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 stand for a surgical microscope includes a first stand part including a first bearing and a second bearing, a shaft arranged in the first bearing and defining a rotation axis, a second stand part fixedly connected to the shaft, mounted on the first stand part together with the shaft pivotably about the rotation axis, and including a force transmission point, a lever part mounted on the second stand part at the force transmission point, arranged pivotably about the rotation axis, and including a third bearing, and a torque compensation assembly applying a counter torque to the second stand part to compensate a load torque including a dynamic load torque occurring when the second stand part is pivoted about the rotation axis and a static load torque resulting from a gravitation force acting on the second stand part and on elements mounted on the second stand part.

A stand for a surgical microscope includes a first stand part including a first bearing and a second bearing, a shaft arranged in the first bearing and defining a rotation axis, a second stand part fixedly connected to the shaft, mounted on the first stand part together with the shaft pivotably about the rotation axis, and including a force transmission point, a lever part mounted on the second stand part at the force transmission point, arranged pivotably about the rotation axis, and including a third bearing, and a torque compensation assembly applying a counter torque to the second stand part to compensate a load torque including a dynamic load torque occurring when the second stand part is pivoted about the rotation axis and a static load torque resulting from a gravitation force acting on the second stand part and on elements mounted on the second stand part.

A medical image processing device includes circuitry configured to: analyze a blood flow flowing in an observation object based on a medical observation image obtained by capturing an image of the observation object; and generate a difference result between a simulation result of a blood flow flowing in a 3D model acquired in advance for the observation object and an analysis result of a blood flow flowing in the observation object.

An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.

An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.

A surgical microscope, a method for observing an object in an observation area during surgery, and a retrofit-kit for a surgical microscope are provided. The surgical microscope includes at least one optical carrier for variably deflecting an observation axis of an optical observation assembly into an optical viewing axis directed towards the observation area. The optical carrier includes at least one optical beam deflector and is arranged between the optical observation assembly and the observation area. The optical carrier further includes a movable range-setting system for supporting the at least one optical beam deflector and for positioning the at least one optical beam deflector at a variable distance from the optical observation assembly.

A surgical microscope, a method for observing an object in an observation area during surgery, and a retrofit-kit for a surgical microscope are provided. The surgical microscope includes at least one optical carrier for variably deflecting an observation axis of an optical observation assembly into an optical viewing axis directed towards the observation area. The optical carrier includes at least one optical beam deflector and is arranged between the optical observation assembly and the observation area. The optical carrier further includes a movable range-setting system for supporting the at least one optical beam deflector and for positioning the at least one optical beam deflector at a variable distance from the optical observation assembly.

A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.

To make it possible to improve user convenience, provided is a control device including: a control unit configured to control a position and an attitude of a microscope unit by driving an arm unit that supports the microscope unit on the basis of a captured image of an operating site photographed by the microscope unit during an operation so that a position and attitude condition set before the operation is satisfied. The position and attitude condition is a condition that prescribes a position and an attitude of the microscope unit with respect to the operating site to obtain a desired captured image corresponding to the position and attitude condition.