Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.

The present invention relates to robotic device positioning. By extending the robotic arm into the surgical field, a system is provided that automatically aligns an instrument following a plan, e.g., surgical plan, using only instrument tracking feedback. No tracking markers on the robot are required.

Devices and methods are provided that simplify and improve placement of stabilizing orthopedic pins, wires, and/or screws in the pelvis in minimally invasive surgery. Provided is a surgical instrument guide containing an adjustable friction clamp for positioning and securing a cannula, and a probe with a blunt, nonpenetrating tip. The probe and a surgical instrument held by the friction clamp are oriented at right angles to one another. In use, the blunt probe is introduced through a small incision and advanced by blunt dissection until the blunt tip is positioned at a desired anatomical landmark on the surface of the pelvis. A cannula inserted through the friction clamp is advanced until the tip of the cannula is within 2 cm of the blunt tip of the probe; an orthopedic pin, wire, and/or screw can then be inserted through the cannula to provide stabilization. The blunt probe may be cannulated.

The invention relates to a medical system for use in interventional radiology, adapted to be coupled to a navigation system, comprising: a needle (1) to be inserted into a patient's body toward a target, said needle comprising a distal tip (10) and a proximal stop (110); a needle guide (2), the needle (1) being able to slide within said guide (2) along a longitudinal axis thereof, said needle guide (2) comprising a tracker for navigating the needle guide (2) with respect to a 3D medical image of a patient; a processor configured to detect a contact between the needle guide (2) and the proximal stop (110) and to determine, from navigation data of the needle guide when said needle guide (2) is in contact with the proximal stop (110) of the needle and from the length of said needle, a position of the distal needle tip (10) with respect to the 3D medical image; and a user interface coupled to said processor and configured to display, on at least one image (I) of the patient, a representation of the needle and a point on said representation of the needle to represent the needle tip (10) in said determined position.

The invention relates to a medical system for use in interventional radiology, adapted to be coupled to a navigation system, comprising: a needle (1) to be inserted into a patient's body toward a target, said needle comprising a distal tip (10) and a proximal stop (110); a needle guide (2), the needle (1) being able to slide within said guide (2) along a longitudinal axis thereof, said needle guide (2) comprising a tracker for navigating the needle guide (2) with respect to a 3D medical image of a patient; a processor configured to detect a contact between the needle guide (2) and the proximal stop (110) and to determine, from navigation data of the needle guide when said needle guide (2) is in contact with the proximal stop (110) of the needle and from the length of said needle, a position of the distal needle tip (10) with respect to the 3D medical image; and a user interface coupled to said processor and configured to display, on at least one image (I) of the patient, a representation of the needle and a point on said representation of the needle to represent the needle tip (10) in said determined position.

Devices, Systems, and Methods for controlled movement of the robot system. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The robot may include a plurality of omni-directional wheels affixed to the robot base allowing multiple-axis movement of the robot. The robot may further include sensors for detecting a desired movement of the robot base and a control system responsive to the plurality of sensors for controlling the multiple-axis movement of the robot by actuating two or more of the plurality of omni-directional wheels.

A breast biopsy lateral arm system includes a removable gun mount which attaches to a carriage that traverses along an X-axis defined by a lateral arm in order to position a biopsy needle relative to a patient. The carriage rides along the lateral arm on self-adjusting rollers which are loaded against the lateral arm by spring members. A cam-actuated carriage slide lock can be used to secure the carriage in a desired position relative to the lateral arm. A cam-actuated removable gun mount lock allows the gun mount to be quickly changed and offset orthogonally with respect to the X-axis. An X-axis stop can be used to establish a position to which the carriage can be returned with accuracy.

A breast biopsy lateral arm system includes a removable gun mount which attaches to a carriage that traverses along an X-axis defined by a lateral arm in order to position a biopsy needle relative to a patient. The carriage rides along the lateral arm on self-adjusting rollers which are loaded against the lateral arm by spring members. A cam-actuated carriage slide lock can be used to secure the carriage in a desired position relative to the lateral arm. A cam-actuated removable gun mount lock allows the gun mount to be quickly changed and offset orthogonally with respect to the X-axis. An X-axis stop can be used to establish a position to which the carriage can be returned with accuracy.

The present invention relates to a medical apparatus which includes a motion mechanism which has at least one degree of freedom, an actuator configured to drive the motion mechanism and a control unit configured to control the actuator, and which operates in a magnetic field environment of an MRI, the medical apparatus including: a data storage unit in which data related to magnetic susceptibility of the actuator is stored; a calculating unit configured to calculate information related to an influence which the actuator exerts upon the magnetic field environment by calculation based on the magnetic susceptibility; and a communication unit configured to output the information to the MRI. An influence which an apparatus which operates in a strong magnetic field environment exerts upon an MR image can be reduced.

The present invention relates to a medical apparatus which includes a motion mechanism which has at least one degree of freedom, an actuator configured to drive the motion mechanism and a control unit configured to control the actuator, and which operates in a magnetic field environment of an MRI, the medical apparatus including: a data storage unit in which data related to magnetic susceptibility of the actuator is stored; a calculating unit configured to calculate information related to an influence which the actuator exerts upon the magnetic field environment by calculation based on the magnetic susceptibility; and a communication unit configured to output the information to the MRI. An influence which an apparatus which operates in a strong magnetic field environment exerts upon an MR image can be reduced.