Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

A medical handling device comprises an instrument holder for holding an observation instrument that is equipped with an image capturing unit for capturing an image section. The handling device further comprises a robotic handling unit that supports the instrument holder and a control device that comprises a handling control unit for controlling the robotic handling unit and an instrument control unit for controlling the observation instrument. An input device is coupled to the control device for selecting an image section to be reproduced. The control device is adapted to control the robotic handling unit in response to user inputs at the input device to change the captured image section. The control device is adapted to convert operating commands at the input device into movement instructions, depending on a present orientation of the image capturing unit.

A robot system includes a slave unit including a slave arm having a working end, a slave arm actuator configured to drive the slave arm, and a slave-side controller configured to control the slave arm actuator based on a slave operating command for defining a target position of the working end, a master unit including a master arm having a manipulation end into which the content of manipulation is inputted by an operator, and a system controller configured to generate the slave operating command based on the content of manipulation inputted into the manipulation end. When a command corresponding to the content of manipulation is a command corresponding to a limit equivalent range corresponding to a limit of operation of at least one of the slave arm and the master arm, the system controller performs processing to give perception to the operator.

Methods and systems are described for controlling movement and an applied force at the tip of the continuum robot that includes a plurality of independently controlled segments along its length. An estimated force at the tip of the continuum robot is determined based on measurements of loads and positions of each segment. A reference position command and a force command are received from a user interface. The reference position command indicates a desired movement for the distal end of the continuum robot and the force command indicates a desired force to be applied by the tip of the continuum robot to a tissue surface. The position of the continuum robot is adjusted to cause the tip of the continuum robot to apply the desired force to the tissue surface based on the estimated force at the tip of the continuum robot, the reference position command, and the force command.

In some aspects, a control algorithm is provided for manipulating a pair of articulation arms configured to control an articulation angle of an end effector of a robotic surgical instrument. Other aspects of the present disclosure focus on the robotic arm system, including the pair of articulation arms coupled to the end effector and guided by independent motors controlled by a control circuit. Each of the articulation arms are designed to exert antagonistic forces competing against each other that are apportioned according to a ratio specified in the control algorithm. The ratio of the antagonistic forces may be used to determine the articulation angle of the head or end effector of the robotic surgical arm.

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

In some aspects, a control algorithm is provided for manipulating a pair of articulation arms configured to control an articulation angle of an end effector of a robotic surgical instrument. Other aspects of the present disclosure focus on the robotic arm system, including the pair of articulation arms coupled to the end effector and guided by independent motors controlled by a control circuit. Each of the articulation arms are designed to exert antagonistic forces competing against each other that are apportioned according to a ratio specified in the control algorithm. The ratio of the antagonistic forces may be used to determine the articulation angle of the head or end effector of the robotic surgical arm.

A system receives data from a submersible remote operated vehicle (ROV), the data being about the operation of an arm of the ROV. The system automatically controls, based on the data, movement of the arm in docking the arm to a tool holder. In certain instances, the system implements an image based control. In certain instances, the system implements a force accommodation control. In certain instances, the system implements both.

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.