The present disclosure relates to high dexterity robotic manipulation systems for ophthalmic microsurgical procedures. In certain embodiments, a robotic surgical system includes a master apparatus controllably coupled to a slave apparatus. The slave apparatus mounts to a patient's head and includes a dual tripod structure having two pluralities of linear actuator links pivotally supporting a surgical tool. The motions of the actuator links are controlled by direct drive actuators to provide at least 6-DOF for the surgical tool. A passive articulating arm having a SCARA mechanism and four-bar parallelogram mechanism attaches to the slave apparatus and counterbalances the weight thereof when mounted on a patient. The surgical system also includes sensors communicatively coupled to the slave apparatus and master apparatus to enable force feedback and force control. Accordingly, the robotic surgical system enhances the dexterity of an operator and enables performance of medical procedures more easily than by hand.

An image-guided surgical system includes a processor, a display communicatively coupled to the processor, and an imaging system communicatively coupled to the processor. A memory device, communicatively coupled to the processor, stores instructions, executable by the processor, to cause the processor to receive, from the imaging system, real-time image data of an ophthalmological surgical field during an ophthalmological surgical procedure, and analyze the image data in real-time to identify an ocular tissue boundary present in the image data of the ophthalmological surgical field. The instructions cause the processor to provide real-time visual, auditory, and/or haptic feedback in response to the identified ocular tissue boundary.

A wireless magnetic ultrasonic cavitation in-vivo therapeutic robotic device, including a micro-robot and an in-vitro control device; the in-vitro control device has an outer housing in which provided with electromagnetic coils and wireless power emitting coils; the micro-robot has a capsule shaped housing in which a super magnetic module is provided; a micro ultrasonic vibrator and a micro wireless power receiving coil electronically connected with each other are provided inside the housing; the wireless power emitting coils emit electromagnetic field to the micro wireless power receiving coil, which receives and then transforms the electromagnetic field to electrical current to supply power to the micro ultrasonic vibrator. The robotic device creates ultrasonic cavitation effect in the blood, causing rapid vibration of blood cells, which enhances cell regeneration power, burn blood lipids, clear blood clots and ensures good condition of blood vessels.

The present invention relates to a micro-robot control apparatus. An electromagnetic module for focusing magnetic field and a micro-robot control apparatus comprising the electromagnetic module, according to the present invention, focus the magnetic field in an area of interest where focusing of same is desired to allow a micro-robot to be controlled, and, the apparatus having been simplified, allow efficient setup and operation in the surgery area. Moreover, the number of electromagnets is reduced to thus reduce the number of sources of power, thereby resulting in efficient operation of the apparatus with lowered power consumption. Additionally, by means of a magnetic induction frequency signal reception coil of the micro-robot and the external micro-robot control apparatus equipped with a magnetic induction transmission coil, the micro-robot control apparatus can both generate power wirelessly for the micro-robot, and implementation location recognition of same due to the efficiency of the generated power.

A surgical instrument assembly comprises a guide tube and first and second instruments extended within the guide tube. The first instrument comprises a first elongated shaft coupled to a first end effector. The second instrument comprises a second elongated shaft coupled to a second end effector. The surgical instrument assembly may also comprise an imaging assembly extended distally of the guide tube. The imaging assembly comprises a distal imaging component and an elongated imaging shaft. The distal imaging component is coupled to a distal end of the elongated imaging shaft by a pivot joint. The imaging assembly has a first configuration with the elongated imaging shaft aligned with the distal imaging component when inserted through the guide tube and a second configuration with the distal imaging component pivoted out of alignment with the elongated imaging shaft when the distal imaging component is extended from the guide tube.

A surgical instrument assembly comprises a guide tube and a first instrument. The first instrument includes a first elongated shaft and a first proximal arm link coupled by a first shoulder joint, the first proximal arm link and a first distal arm link coupled by a first elbow joint, and the first distal arm link and a first end effector coupled by a first wrist joint. The surgical instrument assembly also comprises a second instrument that includes a second elongated shaft and a second proximal arm link coupled by a second shoulder joint, the second proximal arm link and a second distal arm link coupled by a second elbow joint, and the second distal arm link and a second end effector coupled by a second wrist joint. The surgical instrument assembly also includes an imaging assembly. The first and second end effectors are within the imaging assembly's field of view.

A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

In a coupled control mode, an operator directly controls movement of an associated manipulator with an input device while indirectly controlling movement of one or more non-associated manipulators, in response to commanded motion of the directly controlled manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the operator's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the operator to better focus on performing tasks and to pay less attention to managing the system.

A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire.

The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.