A telescoping control mechanism for controlling a medical instrument, the medical instrument includes a telescoping axis which intersects a patient at a work point, the telescoping control mechanism includes: a first rotary module disposed on a base, and including a first axis which extends through the work point; a second rotary module disposed on the base and including a second pivot which is pivoted to the base and has a second axis perpendicular to the first axis; a linkage module including a proximal linkage assembly disposed on the second pivot and parallel to the telescoping axis, and a distal linkage assembly for mounting of the medical instrument; and a telescoping module disposed on the proximal linkage assembly to drive the distal linkage assembly to reciprocate along the proximal linkage assembly, which consequently causes movements of the medical instrument along the telescoping axis.

A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.

A medical holding device includes: an arm configured by coupling a plurality of links to each other by joints, the arm having at least seven or more degrees of freedom by rotational operations on rotation axes, and being configured to support a medical instrument; and an arm controller configured to control an operation of the arm. The arm has six degrees of freedom realized by rotational operations of six passive rotation axes that passively rotate and one or more degrees of freedom realized by rotational operations of one or more active rotation axes that actively rotate, and the arm controller is configured to rotate the active rotation axis so as to avoid a predetermined state of a posture of the arm.

A compound rotational interface and stepper assembly, the assembly including: a stepper supporting linear, rotational or both linear and rotational motion on a longitudinal axis; a compound rotational interface including a compound pinned parallelogram in a scissor arm arrangement bound by a first end coupled to a base and a second end coupled to a first rotational joint, the first rotational joint coupled to the stepper; the compound pinned parallelogram moveable from a first linear position to a second linear position and the first rotational joint moveable from a first angular position to a second angular position; and a linear direction defined by the compound pinned parallelogram substantially perpendicular to an axis of rotation defined by the first rotational joint.

A support rig for a medical instrument can hold a medical instrument that is inserted into a patient in a fixed position and orientation relative to patient, so that the position and orientation of the medical instrument is not affected by the breathing or other motion of the patient. The support rig and medical instrument can non-metallic, so that an image can be taken of the patient while the medical instrument is inserted in the patent and held by the support rig.

A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

A guide device for TMJ arthroscopy including one or more pairs of arms pivotly connected at one end to a working cannula holder and defining a working cannula axis; and at the opposite end to at one or more arms via one or more pivot connections to form with the arm one or more adjustable parallelograms, an end of the arm is connected to an irrigation cannula holder defining an irrigation cannula axis, the irrigation cannula axis intersecting with the working cannula axis at an intersection, intersection and one or more of the pivot connections between connecting the arms are located at opposing vertices of one or more of the adjustable parallelograms.

A mechanical teleoperated device for remote manipulation is provided that is primarily intended for use in minimally invasive surgery. The device generally comprises a slave unit having a number of slave links interconnected by a plurality of slave joints, an end-effector connected to the distal end of the slave unit, a master unit having a corresponding number of master links interconnected by a plurality of master joints, and a handle connected to the distal end of the master unit for operating the mechanical teleoperated device. The device further comprises mechanical transmission means arranged to kinematically connect the slave unit with the master unit such that the movement applied on each master joint of the master unit is reproduced by the corresponding slave joint of the slave unit. In addition, the mechanical teleoperated device comprises improved kinematics and an improved arrangement of mechanical constraints, allowing for improved positioning of the device over a patient, increased workspace inside the patient and ease of workflow in an operating room.

Lighting for use with in conjunction with a surgical apparatus is disclosed. The light sources can be used in a sterile environment without compromising the sterile nature of that environment.

A supporting mechanism of an observation system for dental and medical treatment three-dimensionally movable supports a display unit for stereoscopically displaying an observation image of a surgical microscope regarding treatment of a patient on a dental chair and holds the display unit in an observation position of a dental surgeon keeping a constant posture. In a state where a vertically holding arm has been moved to a position where a vertical axial line thereof passes through an oral cavity of the patient, the supporting mechanism supports the display unit so as to be movable for positioning via a vertically fixed arm and a horizontally pivoting arm, in a position around the dental chair corresponding to a predetermined pivoting radius defined by a horizontal distance up to a finder of the display unit around the vertical axial line.