The present application relates to a computer-implemented medical method of determining a compensation for gravity-related displacements of a medical carrier structure having at least one adjustable and selectively fixable joint which respectively connects two sections of the carrier structure. The present application further relates to a corresponding computer program and medical system.

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.

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 surgical robotic system includes a first mobile cart, a control tower coupled to the first mobile cart, and a surgical console coupled to the control tower. The first mobile cart includes a surgical robotic arm and an image capture device actuatable in response to a user input and configured to capture a video of an object in a surgical site. The control tower includes a first controller configured to receive the captured video, determine a speed of the object within the captured video, determine a movement speed of the image capture device, and calculate a distance of the object from the image capture device based on the speed of the object and the movement speed of the image capture device. The surgical console includes a display configured to display the captured video of the surgical site and a user input device configured to generate the user input.

A medical manipulator according to an embodiment may include an arm base including a first engagement portion and a manipulator arm including a distal end portion to support a surgical tool and a proximal end portion including a second engagement portion. One of the first and second engagement portions includes a shaft member and the other includes an engagement member engageable with the shaft member such that the engagement member engaged with the shaft member is rotatable with respect to the shaft member. The arm base includes a restriction portion to restrict rotation of the manipulator arm about the shaft member to which the engagement member is engaged. The proximal end portion of the manipulator arm is fixed to the restriction portion of the arm base with a fixing member in a state where restriction portion stops the rotation of the manipulator arm.

Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance pulleys is coupled to a load that is moveable with reference to a mechanical ground, and a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element. The force transformation mechanism includes a plurality of elements and the modification of the force is based on a drive ratio of the elements of the force transformation mechanism.

The present disclosure relates to a movable rack arm assembly including a cam housing, a circular gear, a rack arm, a cam, and a spring assembly for contoured non-linear force transfer.

[Object] To make it possible to perform gravity compensation with a more compact and lightweight configuration. [Solution] There is provided a medical support arm apparatus including: an arm section including multiple joint sections, and configured such that a medical tool is provided on a front end; an actuator at least provided in a compensated joint section that is a target of gravity compensation among the joint sections, and including a torque sensor that detects a torque acting on the compensated joint section; and a gravity compensation mechanism that imparts to the compensated joint section a compensating torque in a direction that cancels out a load torque due to a self-weight of the arm section acting on the compensated joint section.

A medical system including a support structure including a proximal link and a distal link, and a base joint coupling the proximal link of the support structure to a base, wherein the proximal link is configured to rotate about a first axis associated with the base joint. The system also includes a linkage mechanism coupling the proximal link to the distal link. The system also includes an instrument support coupled to the distal link, wherein the instrument support has an orientation relative to the base in a first configuration of the support structure, and wherein the linkage mechanism maintains the orientation of the instrument support relative to the base as the support structure is moved into a second configuration in which the support structure is rotated relative to the base about the first axis and the distal link is extended from the proximal link.

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.