Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

An endoscope adaptor to be connected to a robot arm of a robotic surgical system through a drape adaptor according to an embodiment may include a base section, a holding section, a driven member, and a transmission mechanism. The base is to be detachably connected to the drape adaptor. The driven member is rotatably provided on the base section and configured to be rotated by a rotation drive section of the robot arm through the drape adaptor. The holding section holds an endoscope rotatably about a rotation axis, the endoscope including an insertion section including an image capturing section provided at a distal end of the insertion section and a body section connected to the insertion section, wherein the rotation axis extends in a direction in which the insertion section extends. The transmission mechanism is configured to transmit rotation of the driven member to the holding section holding the endoscope.

The medical instrument support device comprises a harness with a plate (1) which can be fixed by means of straps, a fastening element (3) and a second fastening element (4) which can be attached to and is detachable from the first fastening element (3), an articulated joint (5) of tubular and elongated shape, fixed integrally and removable at its end to the first fixing element (3) and supporting at its second end a housing (6) angularly adjustable in space and fixable in any position angular with a manual clamp (7), where the housing (6) is configured to support the medical device.

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 medical support arm includes: a support arm that supports an endoscope; an actuator that drives the support arm; a measurement unit that measures a load applied to the actuator; a generation unit that generates three-dimensional information in a body into which the endoscope is inserted; and a correction unit that corrects the three-dimensional information on a basis of the measured load.

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.

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.

An input control device is disclosed. The input control device can be configured to operate in different modes depending on proximity data provided by a proximity detection system. The input control device can include a feedback generator configured to generate feedback in response to the input control device switching between operational modes, the proximity data provided by the proximity detection system, and/or other conditions of the surgical procedure, robotic surgical tool, surgical site, and/or patient. The input control device can include a variable resistance assembly for resisting input control motions applied to an actuator thereof. Additionally or alternatively, the input control device can include an end effector actuator assembly for repositioning the end effector actuator based on feedback from a paired robotic surgical tool.

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.