A medical waste management system including a boom secured to a fixed structure of a medical facility. A waste container defines a waste volume sized to collect liquid waste material received through a suction line under the influence of a vacuum provided by a vacuum pump. The system may include a service head coupled to the boom and including the waste container. A vacuum port is in fluid communication with the waste volume, and discharge and/or cleaning ports also in communication with the waste volume may be provided. The vacuum pump may be integrated with the medical facility, and the system may include an offload pump Integrated with the medical facility and in communication with the discharge port. The waste container may be supported on a mobile cart configured to be removably coupled with the boom. The system may further include a liquid measuring system coupled to the waste container.

Implementations relate to a configurable counterbalance mechanism. In some implementations, a counterbalance apparatus includes a spring, a tension element coupled between the spring and a mechanical ground, a base element coupled to a load, and a configurable arm rotatably coupled to the base element. A first pulley and a second pulley are rotatably coupled to the configurable arm, the second pulley orbitable about the first axis, and the tension element is at least partially wrapped around the first pulley and the second pulley. The configurable arm is rotatably configurable at either a first orientation or a second orientation, where the first orientation is associated with a center of gravity of the load located on a first side of the counterbalance apparatus and the second orientation is associated with the center of gravity of the load located on a second side of the counterbalance apparatus opposite to the first side.

A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

In a robotic surgical system, an operation apparatus includes a display to rotate so as to be tilted with respect to a horizontal plane, and a tilt detection sensor to detect a tilt of the display with respect to the horizontal plane. The control device is configured or programmed to correct translational movement of a predetermined surgical instrument based on the tilt detected by the tilt detection sensor.

A sterile drape comprises a plurality of sleeves and a plurality of sterile adapters each at a distal end of a corresponding drape sleeve. Each sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, a membrane interface at a distal end of the housing that includes a plurality of actuator interfaces, and a pair of supports coupled to the housing to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are opposite to corresponding manipulator actuator outputs with a corresponding actuator interface between each corresponding instrument actuator input and manipulator actuator output. Each sterile adapter also comprises a rotatable seal adapted to couple a proximal opening of each drape sleeve to a rotatable element at a distal end of the manipulator arm.

A medical waste management system including a boom secured to a fixed structure of a medical facility. A waste container defines a waste volume sized to collect liquid waste material received through a suction line under the influence of a vacuum provided by a vacuum pump. The system may include a service head coupled to the boom and including the waste container. A vacuum port is in fluid communication with the waste volume, and discharge and/or cleaning ports also in communication with the waste volume may be provided. The vacuum pump may be integrated with the medical facility, and the system may include an offload pump integrated with the medical facility and in communication with the discharge port. The waste container may be supported on a mobile cart configured to be removably coupled with the boom. The system may further include a liquid measuring system coupled to the waste container.

Systems and methods for controlling pitch motions of surgical instruments about a virtual center are provided herein. An example system includes at least one angled linkage body, at least one parallel linkage body, and a pitch housing assembly having a pitch housing, a first rotary joint having a first rotation axis, and an actuator assembly. The system further includes a second rotary joint having a second rotation axis parallel to the first rotation axis, a third rotary joint having a third rotation axis parallel to the first rotation axis, at least one angled rigid member configured to cause a rotation of the at least one parallel linkage body relative to the at least one angled linkage body about the second rotary joint, and at least one parallel rigid member configured to cause a positioning arm rotation relative to the at least one parallel linkage body about the third rotary joint.

A medical holding arm device for a medical holding arm includes a holding arm segment, a further holding arm segment connected to the holding arm segment, a joint which connects the holding arm segment and the further holding arm segment to one another, a lock associated with the joint which locks the joint in a first operating state and releases it in a second operating state. The lock has a locking element for locking the joint and a transmission element for transmitting a force to the locking element. An actuator actuates the lock by exerting a force to transfer the locking mechanism from one operating state to the other. The medical holding arm device has a force sensor which at least indirectly detects a force exerted by the actuator on the lock in order to detect an operating state of the lock.

An end effector arm for use with a surgical navigation system includes a base configured to attach to an end effector coupler of a surgical robot arm and a mechanical linkage. The mechanical linkage includes a first end rotatably coupled to the base and a second end opposite the first end, the second end configured to be removably coupled to a handheld surgical tool. The end effector arm further includes a spring mechanism configured to impart a variable rotational force on the mechanical linkage based on an angle of rotation of the mechanical linkage with respect to the base.

A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.