A control device controls non-excitation-actuated electromagnetic brake operation. The control device includes an electronic component having a characteristic that when an inter-terminal voltage of two electrodes is equal to or higher than a predetermined voltage, a resistance value is lower than when the voltage is lower than the voltage and a diode disposed such that a cathode is on a side having a higher potential than an anode. The coil in the non-excitation-actuated electromagnetic brake and the electronic component are connected in series to form a first series circuit, the first series circuit and the diode are connected in parallel, and the electronic component is connected in series with the coil provided in the non-excitation-actuated electromagnetic brake so as not to be conducted when the inter-terminal voltage is lower than the predetermined voltage, but to be conducted when the inter-terminal voltage becomes equal to or higher than the predetermined voltage.

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 retractor mounting assembly including an end-effector having a body extending between first and second faces. The first face is configured for attachment to an interface plate on the robotic arm of a surgical robot. The second face defines an arm mount. An arm extending between first and second ends with the first end configured for attachment to the end-effector arm mount and the second end providing a retractor mount configured for supportive attachment of a retractor.

The invention relates to a holding device 020 for human-medicine or veterinary-medicine applications comprising: a joint between a proximal holding segment 001 and a distal holding segment 017; wherein one axially displaceable thrust element 002, 016 in each case is arranged in the holding segments 001, 017; wherein the joint has a tightening bolt, which defines the pivoting and tightening axis, and has deflection elements, by means of which a thrust force, acting relative to the axis, of the proximal thrust element 002 is deflectable to lock the joint onto the tightening axis and to displace the distal thrust element 016; and wherein the deflection elements comprise at least one ramp system with a wedge body 008. The invention further relates to a holding system comprising the specified holding device and a method for locking the joint of the specified holding device 020.

A surgical apparatus includes a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, and a rigidizing member. The shaft extends distally from the body assembly and defines a longitudinal axis. The acoustic waveguide includes a flexible portion. The articulation section is coupled with the shaft. A portion of the articulation section encompasses the flexible portion of the waveguide. The articulation section includes a first member and a second member. The second member is longitudinally translatable relative to the first member. The end effector includes an ultrasonic blade in acoustic communication with the waveguide. The rigidizing member is configured to selectively engage at least a portion of the articulation section to thereby selectively provide rigidity to the articulation section.

A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

A system for electromagnetic navigation in dental implant placement may include an electromagnetic tracking system that may be configured to track positions and orientations of a plurality of electromagnetic sensors. An exemplary electromagnetic tracking system may include a field generator that may be attached to a dental unit utilizing a positioning arm. An exemplary system may further include a control unit that may be coupled to the electromagnetic tracking system and the positioning arm. The control unit may be configured to receive the tracked positions of the plurality of the electromagnetic sensors from the electromagnetic tracking system and to adjust at least a position or an angular orientation of the field generator to maintain the plurality of the electromagnetic sensors within a volume of interest within the tracking volume.

Particular embodiments disclosed herein provide a joint of a tray arm assembly, comprising a joint body, a shaft configured to rotate relative to the joint body about a longitudinal axis of the shaft, and a slip clutch assembly, comprising a clutch stack, including a plurality of first clutch plates keyed to the shaft and a plurality of second clutch plates keyed to the joint body. The clutch stack further comprises a spring configured to selectively exert a force on the clutch stack, wherein the force compresses the clutch stack causing a friction between the plurality of first clutch plates and the plurality of second clutch plates with respect to a rotation of the shaft relative to the joint body.

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.

The invention relates to a surgical robotic system (1) to reach a plurality of surgical targets inside a target space, said system comprising: —a robotic arm (4) having at least six degrees of freedom, the robotic arm comprising a base (40) located at a proximal end and a plurality of consecutive segments interconnected by a plurality of joints extending from the base (40) to a distal end, and said robotic arm having a first joint center (0) between the base (40) and the first segment (41), —an end effector (5) for holding a medical device such as a surgical instrument or a surgical tool guide, said end effector being mechanically coupled to the robotic arm distal end, —a movable cart (2) having a frontal side (20) comprising at least one frontal surface configured to be placed against a side (60) of an operating table (6), defining a horizontal axis (Ax) with a direction (x) orthogonal to the frontal surface and an origin point A located on the frontal surface such that all points located on the movable cart side have a negative coordinate on said axis (Ax), and all points located on the operating table side have a positive coordinate on said axis (Ax), —a rigid elongated neck (3) comprising a proximal end mechanically coupled to the movable cart and a distal end mechanically coupled to the base (40) of the robotic arm, —a control unit (7) configured to controllably move the robotic arm, characterized in that the neck (3) is configured such that the coordinate (K) of the first joint center (0) on the axis (Ax) is strictly positive.