A medical manipulator system includes: an endoscope; a first manipulator equipped with a first treatment tool at a distal end thereof; a second manipulator equipped with a second treatment tool at a distal end thereof; a display for a user to view; and a controller configured to generate an image to be displayed on the display. The controller is configured to: acquire a first image taken by the endoscope, the first image contains the first treatment tool; and in response to determining that the second treatment tool does not exist in the first image: calculate a relative distance and a relative direction between the first treatment tool and the second treatment tool; generate a second image showing the relative distance and the relative direction between the first treatment tool and the second treatment tool; and send the first image and the second image to the display.

Disclosed herein are systems and techniques for compensating for insertion of an instrument into a working channel of another instrument in a surgical system. According to one embodiment, a method of compensation includes: detecting insertion of an insertable instrument into a working channel of a flexible instrument; detecting, based on a data signal from at least one sensor, a position change of a distal portion of the flexible instrument from an initial position: generating a control signal based on the detected position change; and adjusting a tensioning of a pull wire based on the control signal to return the distal portion to the initial position.

A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

The present invention relates to a method of adjusting control commands for moving a medical camera connected to a motorized support structure, wherein the adjustment is based on images provided by the camera. Based on a comparison of at least two images provided by the camera, an actual motion of the camera is determined and compared with an intended motion defined by a control command forwarded to the motorized support structure. In case a deviation between the intended motion and the actual motion is determined, a correction is applied to the control command such that the actual motion of the camera coincides with the intended motion.

A medical observation system includes: a plurality of types of sensor units that measure information regarding an internal environment; an acquisition unit (131) that acquires individual sensor values of the plurality of types of sensor units; a comparison unit (132) that compares the individual sensor values of the plurality of types of sensor units acquired by the acquisition unit (131); and a determination unit (134) that determines a sensor unit to be used for observing the internal environment among the plurality of types of sensor units based on a comparison result obtained by the comparison unit (132).

Certain aspects relate to biopsy apparatuses, systems and techniques for biopsy using a biopsy pattern. Some aspects relate to moving a distal portion of a medical instrument to one or more sample locations of the biopsy pattern and guiding the instrument to obtain tissue samples from the sample locations within the biopsy pattern. Some aspects relate to obtaining the biopsy pattern and adjusting the sample locations within the biopsy pattern based on various factors such as anatomical features.

A surgical controlling system for controlling the 3D spatial position of at least one articulating surgical tool includes a controller configured to provide instructions to control movement of the surgical tool. The controller comprises a processor to determine a location of the surgical tool using at least one location estimating feature and to determine movement of the surgical tool using a database in communication with at least one movement detection feature. The location estimating feature is configured to real-time locate the 3D spatial position of the surgical tool at any given time t, and the movement detection feature is configured to detect movement of the surgical tool.

A wireless power transmission system for a robotic surgical system includes features for optical data transmission. A first component of the surgical system includes a control element, a power transmission element and an optical data transmission element; and a second component of the surgical system including a wireless power receiving element and an optical data receiving element, the second component is removably mountable to the first component. In some embodiments, a barrier such as a surgical drape and/or hermetic enclosure is positioned between the first and second components. In one example, of the components is a robotic manipulator arm and another is a powered instrument removably mountable to the manipulator arm.

A surgical instrument holding device includes a holding body, an adapter, a separator, and a driving body. The holding body holds a surgical instrument. The adapter receives the surgical instrument and is disposed between the surgical instrument and the holding body. The separator is provided between the adapter and the holding body and includes a receiving portion that receives the adapter. The driving body supplies a driving force to the holding body to drive the surgical instrument. The adapter includes a pressing portion and an engaging portion, and when the receiving portion of the separator receives the adapter, the pressing portion contacts the receiving portion and the engaging portion engages the receiving portion to attach the adapter to the separator.

A passive surgical manipulator for holding and positioning a surgical instrument is described. The passive surgical manipulator has a frame, a first suspension arm arrangement connecting the frame in an articulated manner to a first joint, and a second suspension arm arrangement connecting the frame in an articulated manner to a second joint. The two suspension arm arrangements are implemented so that the first joint is displaceable in a first motion plane and the second joint is displaceable in a second motion plane. Also, a first actuating device has a first interface, a second actuating device has a second interface, a third actuating device has a third interface, and a fourth actuating device has a fourth interface for temporarily receiving a corresponding interface of a handheld drive unit for transferring an actuating motion to displace the first and second joints.