Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

A robotic surgery system includes a control unit assembly that supports and operates one or more robotic tools and a mechanical arm assembly that movably supports the control unit assembly in space. The mechanical arm assembly includes a boom assembly with one or more boom arms rotatably coupled to each other via one or more joints and having one or more actuators. An elevating linkage assembly is coupled to the boom assembly and has an actuator operable to allow vertical movement of the control unit assembly in a substantially weightless manner. Yaw and pitch control assemblies are interposed between the elevating linkage assembly and the control unit assembly and have actuators operable to allow movement of the control unit assembly in yaw and pitch. The one or more actuators are actuatable to allow movement of the control unit assembly in space upon actuation of one or more user interfaces of the control unit assembly.

A safety system for laser treatment, comprising a robotic controller configured to monitor a distance between a treatment device and a treatment area, the robotic controller configured to detect a manual movement of the treatment device and to generate a counterbalancing force in response to the manual movement and wherein the robotic controller is configured to increase the counterbalancing force if the distance between the treatment device and the treatment area is less than a predetermined distance.

A safety system for laser treatment, comprising a robotic controller configured to monitor a distance between a treatment device and a treatment area, the robotic controller configured to detect a manual movement of the treatment device and to generate a counterbalancing force in response to the manual movement and wherein the robotic controller is configured to increase the counterbalancing force if the distance between the treatment device and the treatment area is less than a predetermined distance.

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.

A surgical lighting system and a method of rotating a camera of a surgical lighting system includes a light head housing including a plurality of light emitting elements arranged to emit light downward to a region of interest, a handle mounted to and protruding downward from the light head housing, the handle including a handle housing having a sufficient size to be gripped by the human hand, and a camera assembly mounted within the handle housing and including a camera having a field of view that encompasses at least a portion of the region of interest. The camera assembly is mounted within the handle housing for rotation greater than 360 degrees about a rotation axis from a first stop to a second stop and vice versa. The first stop limits clockwise rotation of the camera and the second stop limits counterclockwise rotation of the camera.

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.

The present invention relates to a spring arm and a laser treatment apparatus including same and, particularly, to a spring arm for a laser treatment apparatus, which can provide an appropriate support force according to a change in the center of gravity of a link at an initial high rotation angle and at a low rotation angle during use, and a laser treatment apparatus including same. According to the present invention, a user fatigue degree can be reduced and accuracy of the apparatus when in use can be improved.

A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

The present disclosure relates to a wearable surgical robot arm comprising: a base configured to move together with an arm of an operator; a motion part that has a plurality of accommodating grooves in which a surgical instrument is be mounted and that is moveably installed on the base such that one of the plurality of accommodating grooves is positioned in a first position; a shaft that is disposed such that the shaft moves forward or backward to selectively penetrate the accommodating groove positioned in the first position at a rear of the motion part; a first driver that moves the motion part such that one surgical instrument selected from the surgical instruments mounted in the plurality of accommodating grooves moves to the first position; a second driver that moves the shaft to move the surgical instrument positioned in the first position to a second position positioned in front of the first position; and a third driver that provides driving force to the surgical instrument that moved to the second position.