that calculates, based on the state information, shape information of the tube, and an input section that inputs characteristic information of the tube. The apparatus also includes a calculation section that calculates, based on the characteristic information, an operation state of a distal end of the tube, an calculation section that calculates an insertion state of the tube at a specific point closer to a proximal end than the distal end, based on the shape information, characteristic information, and operation state, and a measurement section that measures an actual operation state of the tube at the specific point.

A shape sensing system includes a plurality of shape sensing enabled medical devices (118) each having at least one fiber (122). The system is preferably a system for shape sensed robotic ultrasound comprising an endoscope, an ultrasound probe, a medical device and a robot. An optical sensing module (130) is configured to receive optical signals from the at least one optical fiber and interpret the optical signals to provide shape sensing data for each of the plurality of shape sensing enabled medical devices. A registration module (134) is configured to register the plurality of shape sensing enabled medical devices together using the shape sensing data.

A coupling mechanism includes a base and a lever. The base is configured to couple to an external fixture. The lever is pivotably coupled to the base and transitionable between a clamped configuration and an unclamped configuration. A first pair of opposed arms extends from the base and a second pair of opposed arms extends from the lever in opposed relation to the first pair of opposed arms. In the clamped configuration the second pair of opposed arms are proximate the first pair of opposed arms, and in the unclamped configuration the second pair of opposed arms are spaced apart from the first pair of opposed arms. At least one of the first pair of opposed arms or the second pair of opposed arms includes a step thereon. The step is configured to receive and retain a surgical tool therein in the clamped configuration.

The present invention relates to a cover having a plurality of moveable, external, angled projecting elements for use with flexible medical scoping devices such as endoscopesor enteroscopes. The invention includes the cover with an over cuff and use of the disposable removable covering in methods of medical scoping procedures or examinations. The invention also includes an applicator for assisting in placing the covering about or over a medical device and a kit of parts.

Example embodiments relate to surgical systems having end-effector assembly, first and second arm assemblies, and elbow joint assembly. End-effector assembly includes instrument assembly and wrist assembly. Instrument assembly includes a first instrument. First arm assembly includes a body, first and second instrument drive assemblies, wrist drive assembly, and first arm drive assembly. First instrument drive assembly is configurable to move first instrument relative to first axis. Wrist drive assembly is configurable to move instrument assembly relative second axis. First arm drive assembly is configurable to rotate end-effector assembly relative to third axis. Elbow joint assembly includes elbow pitch joint portion configurable to be driven to move first arm assembly relative to fourth axis. Elbow joint assembly also includes elbow sway joint portion configurable to be driven to move first arm assembly relative to fifth axis.

A robotic drive system for driving one or more elongated medical devices, the robotic drive can include a linear member and at least four device modules coupled to the linear member. Each device module may be independently controllable. The plurality of device modules may be switched between a first configuration where each device module is populated with an elongated medical device and a second configuration where a subset of the at least four device modules is populated with an elongated medical device.

A smart device may assist a user in aligning an otoscope of an otoscope clip device with a camera of the smart device. A model identification may be determined. The model identification may indicate a model associated with the smart device. An alignment image may be determined using the model identification. The alignment image may be displayed on the display of the smart device.

A cannula system and method for accessing a blood mass in the brain. The system comprises a cannula with a camera mounted on the proximal end of the cannula with a view into the cannula lumen and the surgical field below the lumen. A prism, reflector or other suitable optical element is oriented between the camera and the lumen of the cannula to afford the camera a view into the cannula while minimizing obstruction of the lumen. The system may also include an obturator with a small diameter shaft and a large diameter tip which is optically transmissive, so that a surgeon inserting or manipulating the assembly can easily see that the obturator tip is near brain tissue (which is white) or blood (which is red).

Provided is an endoscope system that inexpensively guides an extra-fine endoscope using an overtube. An endoscope system includes an endoscope and an overtube. The overtube includes an endoscope channel that allows passage of the endoscope, being bendable according to an operation. The endoscope includes a light irradiation unit and an imaging unit.

Provided is a method for tracking a position of a capsule endoscope including: receiving, by an apparatus for tracking a position of a capsule endoscope, an image captured by the capsule endoscope; distinguishing, by the apparatus for tracking a position of a capsule endoscope, a gastrointestinal tract junction from the image using a machine-learned classification model based on the gastrointestinal tract junctions; and tracking, by the apparatus for tracking a position of a capsule endoscope, the position of the capsule endoscope based on the distinguished gastrointestinal tract junctions.