A method for determining a work volume includes receiving image information from an imaging device corresponding to an array of tracking markers fixed to a flexible mesh, the mesh placed over a patient and over at least one surgical instrument adjacent to or connected to the patient; determining a position of each tracking marker in the array of tracking markers based on the image information; defining a boundary for movement of a robotic arm based on determined tracking marker positions, such that the robotic arm does not contact the patient or the at least one surgical instrument during movement of the robotic arm; and controlling the robotic arm based on the defined boundary.

This invention relates to a method for detecting faults in the operating states of a surgical robotic system, wherein the surgical robotic system including a master computer, a master embedded computer and a plurality of slave embedded computers is provided; the master computer controls the master embedded computer and the slave embedded computers via the LAN router; the master embedded computer communicates with the slave embedded computers via the LAN router and a first communication bus. In the present invention, the master computer, the master embedded computer and the slave embedded computers can detect faults interactively. Safety and reliability of the operation of the surgical robotic system can be improved without increasing any additional detection components, and communication burden of the system can be effectively reduced. The present invention can be widely applied to a minimally invasive surgical robotic system.

An energy module is disclosed. The energy module includes a control circuit and a two wire interface coupled to the control circuit. The two wire interface is configured as a power source and as a communication interface between the energy module and a neutral electrode.

A manual release assembly for a surgical tool includes a first release plate including a first pair of arms engageable with a first pair release gears arranged within a drive housing, a second release plate including a second pair of arms engageable with a second pair release gears arranged within the dive housing, and a first angled slot defined in the first release plate and a second angled slot defined in the second release plate. A release switch provides a transition pin extendable into the angled slots and manually movable between disengaged and engaged positions. When in the disengaged position, the arms are disengaged from the release gears, and when manually moved to the engaged position, the transition pin moves through the angled slots and urges the release plates in opposing lateral directions such that the arms engage and rotate the release gears.

A surgical stapling instrument comprising an elongate shaft assembly that defines a shaft axis and includes a surgical end effector that is operably coupled thereto by an articulation joint. The surgical instrument includes a longitudinally movable flexible firing beam that is configured to flexibly traverse the articulation joint and be selectively axially movable from a starting position to an ending position. A middle support member is movably coupled to the elongate shaft assembly and a portion of the surgical end effector. A proximal support link is located proximal to the middle support member and is configured to provide lateral support to a proximal portion of the flexible firing beam traversing the articulation joint. A distal support link is located distal to the middle support member and is configured to provide lateral support to a distal portion of the flexible support beam traversing the articulation joint.

A tracking system and a tracking method using the same are disclosed. The tracking system includes a marker, a camera unit, a first inertial measuring unit, a second inertial measuring unit and a tracking processing unit. The marker is fixed on the measurement object, and the camera unit outputs a marker image by photographing the marker. The first inertial measuring unit is fixed on the camera unit, and measures and outputs first inertia comprising first accelerated velocity and first angular velocity. The second inertial measuring unit is fixed to one of the measurement object and the marker, and measures and outputs second inertia comprising second accelerated velocity and second angular velocity. The tracking processing unit primarily extracts the position and the posture of the measurement object using the marker image, and secondarily extracts the position and the posture of the measurement object using the first and second inertias.

A surgical instrument comprising an elongate shaft, an end effector, and a firing member is disclosed. The end effector comprises an elongate channel and an anvil pivotable relative to the elongate channel between an open position and a closed position. The firing member is longitudinally movable relative to the end effector during a firing stroke in response to a firing motion transmitted thereto. The firing member comprises a first cam member, a second cam member, and a body portion including a knife blade. The first cam member extends laterally from the body portion and is configured to directly engage the elongate channel during the firing stroke. The second cam member extends laterally from the body portion and is configured to engage the anvil during the firing stroke. The knife blade is positioned intermediate the first cam member and the second cam member.

Medical procedure related objects (e.g., instruments, supplies) tagged with transponders (e.g., RFID transponders, dumb transponders) are accounted for in a medical or clinical environment via an accounting system using a number of antennas and interrogators/readers. A first set of antennas and RFID interrogator(s) interrogate portions of the environment for RFID tagged objects, for example proximate a start and an end of a procedure. Shielded packaging and/or shielded receptacles shield tagged objects, preventing interrogation except for those objects in unshielded portions of the environment. A shielded receptacle may include an antenna to interrogate the contents thereof in a relatively noise-free environment. A data store may maintain information including a current status or count of each instrument or supply, for instance as checked in or checked out. A handheld antenna and/or second set of antennas interrogates a body of a patient for retained instruments or supplies tagged with dumb transponders.

The present disclosure relates to a computer-implemented method for calibrating an optical system of a surgical microscope, a corresponding computer program, a computer-readable storage medium storing such a program and a computer executing the program, as well as a medical system comprising an electronic data storage device and the aforementioned computer. The present disclosure further relates to a computer-implemented method, a computer program and a system for determining the spatial position of an object to be tracked not only via the surgical microscope, but also via a separate detection system. In case a deviation between the detected spatial positions is recognized, the optical system of the surgical microscope is re-calibrated.

An electronic circuit for a surgical robotic system includes a central power node, a first voltage bus that electrically couples a first power source to the node, a second voltage bus that electrically couples a second power source to the node, and several robotic arms, each arm is electrically coupled to the node via an output circuit breaker and is arranged to draw power from the node. Each bus is arranged to provide power from a respective power source to the node and each bus has an input circuit breaker that is arranged to limit a first output current flow from the node and into the bus. Each breaker that is arranged to limit a second output current flow from the node and into a respective arm. A breaker is arranged to open in response to a fault occurring within the respective arm, while the other breakers remain closed.