A joint clamp for a surgical retractor system includes clamps, a cam bolt, and a cam lever. The cam bolt passes through the clamps. A cam lever comprising a cam head pivotally attached an upper portion the cam bolt to permit rotation between a locked position and an unlocked positions. The joint clamp may include springs which provide a scissors clamp of the clamps with a clip-on feature in which the scissors clamp may clipped-on and clipped-off an object such as a frame member, table post, or retractor handle. The springs may further prevent or reduce a rising movement of the clamps when the cam lever rotates from an unlocked state to a locked state.

Disclosed herein are embodiments of methods of using stabilizers for use in delivering a replacement heart valve. The stabilizers can receive a portion of a delivery system, such as a handle, to prevent unwanted motion of the delivery system. The stabilizer can include a linear actuator for adjusting a position of the delivery system once held within the stabilizer.

Retractor holding frames and related methods are provided. The frame includes a support body including a first bore extending transversely from a first side of the support body to a second side of the support body opposite the first side, and a second bore extending transversely from the second side to the first side. The frame includes a left support frame arm including a first annular hub configured to be disposed within the first bore and a first plurality of posts disposed along an outer edge of the left support frame arm configured to retain a first retractor in a first orientation. The frame includes a right support frame arm including a second annular hub configured to be disposed within the second bore and a second plurality of posts disposed along an outer edge of the right support frame arm configured to retain a second retractor in a second orientation.

A vaginal speculum that includes a fixed blade and a movable blade. The movable blade designed to be extended or retracted as required in order to adjust to the length of the vaginal canal of the patient undergoing surgery. A vaginal speculum is further designed with a blade angle mechanism and a blade pivoting mechanism that allows and controls the angle and rotation of the blades in relation to its base. Vacuum connection and a light can also be provided.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

A surgical adaptor comprises a first member is attachable to a first surgical instrument having a projection that defines an axis, A second member is attachable to a second surgical instrument such that the second surgical instrument is movable in at least two degrees of freedom relative to the axis. Surgical systems, instruments and methods are disclosed.

In some embodiments, an apparatus can include a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a table top on which a patient can be disposed. The arm cart can include an arm container and a base. The arm container can be configured to receive and contain one or more robotic arms. The arm cart can include a first coupling member configured to engage with a second coupling member associated with a surgical table such that, when the first coupling member is engaged with the second coupling member, the one or more robotic arms can be releasably coupled with the surgical table. The arm cart can provide for movement of the one or more robotic arms in at least one of a lateral, longitudinal, or vertical direction relative to the table top prior to the securement of the one or more robotic arms to the surgical table.

In some embodiments, an apparatus can include a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a table top on which a patient can be disposed. The arm cart can include an arm container and a base. The arm container can be configured to receive and contain one or more robotic arms. The arm cart can include a first coupling member configured to engage with a second coupling member associated with a surgical table such that, when the first coupling member is engaged with the second coupling member, the one or more robotic arms can be releasably coupled with the surgical table. The arm cart can provide for movement of the one or more robotic arms in at least one of a lateral, longitudinal, or vertical direction relative to the table top prior to the securement of the one or more robotic arms to the surgical table.

A master workstation for a surgical robotic system suitable for being located within a sterile operatory field includes an ungrounded master input handle suitable for being hand held by a surgeon during surgery for controlling a slave robotic assembly of the surgical robotic system; a console; a sterile drape draping at least a portion of the console; and at least one sterile holder, wherein the at least one sterile holder includes at least one cavity and at least one resting element within the cavity suitable for the master input handle to rest thereon when the master input handle is not hand held.

A device for securing an ablation tool may have a backbone and a securing portion including a body and a cover, the body slides along the backbone to a lower position and then the cover affixedly receives a head member of the ablation tool. In another version, a leg portion is removably attachable to the securing portion and an upper portion projects out of the opening in the body portion from above and removably attaches to the leg portion that fits into the opening from below. In another version, a rotatable securing portion has a first portion pivotably connected to the leg portion, a second portion affixedly receive the head member when the securing portion rotates closed and a third portion affixedly attaches to the leg portion when the securing portion rotates closed. If the head member does not fit with the cover, a one-piece or two-piece adaptor is used.