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.

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 surgical lighting system includes a light head housing, a handle, a camera, and an optical fiber cable. The light head housing includes a plurality of light emitting elements therein that are arranged to emit light downward to a region of interest. The handle is mounted to the light head housing and protrudes downward from the light head housing, the handle including a handle housing having a sufficient size to be gripped by the human hand. A camera is mounted within the handle housing, the camera having a field of view that encompasses at least a portion of the region of interest. An optical fiber cable extends from a location within the handle housing and to the light head housing, the optical fiber cable being configured to transmit optical video signals associated with video data captured by the camera to the light head housing.

A surgical lighting system includes a central shaft, a surgical light head, an extension arm, a load balancing arm, and a yoke assembly. The extension arm is pivotably mounted to the central shaft. The load balancing arm is pivotably mounted to the extension arm. The yoke assembly supports the light head for multi-axis movement relative to the load balancing arm. The surgical light head includes a plurality of light emitting elements that are arranged to emit light downward to a region of interest and an optical signal generating component configured to capture data associated with the region of interest and generate an optical signal based on the captured data. Optical fiber cables and rotatable joints transmit the optical signal associated with the captured data from the surgical light head to one or more of the yoke assembly, the load balancing arm, the extension arm, and the central shaft.

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.

To make it possible to configure a medical support arm apparatus which does not impair operability for the surgeon, and which is also compact. Provided is a medical support arm apparatus including: an arm section configured so that a medical tool is provided on a front end, and movable axes are arranged so that the arm section has at least six degrees of freedom. Among the movable axes, a movable axis provided on the front end side that prescribes an attitude of the medical tool is a passive axis that rotates by following an external force, and at least one axis provided on a base end side that prescribes a position of the medical tool is a drive axis driven by an actuator.

A passive joint device for supporting a rotation-side member rotatably about a horizontal axis in a vertical direction with respect to a fixed-side member, includes: a cylindrical cam member having a pair of cam surfaces symmetrically arranged about a horizontal axis, a pedestal slidably disposed along the horizontal axis fixed to the rotation-side member, the pedestal having a pair of cam followers that contact with each of the pair of cam surfaces, a spring disposed inside the horizontal axis and biasing the pedestal toward the fixed-side member along the horizontal axis, wherein the spring force causes the pair of cam followers to come into contact with the pair of cam surfaces, and provide upward rotational force to the rotation-side member to reduce the downward rotational force of the rotation-side member.

A holder facility for holding a medical instrument includes a first receiving element, a second receiving element, and at least three diaphragm elements. The at least three diaphragm elements within a diaphragm layer are arranged between the first and second receiving elements about a common rotation axis. The first and second receiving elements each have an opening for receiving the medical instrument. The first and second receiving elements are movable around about the common rotation axis relative to one another. Each of the at least three diaphragm elements is forcibly moved by mechanical coupling. For a movement of the first receiving element relative to the second receiving element about the common rotation axis, there is a forcibly-guided movement of the at least three diaphragm elements such that the at least three diaphragm elements hold a medical instrument arranged in the opening of the first and second receiving elements.

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.

An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.