A control system for a capsule endoscope is provided. The control system includes a balance arm device, a mechanical arm, a permanent magnet and a 2-DOF rotary platform. The bottom of the balance arm device is fixed, and the active end of the balance arm device connects with a boom. The bottom of the mechanical arm is fixed, and the active end of the mechanical arm connects with a spherical hinge. The 2-DOF rotary platform is fixed below the boom and the permanent magnet is located in the 2-DOF rotary platform. The spherical hinge connects to the boom, assisting the permanent magnet to move around a fan-shaped area around a subject.

A navigation method for a medical operation and implemented by a robotic system is provided. The method includes the steps of: receiving, at a processor of the robotic system, at least one set of navigation data; receiving or generating at least one three-dimensional model of the virtual object in the navigation data; calculating the navigation data to generate a virtual environment and at least one navigation instruction; and presenting, at a user interface associated with the robotic system, the virtual environment and/or the navigation instruction to a user of the robotic system for the user to refer to during the medical operation.

A robotic imaging system includes a camera configured to one or more images of a target site. The camera may be a stereoscopic camera configured to record a left image and a right image for producing at least one stereoscopic image of the target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera relative to the target site. A sensor is configured to detect forces and/or torque imparted by a user for moving the stereoscopic camera and transmit sensor data. A controller is configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute an assisted drive mode, which includes determining a movement sequence for the robotic arm based in part on the sensor data and a damping function.

A surgical navigation system includes a first tracking unit, a second tracking unit and a processing unit. The first tracking unit captures a first infrared image of a position identification unit that includes a reference target fixed on a patient and an instrument target disposed on a surgical instrument. The second tracking unit captures a second infrared image of the position identification unit. The processing unit performs image recognition on the first and second infrared images with respect to the position identification unit, and uses, based on a result of the image recognition, a pathological image and one of the first and second infrared images to generate an augmented reality image. When both the first and second images have both the reference target and the instrument target, one of the first image and the second image with a higher accuracy is used to generate the augmented reality image.

An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.

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.

A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console having a surgeon input device, and a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument, the surgical robot arm operable in a full power mode in which the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the joints of the surgical robot arm are powered by a second power source, he control system configured to: whilst the surgical robot arm is operating in the full power mode, control the surgical robot arm in a surgical mode by converting inputs from the surgeon input device to control signals for moving joints of the surgical robot arm; detect a power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and control the surgical robot arm in a locked mode by sending control signals to lock joints of the surgical robot arm; whilst in the reduced power mode, detect a cessation of the power failure; and in response to detecting the cessation of the power failure, disable the reduced power mode, re-enable the full power mode, and control the surgical robot arm in the surgical mode.

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.

A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console having a surgeon input device, and a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument, the surgical robot arm operable in a full power mode in which the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the joints of the surgical robot arm are powered by a second power source, the control system configured to: whilst the surgical robot arm is operating in the full power mode, control the surgical robot arm in a surgical mode by converting movements of the surgeon input device to control signals for moving joints of the surgical robot arm; detect power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and transition control of the surgical robot arm from the surgical mode to a standby mode; whilst in the reduced power mode, receive a command from a user input located on or adjacent to the surgical robot arm or on the surgeon console; and in response to receiving the command, transition control of the surgical robot arm from the standby mode to a calibration mode.

Knuckle joint assembly for a medical device support system. The knuckle joint assembly includes a cartridge assembly that includes a cartridge housing and a rotary bearing. The cartridge housing includes a bore having a central axis and a bearing mount in the bore. The rotary bearing is press fitted in the bearing mount and configured to receive axially therethrough a spindle to rotatably support the spindle about the central axis. The knuckle joint assembly includes a retaining clip and a retaining pin. The retaining clip is selectively movable to disengage and engage a groove in a spindle to respectively support or release the spindle along a central axis. The retaining pin is movable between a first position to allow movement of the retaining clip between positions but prevent removal of the retaining clip, and a second position to block movement of the retaining clip from the engaged position.