Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

A hip joint navigation system is provided that includes a base having at least one channel disposed therethrough for receiving a pin for mounting the base to the pelvis. A mount feature is disposed on a top surface. A registration jig is configured to couple with the base and to engage anatomical landmarks. In some aspects, a patient specific jig system for hip replacement is provided including an engagement surface formed to closely mate to acetabular bone contours of a specific patient and a registration feature configured to be in a pre-determined orientation relative to an acetabulum the patient when the jig is coupled with acetabular bone contours of the specific patient. In other aspects, methods of using the systems are provided.

Systems and methods of dithering to maintain grasp force include a computer-assisted device. The computer-assisted device includes an instrument having a first jaw and a second jaw configured to grasp a material, one or more actuators configured to actuate the first and second jaws to apply force to the grasped material, and a controller coupled to the one or more actuators. The controller is configured to determine that actuation of the one or more actuators should be dithered and in response to the determination, dither one or more control signals to the one or more actuators so as to cause variations in a force or torque applied by the one or more actuators. In some embodiments, the one or more control signals correspond to a force setpoint, a torque setpoint, a current setpoint, or a position setpoint for the one or more actuators.

A System for Measuring Body Kinetics includes a wearable device configured to be wrapped around a joint. A microprocessor is attached to the wearable device, One or more Inertial Measurement. Units (IMUS) are connected to the microprocessor and arranged on the wearable device. The IMUS are arranged and configured to provide kinetic data concerning the joint to the microprocessor. A wireless transmission component is connected to the microprocessor. The microprocessor is configured to receive kinetic data from the IMUs, and to transmit the kinetic data by way of the wireless transmission component to a central processor or other device. An algorithm resides within the microprocessor or the central processor or other device, and is configured to determine the position of each IMU from the kinetic data. The wearable device may be constructed of fabric, strap, adhesive tape, or a combination thereof.

An imaging capsule, including a radiation source, a collimator that provides a collimated beam from the radiation source, a detector configured to detect particles resulting from X-ray fluorescence and/or Compton backscattering in response to the collimated beam, a motor to rotate the collimator and detector around an axle to scan a partial or full inner circumference of a user's colon with radiation, wherein the motor comprises a segmented commutator that is fed with a power signal via brush contacts; and wherein the motor provides a pulsed output signal based on mechanical switching of the segmented commutator on the brush contacts, providing an indication of the rotation angle of the motor as a function of time.

In an illustrative embodiment, an adjustable cradle assembly for adjusting a head position of a patient relative to a patient platform includes a base portion with a pair of vertical support members and a cradle portion. The vertical support members may each include at least one position aperture for setting a vertical height of the cradle portion relative to the base portion. The cradle portion may include a channel for receiving a head fixation ring. The cradle portion may include at least one set of adjustment connection points for aligning with position apertures of each vertical support member. The cradle may be pivotably connected to the vertical support members such that a pitch angle of a head position of a patient secured in the head fixation apparatus may be adjusted. A set of adjustment mechanisms may releasably secure the cradle to the base at a selected lateral and/or pitch position.

Systems and methods for estimating anatomic alignment between two or more bones are described herein. An example method can include registering an anatomic reference frame. Additionally, the method can include establishing a respective rotational relationship between each of one or more bones and an orientation sensor attached to each of the one or more bones. The method can also include receiving, from each of the orientation sensors, orientation information, and then calculating an orientation of a bone relative to the anatomic reference frame. The method can further include calculating, using the respective orientations of the bones relative to the anatomic reference frame, an anatomic alignment parameter between first and second bones.

A medical holding device includes: an arm configured by coupling a plurality of links to each other by joints, the arm having at least seven or more degrees of freedom by rotational operations on rotation axes, and being configured to support a medical instrument; and an arm controller configured to control an operation of the arm. The arm has six degrees of freedom realized by rotational operations of six passive rotation axes that passively rotate and one or more degrees of freedom realized by rotational operations of one or more active rotation axes that actively rotate, and the arm controller is configured to rotate the active rotation axis so as to avoid a predetermined state of a posture of the arm.

Health care professionals must often measure a person's neuromuscular function. Currently there is no way to accurately assess the level of a person's ability to perform basic tasks that will permit the person to perform the activities of daily activity and thus determine whether the person can be discharged from the hospital or can safely transition to a different environment or whether additional assistance may be needed. This device will allow the health care professional to accurately assess these functions so that decisions regarding discharge from a health care facility or return to home may be made.

Systems and methods for performing surgical procedures. Such a system includes a cannula having proximal and distal portions. At least one carriage unit is slidably mounted within the proximal portion of the cannula for translation in axial directions of the cannula, and a tool has a shaft that is coupled to the carriage unit and protrudes through a port at the distal portion of the cannula. The tool has a working element mounted on a portion of the shaft that protrudes from the cannula to perform tasks within the cavity. A translation mechanism is provided for translating the carriage unit and its tool in the axial directions of the cannula, and a rotation mechanism is provided for rotating the tool about an axis of its shaft and relative to the first carriage unit. Rotation and translation mechanisms of each carriage unit are preferably individually and independently controlled.