A flexible-manipulator control device that controls, according to a control parameter, a drive of a flexible manipulator having a movable part at a distal end of a flexible insertion portion to be inserted into the body and having, at a proximal end thereof, the drive for driving the movable part, includes: a physical-information storage unit that stores physical information of a patient into which the insertion portion is inserted; a position-information input unit to which is input position information of the movable part in a state in which it is inserted into the patient; and a parameter adjustment unit that adjusts the control parameter on the basis of the physical information stored in the physical-information storage unit and the position information input to the position-information input unit.

A flexible-manipulator control device that controls, according to a control parameter, a drive of a flexible manipulator having a movable part at a distal end of a flexible insertion portion to be inserted into the body and having, at a proximal end thereof, the drive for driving the movable part, includes: a physical-information storage unit that stores physical information of a patient into which the insertion portion is inserted; a position-information input unit to which is input position information of the movable part in a state in which it is inserted into the patient; and a parameter adjustment unit that adjusts the control parameter on the basis of the physical information stored in the physical-information storage unit and the position information input to the position-information input unit.

A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.

A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.

A tool assembly includes a first selectively flexible tool including a first plurality of sequentially arranged links moveable between a slacked position and a tensioned position; and a second selectively flexible tool including a second plurality of sequentially arranged links moveable between a slacked position and a tensioned position, the second plurality of sequentially arranged links moveable over or through the first plurality of sequentially arranged links.

A tool assembly includes a first selectively flexible tool including a first plurality of sequentially arranged links moveable between a slacked position and a tensioned position; and a second selectively flexible tool including a second plurality of sequentially arranged links moveable between a slacked position and a tensioned position, the second plurality of sequentially arranged links moveable over or through the first plurality of sequentially arranged links.

A surgical system comprises an articulated mechanical arm comprising arm segments connected serially by arm joints that flex and rotate, and first and second input-devices. The second input-device comprises a handle configurable to be oriented in any orientation in an x-y-z space, and the handle comprises segment members and joint members corresponding to the arm segments and arm joints of the arm. The arm joints can be actuatable by, and have the same degrees of freedom as, the handle joint member. A method of using the surgical system includes retroflecting the arm, transitioning control of the arm from the first input device to the second input device, and performing a surgical action, during which a displacement vector or a reorientation arc of the handle member through the x-y-z space is translated to a corresponding displacement vector or corresponding reorientation arc of the end effector in the same x-y-z space.

A method for determining a shape of a lumen in an anatomical structure comprises reading information from a plurality of strain sensors disposed substantially along a length of a flexible medical device when the flexible medical device is positioned in the lumen. When the flexible medical device is positioned in the lumen, the flexible medical device conforms to the shape of the lumen. The method further comprises computationally determining, by a processing system, the shape of the lumen based on the information from the plurality of strain sensors.

A method for determining a shape of a lumen in an anatomical structure comprises reading information from a plurality of strain sensors disposed substantially along a length of a flexible medical device when the flexible medical device is positioned in the lumen. When the flexible medical device is positioned in the lumen, the flexible medical device conforms to the shape of the lumen. The method further comprises computationally determining, by a processing system, the shape of the lumen based on the information from the plurality of strain sensors.

A concentric tube steerable device includes a plurality of tubes having a nested, concentric configuration. The tubes include an outer tube and an inner tube that extends coaxially within the outer tube. The inner tube terminates at a tip, and a pose of the tip is effectuated through individual or collective rotation or translation of the tubes about a tube axis. The concentric tube steerable device includes an actuator for rotating at least one tube about a respective tube axis, and a translator for translating at least one tube along a respective tube axis. Each tube includes a precurved portion and a corresponding axis of precurvature. For at least one tube, a flexural rigidity of the tube along its axis of precurvature is less than a flexural rigidity of the tube along a second axis that is perpendicular to the axis of precurvature, thereby improving stability of the tube.