A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

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).

Disclosed here are systems and methods for collecting and/or screening of a pancreatic secretion, using a capsule endoscope comprising an imaging system and a trypsin sensor, and a tether coupled to the capsule endoscope.

Systems, devices, and methods for endoscopic mapping of a target and tracking of endoscope locations inside a subject's body during a procedure are disclosed. An exemplary system comprises an imaging system configured to capture an endoscopic image of the target that includes a footprint of an aiming beam directed at the target, and a video processor configured to identifying one or more landmarks from the captured endoscopic image and determine their respective locations relative to the aiming beam footprint, and generate a target map by integrating a plurality of endoscopic images based on landmarks identified from one or more of the plurality of endoscopic images. The target map can be used to track endoscope location during an endoscopic procedure.

Example embodiments relate to surgical systems. The system includes an end-effector assembly having an instrument. The system includes a first arm assembly. A distal end of first arm assembly is securable to the end-effector assembly. The system includes an elbow joint assembly. A distal end of elbow joint assembly is secured to a proximal end of first arm assembly. A proximal end of elbow joint assembly is secured to a distal end of second arm assembly. The second arm assembly includes a first elbow drive assembly. The first elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to an axis. The second arm assembly also includes a second elbow drive assembly. The second elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to another axis.

A control unit that includes a braking system for fixing the position of an endoscope tip is provided. The control system includes an up-down control knob and a right-left control knob. The brakes are engaged by rotating the control knob itself counter-clockwise from a free wheeling position. After the brakes have been engaged, a sufficient amount of force applied to the control knobs will move the endoscope tip slightly in the corresponding direction, allowing for fine tuning of tip position after braking.

Disclosed herein is an endoscope system and a handle for a medical device that allows for rotation of the device when a locking member is disengaged by an operator, but does not allow for rotation when the locking member is engaged. Such a handle allows for an operator to maintain the position of an endoscope even when the operator removes his or her hand from the controls of the scope.

A medical device for use with an associated tube inserted into a respiratory outlet of a patient is disclosed. The medical device includes a mask with an opening sized to receive and allow movement of the associated tube, and a valve operatively connected with the opening of the mask. The valve includes a main body, and an opening formed in a portion of the main body in which the opening is sized and dimensioned to accommodate the associated tube.

An oropharyngeal glove for use with a rigid bronchoscope is provided for use during a rigid bronchoscopy procedure. When the oropharyngeal glove is in its installed state, it conforms to the patient's mouth and throat. The oropharyngeal glove includes upper and lower teeth guards that protect the patient's upper and lower front teeth, respectively, when the glove is in the installed state. A first opening is formed in the oropharyngeal glove in its proximal end that allows the rigid bronchoscope to enter glove. The oropharyngeal glove has a second opening formed in its distal end through which the rigid bronchoscope passes to enter the patient's trachea. The portions of the glove that conform to the patient's mouth and throat comprise a protective lining that protects the mouth, throat and vocal cords from being damaged by the rigid bronchoscope.

According to an embodiment, an autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in the body of a patient may comprise: an endoscope operating device capable of operating a relative position of the endoscope with respect to the protective sheath, a rolling angle of the endoscope, and a bending angle of a bending portion which is located at the end of the endoscope and is bendable; and a control unit for controlling the endoscope operating device, wherein the control unit controls the endoscope operating device on the basis of a driving record of the endoscope.