A navigation arm system for supporting a navigation device of a navigation system, capable of coupling with a navigation display cart, the navigation arm system involving: an arm assembly configured to position the navigation device, the arm assembly including a first arm linkage having a tension adjustment feature and releasably connectable to the navigation device; a second arm linkage capable of connecting the arm assembly to the navigation display cart; and at least one joint coupling at least the first and second arm linkages; and a locking mechanism configured to maintain a disposition of the arm assembly in relation to the navigation display cart in a locked stored position and a unlocked deployed position, the locking mechanism configured to lockably couple the arm assembly in relation to the navigation display cart, the locking mechanism including a plurality of locking modes, whereby structural stability is providable

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information maybe stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

Systems and methods for maneuvering an endoscope are disclosed. The system includes: at least one first pivoting support that is pivotally attached to the endoscope and that permits the endoscope to pivot around at least one first axis of rotation; at least one second pivoting support that is in communication with the at least one first pivoting support and that is adapted to rotate around at least one axis that is substantially orthogonal to said first axis so as to permit the endoscope to rotate around an insertion point into a body in at least two orthogonal axes; and at least one controller attached to either the first or the second pivoting. The controller is adapted to provide a constant dynamic equilibrium between said endoscope and at least one of the pivoting supports.

A stand includes first to fourth links, first to fourth joints, a front link, first to fifth extension links, and first to fourth extension joints. The first to fourth links are arranged in a parallelogram configuration, wherein the first and third links are arranged on opposite sides and the second and fourth joints are arranged in a diagonal direction. The front link extends from the first link. The first extension link is rotatably connected to the second joint. The second extension link is rotatably connected to the first extension joint. The third extension link is rotatably connected to the second extension joint. The fourth extension link is arranged between the third extension joint and the fourth extension joint. The fifth extension link is arranged between the first joint and the second extension joint. The first, fourth, and fifth extension links are in parallel with one another.

A medical arm assembly according to embodiments disclosed includes: a remote joint where a remote point spaced forward from a reference point is located; a positioning arm section configured to support the remote joint, move the remote joint that a relative position of the remote point with respect to the reference point is changed in forward-and-rearward direction and upward-and-downward direction, and fix the relative position of the remote point with respect to the reference point; an operating arm section connected to the remote joint and configured to fix a surgery tool, rotate the surgery tool about a remote-rotation axis through the remote point in left-and-right direction, and move the surgery tool in a direction perpendicular to the remote rotation axis and through the remote point; and an arm supporting section where the positioning arm section and the operating arm section are supported by connecting and the reference point is located.

A load balancing arm for a medical device support system. The load balancing arm includes a proximal hub, an adjustable bearing element, a support arm, a spring and a link. A distal end of the support arm is configured to support a medical device load and a proximal end is pivotably mounted to a main bearing element for pivotable movement about a main pivot axis. The spring extends within a cavity of the support arm and is mounted to exert a biasing force between the main pivot axis and a distal end of the spring. The link has a proximal end pivotably mounted to the adjustable bearing element for pivotable movement about an adjustable pivot axis, and a distal end pivotably mounted to the distal end of the spring such that the biasing force exerted by the spring is transmitted through the link to the adjustable bearing element.

A positioning device for a robot includes an end effector, in particular a surgical end effector, which has a base and a flange to which the robot can be secured, wherein the flange is connected to the base by a kinematic system which has at least two joints. The flange can be adjusted from a first position relative to the base, in particular at least substantially on a circular path or straight line, to a second position by the kinematic system, the second position being spaced apart from the first position. An orientation means reorients the flange from a first orientation in the first position into a second orientation in the second position, the second orientation being rotated about a reference axis by at least 75 degrees, in particular relative to the first orientation, as a result of an adjustment from a first position into a second position.

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.

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 surgical tool is provided that includes a hollow shaft and a cable extending within the shaft such that the cable is isolated from external forces imparted to the shaft; the shaft and a carriage are included as links of a 4-bar linkage that also includes first and second side links that are rotatably mounted to the carriage at respective first and second distal pivot axes and that are rotatably mounted to the shaft at respective first and second proximal pivot axes; the segment of the cable extends between a distal pulley rotatably at the carriage and a proximal pulley rotatably mounted at the shaft and a segment of the cable extends within the shaft; a distance between the first distal and first proximal pivot axes matches a distance between an axis of the distal pulley axis and an axis of the proximal pulley such that a rocking motion of the 4-bar linkage due to external force upon the shaft exerts no force upon the cable.