A surgical alignment device including a base, a guide, and a plurality of linear actuators each extending between the base and the guide. The plurality of linear actuators include first ends connected to the base at base joints and second ends connected to the guide at guide joints. A locking arrangement is configured to simultaneously lock all of the base joints or simultaneously lock all of the guide joints

A motorized positioning arm is disclosed for positioning instruments, in particular medical instruments, wherein the motorized positioning arm includes at least two arm elements connected to one another so as to be pivotable about a pivot axis by means of a central joint. At least one of the arm elements includes a further joint at an end opposite to the central joint. The motorized positioning arm includes a blocking mechanism for blocking and releasing the central joint and the at least one further joint. The blocking mechanism includes a central shaft arranged coaxially with the pivot axis, and at least one transmission device from the central shaft to the at least one further joint. The blocking mechanism includes an electrical blocking device configured to engage with the central shaft to enable blocking and unblocking of the joints. The electrical blocking device is configured to move along the central shaft.

Systems, assemblies, devices, and methods for positioning surgical devices at surgical sites are disclosed. An adjustment assembly may include a first connector configured to connect to a surgical articulating arm and a second connector configured to connect to a tool, such as a surgical access tube. A joint assembly may be coupled to the first connector and an elongated assembly may be coupled to the joint assembly and the second connector. An actuator may be coupled to the joint assembly and may be adjusted to secure the elongated assembly in a desired position. One or more clips may be utilized with a surgical access tube to secure a surgical tool within a surgical access tube. The clip may have a single port or more than one port.

The present disclosure can include a system including a surgical arm, a retractor connected to the surgical arm, a force sensor mounted on the surgical arm, the force sensor configured to receive sensor data indicating force on the retractor from the force sensor, and a magnetorheological fluid actuator for actuating the surgical arm, the actuator configured to actuate according to the received sensor data, and adjust the surgical arm according to the received sensor data so as to maintain a constant retraction force. The present disclosure can additionally include a method for retracting tissue including applying force to the tissue with a magnetorheological fluid actuator to induce a retraction force, sensing a change in force applied to the tissue using a force sensor, and maintaining the retraction force by adjusting the force applied to the tissue.

Robotic and/or surgical devices, systems, and methods include a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator; inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold.

A surgical system comprising a steering tool and a powered tool. The steering tool includes a shaft defining a bore with a bendable section, an inelastic cable, and an elastic cable. The elastic cable may be arcuately spaced from the inelastic cable. The powered tool comprising a tube assembly with a tube flexible section, a working head, and a motor. The tube assembly is configured to be removably disposed through the shaft such that the tube flexible section is seated within the bore of the bendable section of the steering tool. The elastic cable is configured to be placed in tension, and the inelastic cable causes the shaft bendable section and the tube flexible section to bend towards the inelastic cable while the inelastic cable and the elastic cable remaining in tension to resist radial loading on the working head. Methods for using the surgical system are also disclosed.

[Object] To enable further suppression of the movement amount of an arm section when switching states. [Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

An immersive display for use in a robotic surgical system includes a support arm, a housing mounted to the support arm and configured to engage with a face of the user, at least two eyepiece assemblies disposed in the housing and configured to provide a three-dimensional display, and at least one sensor, wherein the sensor enables operation of the robotic surgical system, and wherein the support arm is actuatable to move the housing for ergonomic positioning.

A medical device holding apparatus having a first arm with a holding portion to hold a medical device; a second arm connected to the rotatable first arm; a base connected to the rotatable second arm and having a support shaft standing in a vertical direction; and a first counterweight portion connected to the second arm, wherein the second arm has a fulcrum around which the second arm is rotatable, and the first counterweight has a slit being connected to the proximal end portion of the second arm for guiding the proximal end portion of the second arm when the second arm is rotated around the fulcrum; and a guide for moving the first counterweight in the vertical direction after the guide receives a force generated when the proximal end portion of the second arm is guided and moved in the slit.

A medical observation device that includes a microscope that images a surgical site, a holding section that holds the microscope, a base section to which the holding section is connected, and an operation section that receives operating input, the operation section being provided at the base section, the holding section being configured as a balance arm provided with a counterweight, when the base section is viewed from an upper side of the medical observation device, the base section having a first area inside a movable range of the counterweight and a second area outside the movable range of the counterweight, the base end of the holding section being connected to the base section at a location in the first area, and the operation section being arranged at another location in the second area.