A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

A system and method of providing composite real-time dynamic imagery of a medical procedure site from multiple modalities which continuously and immediately depicts the current state and condition of the medical procedure site synchronously with respect to each modality and without undue latency is disclosed. The composite real-time dynamic imagery may be provided by spatially registering multiple real-time dynamic video streams from the multiple modalities to each other. Spatially registering the multiple real-time dynamic video streams to each other may provide a continuous and immediate depiction of the medical procedure site with an unobstructed and detailed view of a region of interest at the medical procedure site at multiple depths. A user may thereby view a single, accurate, and current composite real-time dynamic imagery of a region of interest at the medical procedure site as the user performs a medical procedure.

Systems and methods are provided for injecting one or more agents into tissue within a patient's body that includes a catheter. A needle guide extends from a distal end of the catheter and terminates at a distal tip, e.g., including a foot with an atraumatic contact surface, the needle guide having a cross-section smaller than the distal end and being biased to a curved shape. The needle guide includes a passage communicating from a lumen of the catheter to an outlet at the distal tip, and a needle device is disposed within the passage that may be deployed from the outlet to inject one or more agents into tissue. The catheter also includes an imaging assembly on the distal end configured to acquire images of tissue adjacent the needle guide distal tip.

Systems and methods are provided for injecting one or more agents into tissue within a patient's body that includes a catheter. A needle guide extends from a distal end of the catheter and terminates at a distal tip, e.g., including a foot with an atraumatic contact surface, the needle guide having a cross-section smaller than the distal end and being biased to a curved shape. The needle guide includes a passage communicating from a lumen of the catheter to an outlet at the distal tip, and a needle device is disposed within the passage that may be deployed from the outlet to inject one or more agents into tissue. The catheter also includes an imaging assembly on the distal end configured to acquire images of tissue adjacent the needle guide distal tip.

A medical observation system includes a multi-link structure in which a plurality of links is mutually coupled by joint parts, a medical observation apparatus attached on the multi-link structure, a control part configured to control the multi-link structure or the medical observation apparatus, and a user interface part by which a user inputs an instruction to change a visual field of the medical observation apparatus. When a user instructs to move a visual field of the medical observation apparatus vertically or horizontally, to rotate an oblique-viewing endoscope, or to change a magnification of the visual field via the user interface part, the control part controls the multi-link structure or the medical observation apparatus.

Surgical systems and methods involve an instrumentation system disposed external to a body of a patient, sensors, which include a first antenna, configured to be placed within the body of the patient, and a surgical instrument including a second antenna disposed at a proximal portion of the surgical instrument. The surgical instrument communicates with the sensors via the first and second antennas. The surgical instrument also communicates messages with the instrumentation system when the surgical instrument is placed in the body of the patient, but the second antenna is disposed external to the body of the patient. The messages include sensor data from the sensors.

A Veress needle is modified to receive a forward-looking miniature videoscope through the lumen of an insufflation tube of the Veress needle. The modified instrument enables direct viewing of progress of the instrument through tissue to the peritoneal cavity of a patient, for proper location of the needle and insufflation of the cavity via the needle. The videoscope has an elongated shaft of smaller diameter than the lumen of the insufflation tube for passage of insufflation gas with the scope in place. In another embodiment a needle is fitted with a miniature videoscope to provide the same function, with the needle's lumen serving as an insufflation tube.

The present disclosure relates to systems and methods for generating three-dimensional tissue maps, and particularly fibrosis maps of cardiac tissue. An intravascular device includes an elongated member and a distal tip. An imaging assembly is integrated with the elongated member to enable imaging of the microstructure of tissue near the distal tip. One or more navigation electrodes are positioned at or near the distal tip. Electrical mapping and/or ablation assemblies may also be integrated with the device. Images may be characterized according to a level of fibrosis and, using the corresponding determined locations of the images, a three-dimensional map showing areas of differential fibrosis may be generated. Electrical mapping data may also be integrated with the fibrosis map to generate a composite fibrosis and voltage map.

The present technology relates to an imaging device and an electronic apparatus capable of adjusting a focus position and an image stabilization position with high accuracy. There are provided a lens that converges object light, an imaging element that photoelectrically converts the object light received from the lens, a circuit base that includes a circuit configured to output a signal received from the imaging element to an outside, an actuator that drives the lens with a PWM (Pulse Width Modulation) waveform in at least either one of an X-axis direction and a Y-axis direction, and plural detection units that are so disposed as to face plural first coils included in the actuator, and detect magnetic fields generated by the first coils. The present technology is applicable to an imaging device.