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.

A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.

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.

Various embodiments include a catheter positioning device that may include a sled member, a sled base, an active damping system, a sensor, and a control system. The sled member may be configured to accept a handle of a catheter. The sled base may be configured to move the sled member along a length of the sled base for positioning the catheter within a patient. The active damping system may be configured to apply a force to the sled base to resist movement of the sled base in response to a control signal. The sensor may be configured to generate signals in response to a movement of the sled base. The control system may be configured to receive sensor signals from the sensor and transmit control signals to cause the active damping system to apply the force to resist movement of the sled base indicated in the received sensor signals.

Various embodiments provide systems and methods for controlling a catheter with a catheter positioning device by using a remote controller. The catheter positioning device may include a sled member, sled base, counterweight, and passive damping system. The sled member may be configured to accept a handle of the catheter. The sled base may be configured to move the sled member along a length of the sled base in order to position the catheter within a patient. The counterweight may be moveably coupled to the sled base. The passive damping system may be coupled to the sled base and configured to resist movement of the sled base.

An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

The stand base is for a surgical microscope. The stand base is for setting up on a floor configured as a planar surface and includes at least a first weight module; a base body defining an underside and accommodating the first weight module; a support arrangement connected to the base body and supporting the stand base with at least three support points in contact engagement with the floor to permit setting up the stand base; the support points conjointly defining a support plane whereat the support points are in contact engagement with the floor; the underside of the base body facing toward the support plane; an ancillary body; the base body having a receiving arrangement in the underside for releasably accommodating the ancillary body; and, the underside of the base body and the support plane conjointly defining a smallest spacing therebetween which is greater than 10 cm.

The stand base is for a surgical microscope. The stand base is for setting up on a floor configured as a planar surface and includes at least a first weight module; a base body defining an underside and accommodating the first weight module; a support arrangement connected to the base body and supporting the stand base with at least three support points in contact engagement with the floor to permit setting up the stand base; the support points conjointly defining a support plane whereat the support points are in contact engagement with the floor; the underside of the base body facing toward the support plane; an ancillary body; the base body having a receiving arrangement in the underside for releasably accommodating the ancillary body; and, the underside of the base body and the support plane conjointly defining a smallest spacing therebetween which is greater than 10 cm.

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.

The stand base is for a surgical microscope. The stand base is for setting up on a floor configured as a planar surface and includes at least a first weight module; a base body defining an underside and accommodating the first weight module; a support arrangement connected to the base body and supporting the stand base with at least three support points in contact engagement with the floor to permit setting up the stand base; the support points conjointly defining a support plane whereat the support points are in contact engagement with the floor; the underside of the base body facing toward the support plane; an ancillary body; the base body having a receiving arrangement in the underside for releasably accommodating the ancillary body; and, the underside of the base body and the support plane conjointly defining a smallest spacing therebetween which is greater than 10 cm.