An apparatus for measuring eyelid tension includes: a cylindrical body; a measuring sensor formed on an outer circumferential surface of the body; and a contact part formed at a longitudinal distal end of the body to come into contact with the body of a person to be measured.

In a surgical robot, a robot controller controls an articulated robot so that an arm base rotationally moves in an arc shape around a predetermined position set at a position away from the arm base.

Devices, Systems, and Methods for controlled movement of the robot system. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The robot may include a plurality of omni-directional wheels affixed to the robot base allowing multiple-axis movement of the robot. The robot may further include sensors for detecting a desired movement of the robot base and a control system responsive to the plurality of sensors for controlling the multiple-axis movement of the robot by actuating two or more of the plurality of omni-directional wheels.

A method, apparatus and computer readable medium for schematically representing a spatial position of an instrument used in a robotic surgery system is disclosed. The instrument includes an end effector coupled to a positioning device for spatially positioning the end effector in a surgical workspace in response to input signals generated by movement of a hand controller of an input device in an input device workspace. The method involves causing a processor circuit to calculate a current three-dimensional spatial position of the instrument within the surgical workspace for current input signals received from the input device. The method also involves causing the processor circuit to generate display signals for displaying a graphical depiction of the surgical workspace on a display in communication with the processor circuit, the graphical depiction including a planar representation includes an instrument movement region having a boundary indicating limitations to transverse movement of the instrument within the surgical workspace, and a two-dimensional projection of the current spatial position of the positioning device and the end effector onto the planar representation.

Provided are robotic systems and methods for navigation of luminal network that detect physiological noise. In one aspect, the system includes a set of one or more processors configured to receive first and second image data from an image sensor located on an instrument, detect a set of one or more points of interest the first image data, and identify a set of first locations and a set of second location respectively corresponding to the set of points in the first and second image data. The set of processors are further configured to, based on the set of first locations and the set of second locations, detect a change of location of the instrument within a luminal network caused by movement of the luminal network relative to the instrument based on the set of first locations and the set of second locations.

Haptic feedback from a robotic surgical tool can be adjusted based on intra-operative assessment of the accuracy of a pre-operative surgical navigational plans. Navigational reference points are identified in at least one pre-operative image. At least one haptic response is identified for interactions between at least one robotic surgical tool and at least one navigational reference point. At least one intra-operative image is compared to the pre-operative image to determine the relative position of at least two corresponding navigational reference points in the images. The reference points' relative position determines a confidence level in the accuracy of the pre-operative navigational reference point. The haptic response is adjusted in timing, location, type, or amplitude based upon the confidence level. Tolerances and surgical navigation plan may also be updated and altered based on the confidence level.

A controller includes an attachment member and an interface. The attachment member is configured to secure the controller to a hand of a clinician. The interface includes a first controller that is configured to operate an imaging device of a surgical system. The controller can secure about a finger of a clinician and be engagable by a thumb of the same hand of the clinician. Alternatively, the controller can be disposed in a palm of a hand of a clinician and engaged by a finger of the hand.

A method of scaling a desired velocity of a tool of a surgical robot with a processing unit includes receiving an input signal, determining a position of the tool relative to a boundary of a surgical site, and scaling a desired velocity of movement of the tool when the tool is within a predetermined distance of the boundary of the surgical site. The input signal includes the desired velocity of movement of the tool.

An input control device can be configured to operate in different modes depending on proximity data provided by a proximity detection system. The input control device can include a feedback generator configured to generate feedback in response to the input control device switching between operational modes, the proximity data provided by the proximity detection system, and/or other conditions of the surgical procedure, robotic surgical tool, surgical site, and/or patient. The input control device can include a variable resistance assembly for resisting input control motions applied to an actuator thereof. Additionally or alternatively, the input control device can include an end effector actuator assembly for repositioning the end effector actuator based on feedback from a paired robotic surgical tool.

A remote ophthalmic system may include an examination device having a first processor, a robotic arm coupled to the first processor, an ophthalmic laser device, and a lens coupled to a distal end of the robotic arm and having one of a gonioscopy lens and a transequator lens. The one of the gonioscopy lens and the transequator lens may direct the ophthalmic laser device to different areas in an eye of a patient which are not accessible without the lens. The remote ophthalmic system also may include a remote control device being associated with a user being in communication with the examination device. The first processor may be configured to perform an ophthalmic procedure on the patient by applying the ophthalmic laser device based upon target values, and by positioning the lens via the robotic arm onto an eye of the patient to direct a laser beam from the ophthalmic laser device into portions of the eye of the patient.