There is disclosed a mobile radiographic imaging apparatus including a component operable to emit radiation for imaging a subject, an arm rotatably connected at a proximal end thereof to a body section of the apparatus, such that it is supported by the body section and can slew relative to the body section about an upright axis, and to a distal end of which said component is connected, and a generator assembly arranged in the body section and including a generator arranged in the casing and electrically connected to said component, the apparatus being configured such that the generator assembly rotates with the arm, about said axis, wherein the generator assembly has a centre of mass which is radially offset from said axis in a second direction that is substantially opposite to said first direction.

Aspects of the present disclosure include embodiments of a positioning device and a method for using the same. The method may comprise applying pressure during an ultrasound examination. Embodiments of the disclosed positioning device include an arch configuration and an arm configuration to span across a gurney and over a patient on the gurney, the arch including a track that spans at least part of a length the arch, and an instrument attachment attached to the track of the arch, or an arm with multiple joints with an instrument attachment attached to the distal end of the arm, which serves to assist the motions of the user. The instrument attachment is configured to hold an instrument, such as an ultrasound transducer, and may extend the instrument toward the patient, such as to apply pressure to the patient during an ultrasound examination.

A device for moving a medical object, the device including a mover device and a sensor unit. The mover device is configured to hold and/or move a medical object at least partially disposed in the mover device by transmitting a force. The sensor unit is configured to detect a counterforce exerted by the medical object on the mover device and acting in the opposite direction to the force. The medical object is at least partially disposed in an examination subject. The device is configured to provide a signal as a function of the counterforce. The mover device is configured to move the medical object as a function of the signal.

A compound rotational interface and stepper assembly, the assembly including: a stepper supporting linear, rotational or both linear and rotational motion on a longitudinal axis; a compound rotational interface including a compound pinned parallelogram in a scissor arm arrangement bound by a first end coupled to a base and a second end coupled to a first rotational joint, the first rotational joint coupled to the stepper; the compound pinned parallelogram moveable from a first linear position to a second linear position and the first rotational joint moveable from a first angular position to a second angular position; and a linear direction defined by the compound pinned parallelogram substantially perpendicular to an axis of rotation defined by the first rotational joint.

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.

Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.

In one embodiment of the invention, a link of a counter balanced arm is disclosed including, a hollow housing with a cylindrical cavity having an open end and a closed end with a small opening to allow cables to pass through; a first pivotal joint near the closed end of the hollow housing; a second pivotal join near the open end of the hollow housing; a compressible spring assembly received through the open end by the cylindrical cavity of the hollow housing; and a plug coupled to the open end of the cylindrical cavity of the hollow housing.

To make it possible to configure a medical support arm apparatus which does not impair operability for the surgeon, and which is also compact. Provided is a medical support arm apparatus including: an arm section configured so that a medical tool is provided on a front end, and movable axes are arranged so that the arm section has at least six degrees of freedom. Among the movable axes, a movable axis provided on the front end side that prescribes an attitude of the medical tool is a passive axis that rotates by following an external force, and at least one axis provided on a base end side that prescribes a position of the medical tool is a drive axis driven by an actuator.

A load balancing arm for a medical device support system includes a proximal hub, a support arm, a link, and a distal end vertical block. The components together may form a four bar linkage. The proximal hub is configured for pivotable movement about an axis P-P. The distal hub is configured to support a medical device load for pivotable movement about an axis D-D. The distal hub is mounted to the distal end vertical block for pivotable movement between a first position in which the axis D-D is at a first angle relative to the axis P-P and a second position in which the axis D-D is at a second angle relative to the axis P-P, wherein the first angle is different than the second angle. A parallelism adjustment mechanism enables the axis D-D to be adjusted so as to be substantially parallel to the axis P-P.

A load balancing arm for a medical device support system includes a proximal hub, a support arm, first and second springs, and a link. The link has a proximal end pivotably mounted to a link bearing element for pivotable movement about a link pivot axis, and a distal end pivotably mounted to a distal end of the first spring and a proximal end of the second spring. The link and first and second springs are configured such that the biasing forces exerted by the first and second springs are transmitted through the link to the link bearing element thereby to generate a moment about a main pivot axis of a proximal hub that counters a moment generated by a medical device load at a distal end of the support arm.