A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.

According to an aspect of the present invention, there is provided a balance arm apparatus for supporting heavy tools, including a base and a joint unit with one side coupled to the base and configured to be operated in upward, downward, leftward, and rightward directions, and the other side coupled to a gimbal capable of changing directions of a tool or device. According to an embodiment of the present invention, it is possible to support a weight of a high load apparatus for movement with six-degrees-of-freedom by connecting a balance arm having three-or-more-degrees-of-freedom and capable of supporting the apparatus while changing a position of the apparatus, and a gimbal structure having three-or-more-degrees-of-freedom or more to an end of the balance arm capable of switching a direction of the apparatus.

A surgical lighting system includes a light head housing, a handle, and a camera. 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. The handle housing has an upper generally tubular section mounted to the light head housing and a lower generally tubular section extending downward from a bottom of the upper generally tubular section. The outer perimeter of the lower generally tubular section is relatively wider in axial cross section than the outer perimeter of the upper generally tubular section over a portion of the upper generally tubular section.

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.

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.

By using a surgical microscope device, it becomes possible to continue surgery more reliably, even in the case in which the picture of the operating site is no longer displayed normally.

Provided is a surgical microscope device including: a microscope unit (110) that images an observation target, and outputs a picture signal; a support unit (120) that supports the microscope unit, and is configured as a balance arm; and an auxiliary observation device (30) that is attachable to the microscope unit or the support unit. A manually operated manual brake mechanism (40) is provided with respect to at least one of a plurality of rotation axis units constituting the support unit.

Provided is a gravity compensation control device including a first mounting unit, a rotatable link, one end of which is connected to a compensation shaft arranged in the first mounting unit and another end of which is vertically movable by a weight applied thereto, wherein a portion between the ends is supported by a fixed shaft arranged in the first mounting unit, such that the link is rotatable about the fixed shaft, and a weight compensation device, wherein the weight compensation device includes a bearing unit including a bearing shaft arranged in the first mounting unit, and a bearing coupled to the bearing shaft, an auxiliary link connected to the compensation shaft and one side of the bearing unit, and an elastic member coupled to another side of the bearing unit and arranged in a lengthwise direction of the auxiliary link.

An ultrasonic diagnostic apparatus may include a main body; and at least one input/output unit coupled with the main body, and configured to receive information from a user or to output information received from the main body; and a connection unit configured to connect the main body to the input/output unit and the connection unit comprises a support member configured to support the input/output unit, and at least one connection member configured to adjust a magnitude of a supporting force generated by the support member. The connection member may generate a force in a direction in which the supporting force generated by the support member is cancelled out to thus adjust the magnitude of the supporting force.

In one embodiment of the invention, a counter balanced arm is disclosed including, a first link having a first rotating transmission device, a second link having a first rotating transmission device and a compression spring, a third rotating transmission device coupled between the first and second links, and a cable routed over the rotating transmission devices coupled between the second link and the compression spring. The compression spring forms a tension in the cable to counter balance a load applied to an end of the second link of the counter balanced arm.

Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.