Methods, non-transitory computer readable media, interface adapter devices, and surgical computing devices and systems that detect and analyze connectivity of an end effector to a robotic arm are disclosed. With this technology, an interface adapter device of a robotic arm includes a connectivity sensor that determines when an end effector is disconnected from the robotic arm to be used as a handpiece by a surgeon to carry out particular surgical task(s) associated with a surgical procedure. The interface adapter device can instruct the robotic arm to automatically enter an inactive state defined in a surgical plan for the surgical procedure upon detection of the disconnection. Upon reconnection of the handpiece, or installation of a different handpiece, the interface adapter device automatically facilitates readjustment of the robotic arm based on an active state (e.g., automated resumption of the surgical procedure) defined in a surgical plan for the surgical procedure.

An articulated arm for support of an extended flexible medical instrument includes: a segment rotationally mobile around an axis of rotation, where the mobile segment can either be rotationally locked or unlocked, a handgrip including: a distal holding part to be hand held, a proximal support part connecting the distal holding part to the remainder of the structure, and an actuator on the distal holding part locking and unlocking mobility of the segment in rotation around the axis. The locking and unlocking actuator extends over the main part of the length of the distal holding part such that: pressure of the user's hand griping the distal holding part directly creates contact with the actuator, sufficient for automatically unlocking mobility of the segment in rotation and release of the distal holding part terminates contact with the locking and unlocking actuator, sufficient for automatically locking mobility of the segment in rotation.

A mechanical arm assembly can include a link movable in space, an actuator, and a joint. The actuator can include a housing secured to the link and can include a cable within the housing, where the cable can be translatable relative to the housing and the link. The joint can include a main shaft, a main gear, a meshing gear, and a release plate.

Examples relate to a surgical microscope system and a corresponding apparatus, method and computer program. The surgical microscope system comprises one or more sensors for providing sensor information about a balance of the surgical microscope system. The surgical microscope system comprises one or more brakes for holding at least one component of the surgical microscope system in place. The surgical microscope system comprises a surgical microscope. The surgical microscope system comprises a processing module, configured to process the sensor information. The processing module is configured to determine an information about the balance of the surgical microscope system. In some embodiments, the processing module is configured to provide a warning to a user of the surgical microscope system based on the information about the balance of the surgical microscope system. The warning indicates danger of imbalance in the surgical microscope system. Alternatively or additionally, the processing module may be configured to control a release of the one or more brakes based on the information about the balance of the surgical microscope system.

Disclosed is an articulated support arm for an elongated flexible medical instrument, including: a segment rotating about an axis of rotation, a radial brake for preventing rotation of the segment about the axis of rotation, including: a supply of hydraulic fluid, a piston whose stroke along the direction of the axis of rotation, due to the pressure of the hydraulic fluid, prevents rotation of the segment about the axis of rotation, the piston being an annular piston having a hollow center about the axis of rotation, the supply of hydraulic fluid passing through the hollow center.

Connectors for connecting or linking one instrument or object to one or more other instruments or objects are disclosed herein. In some embodiments, a connector can include a first arm with a first attachment feature for attaching to a first object, such as a surgical access device, and a second arm with a second attachment feature for attaching to a second object, such as a support. The connector can have an unlocked state, in which the position and orientation of the access device can be adjusted relative to the support, and a locked state in which movement of the access device relative to the support is prevented or limited. Locking the connector can also be effective to clamp or otherwise attach the connector to the access device and the support, or said attachment can be independent of the locking of the connector.

Systems, methods, and devices are disclosed for holding devices for securing a surgical robotic device and a patient anatomy positioner to a support (e.g., in an operating room). A holding device comprises a carriage, an anchor component fixed to the carriage for attaching to the support, a patient stabilization connector extending from the anchor component for attaching to the patient positioner, and an elongate holder slidably mounted on the carriage for attaching to the robotic device, wherein, when the anchor component is attached to the support, the carriage and the patient stabilization connector are immobilized. The holding devices may also include a hydraulic cylinder interposed between the elongate holder and carriage and/or a horizontal linkage interposed between the elongate holder and the robotic device.

Disclose herein are embodiments related to a delivery system for performing a minimally invasive procedure, the system including one or more station legs configured to attach to an operating surface and a cross-beam connected to the one or more station legs and running from 0° to 45° relative to a top of the operating surface, wherein a distance between the operating surface and the cross-beam is adjustable. Additionally, an embodiment may have a first arm connected to the cross-beam, a second arm connected to the first arm, and an axial member connected to the second arm, the axial member comprising an axial joint. The delivery system may then be configured to advance to an internal target site using the axial joint while maintaining a stationary trajectory in relation to the internal target site with the delivery system trajectory is modifiable at the target site.

A medical observation apparatus including: an arm including a plurality of links connected to each other via a joint, the arm having at least three or more degrees of freedom implemented by a rotation operation about a rotation axis; an imaging device supported by the arm; and an arm controller that controls an operation of the arm. When a posture of the arm is in a predetermined state, and when a predetermined input for moving the arm about a rotation axis orthogonal to a second axis that is a second rotation axis from a side of the arm on which the imaging device is supported and a third axis that is a third rotation axis from the side of the arm on which the imaging device is supported is detected, the arm controller makes one of the links corresponding to the third axis rotate about the third axis.

A tool holder for use as a surgical assistant, the tool holder including: first and second beam members; a frame; at least one linkage member coupled to the frame and the first and second beam members; a mounting configuration to hold a tool, the mounting configuration being coupled to the first and second beam members; and a drive mechanism mounted with respect to the frame, wherein the at least one linkage member and the mounting configuration are coupled to the first and second beam members in a parallelogram configuration, the drive mechanism is configured to drive a tilt movement of the mounting configuration with respect to the frame by movement of the first beam member with respect to the second beam member to orient the mounting configuration to a tilt angle, and the drive mechanism is configured to drive a pan movement of the tool about a pan axis, the drive mechanism being further configured to orient the pan axis with respect to the frame dependent on the tilt angle.