Various stabilizing systems and devices are described for holding and maneuvering medical devices. Some systems and devices include a channel and one or more clamps. The one or more clamps can include one or more of a foot and a movable retaining flange for securing the position of the clamp in the channel.

Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors.

Embodiments herein are generally directed to surgical retractor systems. In some embodiments, these retractor systems may be used in spinal fusion or other procedures that utilize a transforaminal approach.

A medical device or catheter management system comprises several layers where a top layer has one or more channels to receive one or more elongated medical devices or members and a bottom layer comprises adhesive to secure the catheter management system to a patient or other secure site in the operating field. A firm upper surface causes the elongated medical devices or members to stay in the channels, whereas a firm inner layer facilitates maintaining the shape of the catheter management system and providing resistance for an operator to easily release an elongated medical device or member.

Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more objects detected within a vicinity of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more objects detected by the one or more sensors within the vicinity of the first kinematic chain.

A stabilizing unit for a medical device includes a base member, a housing, a stabilizing fork, one or more springs, and a retaining arm. The housing has a lower housing portion and an upper housing portion connected to the lower housing portion. The lower housing portion is disposed in a laterally extending slot of the base member. The stabilizing fork is disposed in the upper housing portion. The one or more springs extend into the stabilizing fork. The retaining arm is slidably coupled to the upper housing portion. The retaining arm retains the stabilizing fork in the upper housing portion.

An optical shape sensing (OSS) system includes a launch fixture configured to receive and secure an optical fiber within a flexible OSS enabled instrument, where the launch fixture includes a docking interface; a launch fixture base configured to be connected to a support structure; and a docking device configured to secure the launch fixture onto the launch fixture base. The docking device includes a launch fixture slot passing through the docking device, and the launch fixture slot is configured to receive and secure the docking interface of the launch fixture through both a top side of the docking device and an opposing bottom side of the docking device.

An optical shape sensing (OSS) system includes a launch fixture configured to receive and secure an optical fiber within a flexible OSS enabled instrument, where the launch fixture includes a docking interface; a launch fixture base configured to be connected to a support structure; and a docking device configured to secure the launch fixture onto the launch fixture base. The docking device includes a launch fixture slot passing through the docking device, and the launch fixture slot is configured to receive and secure the docking interface of the launch fixture through both a top side of the docking device and an opposing bottom side of the docking device.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.