Robotic medical systems can enable manipulation of a single robotic arm and have other robotic arms follow its motion. A robotic medical system can include a first robotic arm for holding a first medical tool and a second robotic arm for holding a second medical tool separated from the first medical tool. The robotic medical system can be configured to obtain data corresponding to movement of the first robotic arm and cause movement of the second robotic arm according to the movement of the first robotic arm.

A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

Described herein are systems and apparatus of surgical instruments engineered for integration with robotic surgical systems to enhance precision in surgical procedures. Also described herein are methods of using such surgical instruments in performing surgical procedures. The use of such surgical instruments reduce complications arising from misalignment during surgery. The disclosed technology assists in stages of a surgical procedure that require a precise trajectory to be followed. Surgical instrument guides are attached to a universal surgical instrument guide, which is engineered to attach directly or indirectly with a robotic arm of a robotic surgical system. Surgical instruments can then be precisely guided along an axis defined by the universal surgical instrument guide. Individual instruments are easily inserted and removed from the channel of the universal surgical instrument guide, thus allowing a range of instruments to be used throughout a procedure while maintaining the surgical trajectory.

In a handle unit for interventional procedure, a master device for interventional procedure, and a remote control interventional procedure system, the handle unit is gripped by an operator. The handle unit includes a gripper, a mode selection module and a linear motion module. The gripper is gripped by the operator. The mode selection module is equipped to the gripper, and selects one of motion modes including a linear motion mode, a rotational motion mode and a plane motion mode. The needle linearly moves with one degree of freedom in the linear motion mode. The needle rotationally moves with two degrees of freedom in the rotational motion mode. The needle moves in a plane with two degrees of freedom in the plane motion mode. The linear motion module performs the linear motion of the needle based on the selection of the mode selection module, and is equipped to the gripper.

There is provided a tactile sensation presenting device including a plurality of tactile sensation presenting units that presents a tactile sensation based on control information, and a control unit that generates the control information which is different for each of the plurality of tactile sensation presenting units, based on information which is generated by an operation tool and is related to contact between the operation tool and an object. The control unit further provides the control information to each of the plurality of tactile sensation presenting units.

A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.

A surgical system includes a robot including an instrument manipulator that has a surgical instrument, a control device that controls the robot, and a user interface that receives an input of a command and outputs the command to the control device. The control device generates an automatic operational command for causing the robot to automatically perform a surgical operation, and controls the surgical operation of the robot according to the automatic operational command.

A medical device comprises an end effector, a mechanical structure, a connector, and a force sensor unit. The connector extends from a drive component of the mechanical structure to the end effector. Motion of the drive component produces a tension force within the connector, which is associated with an end effector torque or force exerted by the end effector. The force sensor unit comprises a body, and the body is coupled in-line with the connector so that strain in the connector is imparted to the body. A strain sensor measures the strain on the body as an indication of strain in the connector, which is an indication of torque or force at the end effector. The connector may be continuous, and coupled to the body with a slack relief portion of the connector within the body. Alternatively, the connector may be discontinuous and coupled to opposite ends of the body.

Provided are a medical device control apparatus using a handpiece motion and a control method using the same. The medical device control apparatus using the handpiece motion comprises a handpiece which is connected with a medical device body to perform a procedure; a gesture detector which is provided in the handpiece and detects the motion of the handpiece to recognize the gesture of the handpiece; an alarm unit which alarms that a mode of the medical device body is changed from a first state to a second state or parameter values are controlled according to the gesture of the handpiece; control switch which is provided in the handpiece to change the mode of the medical device body or control the parameter values output by the medical device body; and a connection cable which connects the medical device body and the handpiece.

In certain embodiments, the systems, apparatus, and methods disclosed herein relate to robotic surgical systems with built-in navigation capability for patient position tracking and surgical instrument guidance during a surgical procedure, without the need for a separate navigation system. Robotic based navigation of surgical instruments during surgical procedures allows for easy registration and operative volume identification and tracking. The systems, apparatus, and methods herein allow re-registration, model updates, and operative volumes to be performed intra-operatively with minimal disruption to the surgical workflow. In certain embodiments, navigational assistance can be provided to a surgeon by displaying a surgical instrument's position relative to a patient's anatomy. Additionally, by revising pre-operatively defined data such as operative volumes, patient-robot orientation relationships, and anatomical models of the patient, a higher degree of precision and lower risk of complications and serious medical error can be achieved.