The invention relates to a surgical robotic system comprising a robotic arm (1) holding an end-effector (11) and a control unit (13) configured to controllably move the robotic arm and maintain the end-effector (11) in at least one target position relative to a patient, wherein the control unit is configured to: (i) based on a first input continuously applied by a user onto the robotic arm (1), activate a hand guiding mode wherein the robotic arm is freely movable by the user; (ii) based on a second input different from the first input, continuously applied by the user onto the robotic arm (1), activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory; (iii) when the computed trajectory is activated, detect that the end-effector (11) meets at least one predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm (1) is automatically movable to maintain the end-effector (11) in the target position relative to a tracker attached to the patient.

A method is provided for auto registration for a robotic endoscopic apparatus. The method comprises: (a) generate a first transformation between an orientation of the robotic endoscopic apparatus and an orientation of a location sensor based at least in part on a first set of sensor data collected using the location sensor; (b) generating a second transformation between a coordinate frame of the robotic endoscopic apparatus and a coordinate frame of a model representing an anatomical luminal network based at least in part on the first transformation and a second set of sensor data; and (c) updating, based at least in part on a third set of sensor data, the second transformation using an updating algorithm.

Novel tools and techniques are provided for implementing intelligent assistance (“IA”) or extended intelligence (“EI”) ecosystem to placement procedures for cardiac implantable electronic device (“CIED”). In various embodiments, a computing system might analyze received one or more first layer input data (i.e., room content-based data) and received one or more second layer input data (i.e., patient and/or tool-based data), and might generate one or more recommendations for guiding a medical professional in performing a CIED placement procedure in a heart of the patient, based at least in part on the analysis, the generated one or more recommendations comprising 3D or 4D mapped guides toward, in, and around the heart of the patient. The computing system might then generate one or more XR images, based at least in part on the generated one or more recommendations, and might present the generated one or more XR images using a UX device.

Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

Systems and method for controlling the bending of a robotic catheter. A control backbone of the robotic catheter is coupled to a linear movement stage by a spring and linear movement of the control backbone causes a controllable bending of the robotic catheter. A sensor monitors a deflection of the spring and the bending of the catheter is controlled based on the spring deflection signal from the sensor. The spring allows passive bending of the robotic catheter without movement of the active linear movement stage and, conversely, allows external forces applied to the robotic catheter to limit a bending movement of the robotic catheter caused by—movement of the active linear movement stage. In some implementations, the robotic catheter includes a selectively deployable tip mechanism for deploying a steerable tip or for selectively exposing side windows on the catheter for increasing traction for clot removal.

A method for providing a corrected dataset includes receiving a preoperative dataset having an image and/or a model of an examination region in an examination subject. Intraoperatively, a first part of a medical object is arranged in the examination region and a second part of the medical object is arranged outside the examination subject. Positioning information relating to a spatial positioning of the second part of the medical object is received. An entry angle of the medical object into the examination subject is determined using the positioning information. An intraoperative dataset having an image of the examination region is received. A conversion instruction is determined based on the entry angle of the medical object to minimize a deviation between the preoperative and the intraoperative dataset, and the corrected dataset is generated by applying the conversion instruction to the preoperative dataset. The corrected dataset is provided.

A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

A method where a propeller is set into locomotion relative to a medium at least partially surrounding the propeller. An actuator induces a rotation of the propeller relative to the medium and about a rotational axis of the propeller, and the propeller converts its rotational movement into locomotion relative to the medium. The aspect ratio of at least one cross-section of the propeller is three or more. Also a helical or modifiedly helical propeller for converting rotational movement of the propeller into locomotion of the propeller relative to a medium at least partially surrounding the propeller, where the aspect ratio of at least one cross section of the propeller is three or more. And a method of producing a propeller, including the step of providing a plate extending along the helical axis, where the aspect ratio of at least one cross section of the plate is three or more.

Certain aspects relate to systems and techniques for luminal network navigation. Some aspects relate to incorporating respiratory frequency and/or magnitude into a navigation system to implement patient safety measures. Some aspects relate to identifying, and compensating for, motion caused by patient respiration in order to provide a more accurate identification of the position of an instrument within a luminal network.

This application provides an endoscopic device having at least one shaft with at least one portion deflectable, and having at least one deflection mechanism, which is configured to deflect the deflectable portion and includes at least one first connection member and at least one second connection member. When the connection members are arranged in a straight position relative to each other, a straight-position spacing exists defined by a shortest connection between a geometric midpoint of the first connection member and a geometric midpoint of the second connection member and, when the connection members are arranged in a deflection position relative to each other, a deflection-position spacing exists which is defined by a shortest connection between a geometric midpoint of the first connection member and a geometric midpoint of the second connection member, and the deflection-position spacing in the deflection position is greater than the straight-position spacing in the straight position.