A surgical robotic arm support system may include a base and at least one post and/or a connection for coupling a robot arm to the support system. The base may be configured to at least partially surround a surgical table. The at least one post may have a first end supported on the base and a second end configured to support a robotic arm. The at least one post may be configured to be coupled to a surgical table. The connection may support a mechanical and/or electrical connectivity between the support system and a coupled robot arm. Electrical connectivity may be configured to identify at least one of the robot arm connections to which at least one robot arm is connected. Each robot arm connection may be configured to maintain a portion of a connected robot arm at a predetermined position from the base.

A control system for a capsule endoscope is provided. The control system includes a balance arm device, a mechanical arm, a permanent magnet and a 2-DOF rotary platform. The bottom of the balance arm device is fixed, and the active end of the balance arm device connects with a boom. The bottom of the mechanical arm is fixed, and the active end of the mechanical arm connects with a spherical hinge. The 2-DOF rotary platform is fixed below the boom and the permanent magnet is located in the 2-DOF rotary platform. The spherical hinge connects to the boom, assisting the permanent magnet to move around a fan-shaped area around a subject.

A control device for a capsule endoscope is provided. The control device includes a balance arm device, a permanent magnet, a 2-DOF rotary platform and an examination bed. The bottom of the balance arm device is fixed, and the active end of the balance arm device connects with a boom. The 2-DOF rotary platform is fixed below the boom and the permanent magnet is located in the 2-DOF rotary platform. The examination bed is put below the 2-DOF rotary platform, and the area between the examination bed and the 2-DOF rotary platform is an examination area.

The present invention relates to a stand equipped with a counterbalance unit, i.e., a stand consisting of links, joints, a front link, and a counterbalance unit. Therefore, even when various medical apparatuses including such as a microscope, etc. are used, a stable counterbalance can be maintained and the degree of freedom of movements of the medical apparatus can be easily adjusted according to the purpose of users.

Disclosed is a mechanical teleoperated device comprising i) a handle (30) placed in a proximal part of the device, having a plurality of handle links interconnected by respective handle joints, ii) an end effector (31) placed in a distal part of the device, having a plurality of end-effector links interconnected by respective end-effector joints, iii) a transmission system arranged to kinematically connect the end effector to the handle such that movements of the end effector correspond to movements of the handle, comprising at least one arrangement of a plurality of rotatable elements (41a-d) coaxially mounted together about an axis and arranged to rotate independently from each other, b) first transmission means comprising driving elements (62a-c) which are arranged to actuate in rotation of the plurality of rotatable elements (41a-d) based upon movements of the handle, c) second transmission means comprising driven elements (63a-c) which are arranged to be driven by rotation of the plurality of rotatable elements resulting in movement of the end effector links, wherein the transmission system is configured for removably coupling together the first and second transmission means wherein each driven element is removably coupled to one corresponding rotatable element.

A surgical cutting and fastening instrument comprises an end effector that has a shaft coupled thereto that is coupled to a robotic system. A tool mounting portion includes an electric, DC motor connected to a drive train in the shaft for powering the drive train. A power pack that comprises at least one charge-accumulating device connected to the DC motor for powering the DC motor is provided.

A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.

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.

Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

A teleoperated surgical instrument comprises a housing configured to couple to a teleoperated manipulator and an elongated tube having a first end and a second end opposite the first end. The first end is mounted to the housing and the second end has one or more openings configured to deliver or receive a fluid at a surgical site. The instrument further comprises a flow control system in the housing. The flow control system includes a first tubular member coupled to the elongated tube and a first control element rotatable relative to the housing and the first tubular member. The first control element includes a receiving portion coupled to a shaft portion. The receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member.