The present invention relates to a hysteresis compensation control apparatus of a flexible tube and a method thereof for compensation control of hysteresis of a surgical instrument disposed in a channel of an overtube. The hysteresis compensation control apparatus includes: an input unit receiving image information and tension information of a flexible surgical instrument required for mode switching; a mode switching determining unit for determining a current state of the surgical instrument on the basis of the image information of the surgical instrument, and generating a control mode switching signal according to the current state of the surgical instrument; a mode switching unit for switching a control mode from a flexible tube control based on the image information to a flexible tube control based on the tension information according to the control mode switching signal; and a compensation control unit for compensatingly controlling a flexible surgical instrument having hysteresis characteristics on the basis of a tension error value calculated by a learning model.

A computer assisted surgery device and a method for operating the same which allows a more efficient positioning and application of an implant with respect to a bony structure, wherein the computer-assisted surgery device having a robot arm and a method for operating the same resulting in a shorter operation time and less intensity of x-ray exposure for a patient.

The disclosure relates to a system for tracking the position of a target object. A marker arranged on the target object and an additional control marker are tracked by a tracking device secured to the robot arm. The control marker is arranged in a known specified three-dimensional positional relationship with the tracking device. During the tracking of the position of the target object, the specified three-dimensional positional relationship between the tracking device and the control marker is measured. In the event of a difference between the measured and the real specified three-dimensional positional relationship, a corresponding signal is generated depending on the difference.

A surgical instrument navigation system and method of use is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient, wherein the surgical instrument, as provided, may be a steerable surgical catheter with a biopsy device and/or a surgical catheter with a side-exiting medical instrument, among others. Additionally, systems, methods and devices are provided for forming a respiratory-gated point cloud of a patient's respiratory system and for placing a localization element in an organ of a patient.

Apparatus and methods are described for performing a capsulotomy procedure on a patient's eye. A diathermic capsulotomy tool includes a diathermic cutting element at its tip. An imaging system images the diathermic capsulotomy tool and the patient's eye. A computer processor drives a robotic unit to insert the diathermic capsulotomy tool into the patient's eye via an incision in a cornea of the patient's eye, such that the tip of the tool is disposed within the patient's eye and a remote center of motion location of the tool is disposed within the incision. The computer processor drives the robotic unit to move the cutting element in a circular motion while maintaining the remote center of motion location of the tool within the incision. Other applications are also described.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

Techniques for retracting an instrument into an entry guide include receiving a retraction command for the instrument, the retraction command commanding movement of the instrument into the entry guide; causing, in response to the retraction command and using an instrument manipulator, movement of a rotational joint of the instrument that is external to the entry guide toward a distal end of the entry guide; actuating, after the rotational joint reaches a minimum distance from the distal end of the entry guide, the rotational joint to orient a link of the instrument so that the link can be retracted into the entry guide, the link being adjacent to and distal to the rotational joint; and causing, after the link is oriented so that the link can be retracted into the entry guide and using the instrument manipulator, further movement of the rotational joint toward the distal end of the entry guide.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

A surgical system includes a base, a robotic arm extending from the base and comprising a plurality of segments, a first tracker secured to the base, a second tracker secured to a segment of the plurality of segments of the robotic arm, and a detection device configured to determine an arrangement of the first tracker and the second tracker.

The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.