The present disclosure provides a stabilizing unit for a medical device. The stabilizing unit includes a retaining arm having a surface configured to abut a surface of the medical device. The stabilizing unit also includes a stabilizing fork having a slot configured to receive the medical device. A biasing member is in contact with the stabilizing fork and is configured to urge the slot of the stabilizing fork towards the retaining arm. When the medical device is placed in the slot of the stabilizing fork, the basing member urges the stabilizing fork against an adjacent surface of the medical device, and an opposing surface of the medical device against the retaining arm.

Trocar components and methods of use are described, wherein the trocar components are configured to provide access to intraperitoneal space via the rectouterine pouch to surgical tools, which optionally include one or more surgical robot members. The surgical tools are optionally 5 mm or more in diameter. In some embodiments, a cannula part has a lumen sized to provide to a plurality of the surgical tools simultaneous transvaginal access to the intraperitoneal space via the rectouterine pouch. In some embodiments, an incision sized to receive a distal aperture of the cannula is created, optionally using one or two dilators. The dilators are sized to create (optionally starting from a puncture by a needle 2 mm in diameter or less) an oblong aperture. In some embodiments, the oblong aperture is at least twice as wide across a long diameter as across a short diameter.

A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of operation of the first end effector and a mode of operation of the computer-assisted device, and in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.

A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.

A computer-implemented medical data processing method for controlling a geometric status of a mechatronic articulable arm. Current geometric status data is acquired describing a current geometric status of the mechatronic articulable arm defined by a set of current spatial relationship between connected elements of the mechatronic articulable arm. Changed geometric status data describing a changed geometric status of the mechatronic articulable arm defined by a set of changed spatial relationship between the connected elements is determined based on current device position data, the current geometric status data, changed device position data, and device definition data. Instruction data describing an instruction for changing the geometric status of the mechatronic articulable arm from the current geometric status to the changed geometric status is determined. The instruction describes changes from the current spatial relationship to the changed spatial relationship.

The present application provides a passive holding device for handling a trocar and a modular surgical system. The passive holding device has a fastening device with a coupling portion. A pivoting mechanism is connected to the coupling portion via a rotary joint. The pivoting mechanism has two L-shaped branches arranged parallel to one another, each having a short leg that is connected to a long leg via a pivot joint. The short leg of the first branch is longer than the short leg of the second branch and is connected to the long leg via a rotary shaft. The trocar holder has a gripping device and has an instrument brake. A tilting brake is arranged at the coupling portion, operatively connected to the rotary joint, and a pivoting brake is arranged at the coupling portion operatively connected to at least one of the terminal pivot joints.

An endorectal cooling device holder is provided. The holder includes a base operable to be coupled to a surface, an arm extending from the base, and a receiver pivotably coupled with the arm. The receiver forms a receiving aperture operable to receive an endorectal cooling device and maintain the position of the endorectal cooling device.

A minimally invasive surgical device characterized by comprising: a manipulable handle (2) manipulated by a user inside a body cavity, a treatment part (3) that holds a specific swappable surgical instrument that is inserted into the body cavity and manipulated using the manipulable part, and a linking part (4), provided between the manipulable handle and the treatment part, for disposing the surgical instrument held by the treatment part in a desired orientation at a desired position within the body cavity. The linking part comprising: two or more connecting parts (7a, 7b, 8a, 8b) that are connected in series in the longitudinal direction of the linking part, and form a joint (7, 8) that enables rotation around the longitudinal axis or an axis orthogonal to the longitudinal axis; and a linking part control mechanism that moves the two or more connecting parts toward or away from each other to open or constrict the angle of the joint around the longitudinal axis and/or the angle thereof around an axis orthogonal to the longitudinal axis, thereby disposing the treatment part at the desired position and in the desired orientation within the body cavity.

A surgical support apparatus for supporting and positioning a patient's limb or an instrument during surgical procedures. The apparatus consists of an adjustable structural component which houses a separate hydraulic system used for locking and unlocking the structural apparatus. The structural component includes three lockable joints and two rigid support arms. Each joint houses a hydraulic piston and a locking ring. Hydraulic pressure is supplied to the joints by an electric motor and pump and is controlled by an electric circuit, pressure sensors and valves. When hydraulic pressure is applied, the pistons are activated, locking the joints. Hydraulic pressure can also be released to unlock the joints through a user control circuit. The structural component also includes a universal rail clamp to attach the device to a support structure and a distal quick connect for attachment of accessory devices.

A surgical manipulator device for positioning a surgical instrument has a frame, a first mount, a second mount, a first suspension arm arrangement supported on the frame and connecting the frame to the first mount in an articulated manner, and a second suspension arm arrangement supported on the frame and connecting the frame to the second mount in an articulated manner. The first and the second suspension arm arrangements are each displaceable relative to the frame in first and second motion planes parallel to each other and spaced apart, so that the first mount is displaceable in the first motion plane and the second mount is displaceable in the second motion plane.