The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods.

A medical device support system adapter for connection to a load balancing arm of a medical device support system. The adapter includes a body having a central axis, a connection component at one end of the body and an interface at an opposite end of the body. The body is rotatably connectable to another component of the medical device support system. The interface is connectable to a hub of the load balancing arm of the medical device support system. The interface has at least two mounting bolt holes equally angularly spaced apart about the central axis such that the body is connectable to the hub of the load balancing arm in at least two different angular positions of the body about the central axis.

A medical observation apparatus including: an arm including a plurality of links connected to each other via a joint, the arm having at least three or more degrees of freedom implemented by a rotation operation about a rotation axis; an imaging device supported by the arm; and an arm controller that controls an operation of the arm. When a posture of the arm is in a predetermined state, and when a predetermined input for moving the arm about a rotation axis orthogonal to a second axis that is a second rotation axis from a side of the arm on which the imaging device is supported and a third axis that is a third rotation axis from the side of the arm on which the imaging device is supported is detected, the arm controller makes one of the links corresponding to the third axis rotate about the third axis.

A system includes a base, and an actuator having a first end and a second end. The system also includes a shaft configured to rotate relative to the base, and a drive link fixed to the shaft. The system further includes a support arm. A first end of the support arm being fixed to the shaft such that rotation of the shaft causes commensurate rotation of the support arm. The system also includes a timing link having a first end pivotably connected to the base and a second end opposite the first end. Additionally, the system includes a mount coupled to the second end of the timing link. The mount is configured to maintain a substantially constant orientation relative to the base as the support arm transitions between a raised position and a lowered position.

The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to float above a patient and provide a weightless feel to movement of the surgical system. In addition, the floating frame can provide a number of additional degrees of freedom for ease of movement of the surgical system around the patient and/or the operating room.

A surgical tool includes a drive housing having an input shaft and a drive cable capstan arranged within the drive housing. The input shaft includes a drive gear and the drive cable capstan includes a driven gear intermeshed with the drive gear such that rotation of the input shaft rotates the drive cable capstan. An elongate shaft extends from the drive housing, and an end effector is operatively coupled to a distal end of the elongate shaft. A drive cable is coupled to the drive cable capstan and extends to the end effector. A spring assembly includes a winder drum and a constant force spring extending between the winder drum and the input shaft. The constant force spring provides a constant torque force that resists rotation of the input shaft and thereby prevents the drive cable from slackening.

By using a surgical microscope device, it becomes possible to continue surgery more reliably, even in the case in which the picture of the operating site is no longer displayed normally. Provided is a surgical microscope device including: a microscope unit (110) that images an observation target, and outputs a picture signal; a support unit (120) that supports the microscope unit, and is configured as a balance arm; and an auxiliary observation device (30) that is attachable to the microscope unit or the support unit. A manually operated manual brake mechanism (40) is provided with respect to at least one of a plurality of rotation axis units constituting the support unit.

A method and device for closing a port site incision after a minimally invasive surgical procedure is performed includes an elongate body and a tool assembly supported on a distal portion of the elongate body. The tool assembly includes a suture needle that is moved between an active position in which a tip of the suture needle is exposed and an active position in which the tip of the needle is received within a shield supported on the elongate body by an actuation member. The actuation member is connected to the suture needle by a linkage that maintains a longitudinal axis of the suture needle parallel to the longitudinal axis of the elongate body as the tool assembly is moved between the active and inactive positions.

A therapeutic ultrasound breast treatment device (101) is disclosed. The device (101) can include a receptacle (130) to receive a breast of a patient therein. The device (101) can also include an ultrasound transducer assembly disposed proximate the receptacle and oriented to direct a high intensity ultrasound transmission through an opening (168) of the receptacle (130) toward the breast. The device (101) can include a liner (1 60) disposed in the receptacle (130) to contain an ultrasound coupling fluid about the breast. The liner (160) can have an extension portion that extends through the opening (168) to form a seal with the ultrasound transducer assembly to prevent leakage of the ultrasound coupling fluid. A focus location of the ultrasound transmission can be adjustable and the device (101) can include a plurality of RF tracking coils to determine the focus location of the ultrasound transmission to facilitate adjustment of the focus location in an MRI environment.

Method and system allowing more accurate detection and identification of unwanted arcing include novel processing of signal voltage representing recovered power-line current. In one implementation, arc-faults are detected based on numerical analysis where individual cycles of line voltage and current are observed and data collected during each cycle is processed to estimate likelihood of presence of arc-event within each individual cycle based on pre-defined number of arc-events occurring within pre-defined number of contiguous cycles. In another implementation, fast transient current spikes detection can be done by: computing difference values between consecutive line-current samples collected over a cycle, average of differences, and peak-to-peak value of line-current; comparing each difference value to average of difference; comparing each difference value to peak-to-peak value; and, based on calculation of composite of two comparisons, using thresholds to determine if arcing is present within processed cycle.