Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more objects detected within a vicinity of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more objects detected by the one or more sensors within the vicinity of the first kinematic chain.

A manipulator, including: a drive unit for generating a driving force, and a treatment tool that is driven by the drive unit and attachable to and detachable from the drive unit, wherein the treatment tool includes: a distal end having at least one joint driven by the drive unit, a lock unit that is actuated to lock at least one of joints at the distal end, a lock-operating unit for operating the lock unit, and a control unit that is operated such that the lock unit is operated by the lock-operating unit and such that when the drive unit is driven, the drive unit is deactivated, and even with the treatment tool detached from the drive unit, the lock unit keeps on with locking.

A tissue treatment system for diagnosing and/or treating gastrointestinal conditions is described where an endoscopic capsule sized for passage through an intestinal tract is used with a jaw assembly. The jaw assembly defines a region for maintaining a position of the endoscopic capsule and the endoscopic capsule comprises at least one actuator which can be activated for enhancing visualization within the intestinal tract.

An ergonomic digital imaging system obviates the need for, and replaces, the standard microscope with binoculars for viewing images, thereby freeing the user from using his or her hands to manipulate images seen through the binoculars of the microscope, whereby the user can use his or her hands for other tasks, such as dental or other surgery, from a position away from the exhaled breath of the patient being treated. The images are maintained focused, no matter how close or far the viewer is to the viewing display screen. The system is collapsible and portable, so that specialists can take the system from office to office, a plug and play work environment. The extended maneuverability of the camera head results in simple and fast patient positioning, and the camera and display module adjust for any comfortable sit or stand ergonomics of the practitioner.

The present invention provides a two-part robotic device for positioning of a hand tool, comprising: a. a fixed base unit constantly fix to its position; b. a detachable body unit reversibly coupled to said fixed base unit, coupled to said current medical instrument;
wherein said fixed base unit is adapted to provide independent movement to said hand tool, said independent movement selected from the group consisting of rotation and translation, and further wherein said detachable body unit is removable and replaceable from said fixed base unit such that upon exchange of said hand tool for a second hand tool, said second hand tool is placed in substantially the same location as the location of said hand tool prior to said exchange.

An example medical device may include a first component including an interface, a light feature surrounding at least part of the interface, and a controller coupled to the light feature and including a memory in which are stored instructions for the controller causing a first illumination state of the light a feature corresponding to a first state of the interface, and the controller causing a second illumination state of the Sight feature corresponding to a second state of the interface.

Described herein are devices for reversibly constraining an endoscope. Such devices may comprise: a base positionable proximate a patient; a column extending vertically from the base; an arm extending horizontally from the column; and a clamp coupled to the arm. In some embodiments, the clamp comprises a holder comprising an annular ring defining an endoscope receiving area or a first sidewall and a second sidewall together defining an endoscope receiving area. The holder is transitionable between a first configuration in which the annular ring or the first and second sidewall are configured to set apart from an endoscope in the endoscope receiving area and a second configuration in which the annular ring or the first and second sidewall are configured to clamp the endoscope in the endoscope receiving area.

An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.

A medical arm control system circuitry configured to generate autonomous operation control information to autonomously operate a medical arm based on external input information; simulate an operation performed using the medical arm; and correct the autonomous operation control information in real time based on a result of the simulation of the operation of the medical arm.

A controller controls a movement of an endoscope to cause the endoscope to follow a surgical instrument. The controller includes a processor. The processor acquires position information including the position of the surgical instrument, acquires scene information associated with a procedure scene to be observed through the endoscope, determines an offset parameter, which determines the position of the target point with respect to a predetermined fiducial point in the field of view of the endoscope, of a target point on the basis of the scene information, sets the position of the target point with respect to the fiducial point on the basis of the offset parameter, and causes the endoscope to follow the surgical instrument such that the surgical instrument is disposed at the target point, by controlling a movement of the endoscope on the basis of the position of the target point and the position of the surgical instrument.