Techniques for segmenting a percutaneous medical procedure based on one or more determinable phases. The techniques may include obtaining a first set of features over a first time period. The first set of features may be derived from instrument telemetry data corresponding to an endoluminal scope instrument. The technique may also include obtaining a second set of features over the first time period. The second set of features may be derived from instrument telemetry data corresponding to a percutaneous needle instrument. Based on the first set of features and the second set of features, the techniques may classify at least a portion of the first time period as a first phase of the percutaneous medical procedure.

A cystoscope and system are disclosed in which a repository of the cystoscope is configured to receive a cartridge tool and provide access to a working channel of an elongated shaft of the cystoscope. The handle of the cystoscope has a first control for actuating a movable element of the repository. The movable element is configured to engage a cartridge tool received within the repository and thereby implement a functionality of the cartridge tool when the first control is actuated.

A cystoscope and system are disclosed in which a repository of the cystoscope is configured to receive a cartridge tool and provide access to a working channel of an elongated shaft of the cystoscope. The handle of the cystoscope has a first control for actuating a movable element of the repository. The movable element is configured to engage a cartridge tool received within the repository and thereby implement a functionality of the cartridge tool when the first control is actuated.

Devices, systems, and methods are provided for breaking a kidney stone(s) into smaller particles, fragments, and/or stone dust; and removing the same from a patient. The medical device may include a tube having a distal end, a proximal end, a port located proximal of the distal end, and a length of the tube extending between the proximal end and the distal end. A first portion of the tube may be proximal of the port and have a first cross-sectional area, while a second portion of the tube may be distal of the port and have a second cross-sectional area smaller than the first cross-sectional area. A first lumen may extend from the proximal end to the distal end of the tube. A second lumen may in communication with the port to fluidly connect the proximal end of the tube with the port.

Devices, systems, and methods are provided for breaking a kidney stone(s) into smaller particles, fragments, and/or stone dust; and removing the same from a patient. The medical device may include a tube having a distal end, a proximal end, a port located proximal of the distal end, and a length of the tube extending between the proximal end and the distal end. A first portion of the tube may be proximal of the port and have a first cross-sectional area, while a second portion of the tube may be distal of the port and have a second cross-sectional area smaller than the first cross-sectional area. A first lumen may extend from the proximal end to the distal end of the tube. A second lumen may in communication with the port to fluidly connect the proximal end of the tube with the port.

A surgical tool comprising a drive housing having first and second ends, a lead screw extending between the first and second ends and rotatably coupled to the first end at a drive input, a carriage mounted to the lead screw at a carriage nut and movable within the drive housing between the first and second ends, and an instrument driver arranged at an end of a robotic arm and matable with the first end. A drive output is matable with the drive input such that rotation of the drive output correspondingly rotates the drive input and the lead screw to thereby translate the carriage nut along the lead screw. A fin may be connected to the carriage and accessible by a user from an exterior of the drive housing to manually translate the carriage along the lead screw and thereby backdrive the drive output.

A surgical tool comprising a drive housing having a first end and a second end, a spline extending between the first and second ends and being rotatably coupled to the first end at a drive input, a drive gear coupled to and rotatable with the spline, a carriage movably mounted to the spline and housing an activating mechanism operatively coupled to the drive gear such that rotation of the spline actuates the activating mechanism, and a bailout mechanism arranged at the second end. The bailout mechanism may include a lever that is movable relative to the spline, from a first position, where the spline is disengaged from the lever, to a second position, where the spline engages the lever such that rotation of the lever correspondingly rotates the spline.

Methods and systems for determining and mapping a location of a distal end region of an elongate shaft. An illustrative method may comprise obtaining data from an accelerometer located in the elongate shaft adjacent a distal end thereof, determining a length of the elongate shaft inserted into a body from a reference point, merging the accelerometer data and the length of the elongate shaft to localize the distal end region of the elongate shaft, reconstructing a line of travel of the medical device within the body, and superimposing the reconstructed line of travel over an image of an anatomy of the patient.

A portable endoscopic system comprising an imaging unit for an endoscopic procedure. The imaging unit has an imaging coupler for receiving imaging information from an imaging assembly of an endoscope; a display integrated into a housing of the imaging unit; an image processing unit for processing the received imaging information into images of a time series and to displaying the image in real-time; a motion sensor configured to detect a motion of the housing; and a detection processing unit. The detection processing unit is configured to classify at least one anatomical feature in each image of the time series based on an artificial intelligence classifier; determine a confidence metric of the classification; determine a motion vector based on the detected motion; and display, concurrently with the corresponding image, the classification of the at least one anatomical feature, the determined confidence metric, and the determined motion vector.

A portable endoscopic system comprising an imaging unit for an endoscopic procedure. The imaging unit has an imaging coupler for receiving imaging information from an imaging assembly of an endoscope; a display integrated into a housing of the imaging unit; an image processing unit for processing the received imaging information into images of a time series and to displaying the image in real-time; a motion sensor configured to detect a motion of the housing; and a detection processing unit. The detection processing unit is configured to classify at least one anatomical feature in each image of the time series based on an artificial intelligence classifier; determine a confidence metric of the classification; determine a motion vector based on the detected motion; and display, concurrently with the corresponding image, the classification of the at least one anatomical feature, the determined confidence metric, and the determined motion vector.