A joint locking mechanism comprising: a locking gear rotatable about a rotation axis; a locking latch removably engageable with the locking gear and movable relative to the rotation axis between first and second latch positions; and a bias couplable to the locking latch such that the locking latch is biased towards the first latch position, wherein in the first latch position the locking latch is engaged with the locking gear such that the locking gear is locked in position relative to the rotation axis and in the second latch position the locking latch is spaced apart from the locking gear such that the locking gear is rotatable about the rotation axis.

A medical device may include a plurality of links reciprocally movable between a loose configuration having a first rigidity and a compact configuration having a second rigidity greater than the first rigidity, wherein application of a force to a distalmost link of the plurality of links when the plurality of links are in the loose configuration causes the plurality of links to change orientation relative to one another, and application of the force to the distalmost link when the plurality of links are in the compact configuration does not cause the plurality of links to change orientation relative to one another.

The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, iv) a control unit (300) configured to determine the pose of the cutting plane with respect to the target plane, to detect whether the cutting plane can be aligned with one target plane without changing the pose of the actuation unit, the control unit being further configured to, if the cutting plane cannot be aligned with the target plane, compute indication to a user to reposition the actuation unit with respect to the anatomical structure and, if the cutting plane can be aligned with the target plane, control the actuation unit (4) so as to bring the cutting plane into alignment with the target plane, v) a user interface coupled to the control unit, configured to indicate directions to a user to position the actuation unit with respect to the anatomical structure according to a pose allowing aligning the cutting plane with the target plane.

A computer-assisted device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send one or more first commands to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner, detect a disturbance in a point of interest of the computer-assisted device caused by each brake of the plurality of brakes as the brake is released, and send one or more second commands to the plurality of joints to compensate for the disturbance. In some embodiments, the one or more first commands prevent simultaneous release of two or more brakes of the plurality of brakes. In some embodiments, the one or more first commands cause brakes of the plurality of brakes to release within a predetermined time of each other.

A repositionable, lockable support arm assembly for surgical and other tools includes a base arm having a lower end and an upper end, a distal arm having a proximal end and a distal end, and a central joint, typically a rotational joint, directly or indirectly linking the upper end of the base arm to the proximal end of the distal arm. A lower joint, typically a spherical joint, is positioned at the lower end of the base arm, and an upper joint, also typically a spherical joint, is located at the distal end of the distal arm. A locking mechanism is coupled to the base arm at a location above the lower joint and is configured to simultaneously deliver locking forces to the lower joint, to the rotational joint, and to the upper joint. The kicking mechanism usually includes a powered, bilateral force generator for actuating the locking mechanism.

A quick insertion-and-removal device comprises: a base connected to a surgical instrument; an outer sheath limiting assembly comprising a limiting element capable of moving relative to the base, wherein the limiting element is configured to lock or unlock an outer sheath; a push-rod limiting assembly comprising a sliding sleeve capable of moving relative to the base to lock or unlock a push rod; and a mounting-dismounting control assembly comprising a joint unlocking member, wherein the joint unlocking member is connected to the sliding sleeve and can drive the sliding sleeve to move, relative to the base, to a position where the push rod is unlocked, and in this position, the joint unlocking member is engaged with the limiting element and can unlock the outer sheath.

Described herein is a device and method used to effectively remove volume inside a patient in various types of surgeries, such as spinal surgeries (e.g. laminotomy), neurosurgeries (various types of craniotomy), ENT surgeries (e.g. tumor removal), and orthopedic surgeries (bone removal). Robotic assistance linked with a navigation system and medical imaging it can shorten surgery time, make the surgery safer and free surgeon from doing repetitive and laborious tasks. In certain embodiments, the disclosed technology includes a surgical instrument holder for use with a robotic surgical system. In certain embodiments, the surgical instrument holder is attached to or is part of an end effector of a robotic arm, and provides a rigid structure that allows for precise removal of a target volume in a patient.

The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) having a serial architecture comprising from three to five motorized degrees of freedom, at least two of said motorized degrees of freedom being rotational degrees of freedom about respective rotation axes that are substantially orthogonal to each other, configured for adjusting a position and orientation of the cutting tool relative to each target plane, —a planar mechanism connecting the last segment of the actuation unit to the cutting tool; (ii) a passive articulated lockable holding arm (5) supporting the actuation unit (4); (iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, (iv) a control unit (300) configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

Disclosed herein is an articulated support device. The articulated support device is formed to include a plurality of links connected to each other. A device stand is detachably coupled to the front end of the articulated support device and the rear end of the articulated support device is fixedly coupled to a structure detachably. The connection portions of the plurality of links are fixed not to move relative to each other or the connection portions are released to be rotatable relative to each other through an operation of a handle part provided on a front side of the articulated support device. The articulated support device includes a plurality of rotation and fixing units. Each of the plurality of rotation and fixing units includes a front link connection adapter, a wire central binding portion, a rotation regulation portion, a casing pipe, and an inner connection pipe.

A medical device support system including a central shaft, an extension arm, and a brake assembly. The extension arm has a support for a medical device and a hub at its proximal end mounted to the central shaft for pivotable movement about the central shaft. The brake assembly is secured in the hub for rotation therewith and includes first and second discrete arc shape clamp pieces configured to flex toward and away from each other to respectively increase and decrease a frictional braking force to the central shaft. The hub includes a hub access opening configured to allow passage therethrough of at least one of the arc shape clamp pieces.