In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry 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 to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry 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 flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.

The present disclosure provides an ultrasonic probe assembly and a method using the same. The ultrasonic probe assembly includes: a handle and a probe body separable from the handle; wherein the handle is configured to control movement of the probe body in a body of an examinee; the probe body includes an ultrasonic component for emitting ultrasonic waves to the body of the examinee and receiving reflected ultrasonic waves to generate examination information, and a driving component for driving the ultrasonic component to move to change a direction of the ultrasonic waves emitted by the ultrasonic component.

Provided herein are expandable devices, rail systems, and motorized devices. In one embodiment, an expandable device comprises an expandable sac having a tool housed therein. The expandable device is optionally configured for operation while inside a body cavity. The expandable device optionally comprises at least one rail in the sac, and at least one railed device coupled to the rail for movement there on. Movement of the railed device on the rail is provided by, for example, a motor such as an electromagnetic motor or an inch-worm type motor. Expandable devices can be used, for example, to perform minimally invasive medical procedures requiring access to a body cavity. Expandable devices can also be used, for example, to provide safe and stable transport of instruments to the body cavity.

A method and system for propelling and controlling displacement of a microrobot in a space having a wall, includes the steps of: forming the microrobot with a body containing a magnetic field-of-force responsive material, wherein, in response to a magnetic field of force, a force is applied to the material in a direction of the magnetic field of force; positioning the microrobot in the space for displacement in that space; and generating the magnetic field of force with a predetermined gradient and applying the magnetic field of force to the microrobot propelling the microrobot through the space in a direction of a field of force. Then, a sequence of field generating steps are executed, wherein each step includes calculating the direction, amplitude and spatial variation of the net field of force to control displacement of the microrobot in the space and against the wall from one equilibrium point to another.

The present disclosure relates to a magnetic trap system (1000) comprising: a microscopic device (300), comprising a principal axis extending in a longitudinal direction; a trap (100) for magnetically confining the microscopic device in a confinement region (CR); a receptable zone (RZ) for receiving biological mattermatter (400, 800), the receptable zone (RZ) comprising the confinement region (CR); a mechanical device (200) for providing a relative movement between the receptable zone (RZ) and the microscopic device (300);

wherein the trap (100) is hollow about a longitudinal axis (A), comprises the receptable zone, and provides a magnetic field gradient configured to confine the microscopic device to the confinement region (CR) of the trap (100); wherein the orientation of the magnetic field in the confinement region (CR) is to align the microscopic device in the confinement region (CR) with the longitudinal axis (A) of the confinement region.

Systems and methods are disclosed for medical devices which can operate within a person in connection a medical procedure. In aspects of the present disclosure, a system for assisting with a surgical procedure includes a swarm of medical devices sized to be wholly deployed within a surgical site of a patient where the swarm of medical devices is configured to operate concurrently within the patient to assist a surgeon to perform a surgical procedure in the patient. The swarm of medical devices includes a first medical device that includes an imaging system configured to capture a view of at least a portion of a surgical site and to communicate the captured view, and a second medical device that includes one or more of a retracting device, an irrigation device, a suction device, a clipping device, a therapy delivery device, or a cutting device.

The present disclosure relates to a device configured to move within a body cavity, such as the gastrointestinal tract, in particular, the small intestine, and methods of using the device. The presently disclosed device may be self-driving, e.g., through the use of one or more traction-motion element, and the articulation of a tip of the device may be controlled and fine tuned. The presently disclosed device may be used in a variety of body cavities such as a vascular body lumen, a digestive body lumen, a respiratory body lumen, or a urinary body lumen, for example, for endoscopic purposes, for delivering a substance into the body cavity, for removing a substance or tissue from the body cavity, for capturing an image of the body cavity, and/or for performing an operation of a tissue or organ using the device.

A handheld microsurgical robot according to an embodiment of the present disclosure includes a tool, and a driving mechanism configured to detachably fix the tool and operate the tool, wherein the driving mechanism includes a platform supporting the tool, a plurality of driving assemblies connected to the platform and configured to operate the platform; and a base configured to fix the plurality of driving assemblies, wherein each of the plurality of driving assemblies is capable of a linear motion with respect to the base and is capable of a rotational motion with respect to the base, wherein a position and an angle of the platform with respect to the base are controlled by the linear motion of each of the plurality of driving assemblies.

A surgical instrument may comprise an elongated shaft extending between a proximal end and a distal end and defining a longitudinal axis. The surgical instrument may also comprise a plurality of cables extending along the longitudinal axis and a first bending section positioned between the proximal end and the distal end of the elongated shaft. The first bending section may comprise links having pairs of articulation holes extending longitudinally through the links to permit the plurality of pull wires to pass therethrough. Each pair of articulation holes may comprise first and second articulation holes that are spaced apart from the longitudinal axis (i) at different radii and (ii) at a same rotation angle.

A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.