A carrier arm joint device for a carrier arm of a stand device for arranging in the operating room and for displacing a medical device held on the carrier arm is configured for setting a payload corresponding to a weight of the medical device to be taken up by the carrier arm. The device includes at least one pivot axis for mounting at least one strut of the carrier arm, respectively; and a support axis for supporting a lever configured to transmit forces holding the carrier arm between the strut and the carrier arm joint device A distance between the axes is adjustable within an adjustment range in order to set the payload; the size and/or the extent of the adjustment range is independent of the position of the pivot axis. It is possible to maximize the adjustment range and therefore the payload spectrum in a comparatively compact and structurally rigid joint. A carrier system and a stand device can include at least one such carrier arm joint device.

A compensated constant force spring device includes a bracket, a drum rotatably supported by the bracket, and a constant force spring wound on the drum. A motor is fixed to the bracket and provides a compensating force to the drum. The motor may be located in an interior volume of the drum. A control module may coupled to the motor to control the compensating force. A position sensor may be coupled to the control module. The compensating force may be responsive to a signal from the position sensor. The constant force spring may support a load and counterbalance gravitational forces on the load. The compensating force may be adjusted when the load approaches an end of a range of travel.

A compensated constant force spring device includes a bracket, a drum rotatably supported by the bracket, and a constant force spring wound on the drum. A motor is fixed to the bracket and provides a compensating force to the drum. The motor may be located in an interior volume of the drum. A control module may coupled to the motor to control the compensating force. A position sensor may be coupled to the control module. The compensating force may be responsive to a signal from the position sensor. The constant force spring may support a load and counterbalance gravitational forces on the load. The compensating force may be adjusted when the load approaches an end of a range of travel.

A medical apparatus includes an elastic compensation member providing a first link that is rotatable with respect to a first rotational axis so that a display apparatus is movable, with a torque in an opposite direction to a torque acting due to a load of the display apparatus in order to compensate for the torque acting due to the load of the display apparatus, in order to minimize a length variation of the elastic compensation member despite movement of the display apparatus, a first end portion of the elastic compensation member is not fixed to the first link but is supported by an additional rotatable supporting portion so that the first end portion of the elastic compensation member is movable relative the first link while the display apparatus is being moved.

A surgical lighting system includes a light head housing, a handle, a camera, and an optical fiber cable. The light head housing includes a plurality of light emitting elements therein that are arranged to emit light downward to a region of interest. The handle is mounted to the light head housing and protrudes downward from the light head housing, the handle including a handle housing having a sufficient size to be gripped by the human hand. A camera is mounted within the handle housing, the camera having a field of view that encompasses at least a portion of the region of interest. An optical fiber cable extends from a location within the handle housing and to the light head housing, the optical fiber cable being configured to transmit optical video signals associated with video data captured by the camera to the light head housing.

In some embodiments, an apparatus can include a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a table top. The arm cart can include an arm container and a base. The arm container can be configured to receive and contain one or more robotic arms. The arm cart can include a first coupling member configured to engage with a second coupling member associated with a surgical table such that, when the first coupling member is engaged with the second coupling member, the one or more robotic arms can be releasably coupled with the surgical table. The arm cart can provide for movement of the one or more robotic arms in at least one of a lateral, longitudinal, or vertical direction relative to the table top prior to the securement of the one or more robotic arms to the surgical table.

An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

Systems and method are described for counterbalancing the force required to deform a flexure joint. The system includes an elastically deformable flexure joint, a control joint, and an energy balance system. The control joint is mechanically linked to the flexure joint such that movement of the control joint causes a corresponding deformation of the flexure joint. The energy balance system provides a spring force to aid movement of the control joint and to overcome an elastic force required to deform the flexure joint.

In some embodiments, an apparatus can include a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a table top on which a patient can be disposed. The arm cart can include an arm container and a base. The arm container can be configured to receive and contain one or more robotic arms. The arm cart can include a first coupling member configured to engage with a second coupling member associated with a surgical table such that, when the first coupling member is engaged with the second coupling member, the one or more robotic arms can be releasably coupled with the surgical table. The arm cart can provide for movement of the one or more robotic arms in at least one of a lateral, longitudinal, or vertical direction relative to the table top prior to the securement of the one or more robotic arms to the surgical table.

Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.