A surgical robotic arm (100) includes a presurgical positioning assembly (10), a telecentric manipulating assembly (20) and an executing assembly (30); the telecentric manipulating assembly (20) includes a static platform (21), a first movable platform (22) and a plurality of first telescopic elements (23) disposed between the static platform (21) and the first movable platform (22); the executing assembly (30) has a preset telecentric fixed point; coordinated extension and retraction among the plurality of first telescopic elements (23) is capable of controlling the first movable platform (22) to move relative to the static platform (21) and drive the executing assembly (30) to extend and retract and swing; a swing center of the executing assembly (30) is the telecentric fixed point; and a telescopic path of the executing assembly (30) passes through the telecentric fixed point.

An atherectomy system includes a drive mechanism that is adapted to rotatably actuate an atherectomy burr and a controller that is adapted to regulate operation of the drive mechanism. In some cases, the drive mechanism includes a drive cable that is coupled with the atherectomy burr and a drive motor that is adapted to rotate the drive cable. The controller is adapted to receive an indication of an increase in torque experienced at the atherectomy burr and is further adapted to, in response, regulate operation of the drive mechanism such that the increase in torque results in a noticeable reduction in speed of the drive mechanism such that a user of the atherectomy system notices the reduction in speed and is alerted to the increase in torque.

A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

An electrosurgical system comprising: a plurality of electrosurgical connection units, each electrosurgical connection unit comprising an input port connectable to an electrosurgical channel and an output port connectable to an electrosurgical instrument, the electrosurgical connection unit configured to connect the input port to the output port; an electrosurgical network comprising a plurality of electrosurgical links that connect the input ports of the electrosurgical connection units to an electrosurgical channel; and a control unit configured to: receive information from a device indicating that the device has detected an electrosurgical generator connected to the electrosurgical channel, the device being one of the electrosurgical connection units and an electrosurgical output device connected to the electrosurgical channel; determine a location of the electrosurgical generator in the electrosurgical network based on the received information; and transmit one or more control signals to the electrosurgical connection units and/or one or more electrosurgical output devices connected to the electrosurgical channel to cause the output port of a selected combination of electrosurgical connection units to be connected to the electrosurgical channel based on the determined location of the electrosurgical generator.

Proposed are an apparatus and method for spinal surgery planning, the spinal surgery planning method including: acquiring a two-dimensional (2D) spinal image of a patient through a medical imaging apparatus; calculating a registration relationship between coordinates in an image space and coordinates in a surgical space by registering the image space for the spinal image and the surgical space where spinal surgery is performed on the patient; generating a virtual three-dimensional (3D) figure in the surgical space; projecting the 3D figure onto the spinal image based on the registration relationship; adjusting the 3D figure so that the 3D figure can correspond to a predetermined landmark on the spinal image; and setting an insertion position and insertion path of a spinal prosthesis based on the spinal image and the 3D figure.

In one embodiment, a medical image processing apparatus includes: processing circuitry configured to extract 3D blood vessel data of an object from 3D image data of the object, detect a tip position of a medical device moving in a blood vessel in real time from a fluoroscopic image of the object inputted during an operation, and calculate at least one of a recommended route and a recommended direction of the medical device from the 3D blood vessel data, a rough route of the medical device, and the tip position of the medical device; and a terminal device configured to display a 3D blood vessel image of the object generated from the 3D blood vessel data and to designate the rough route of the medical device on the 3D blood vessel image.

A navigation, tracking and guiding system for the positioning of operatory instruments inside the body of a patient. The system includes a control unit, a viewer and detecting means for determining the spatial position of the viewer. The system further includes a sensor associated to an operatory instrument and insertable inside the internal portion of the body of the patient. The control unit is configured to project on the viewer an image of the state of the internal portion.

There is provided is a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.

A harmonized operation of a plurality of medical support arms is controlled more accurately. There is provided a medical system including an operation control unit configured to control, on the basis of information regarding a movable range (300a) of a first medical support arm (10a) being a control target, information regarding the movable range (300b) of a second medical support arm (10b) to be used together with the first medical support arm (10a), and a space position of a working point (Pa) in the first medical support arm (10a), an operation of the working point (Pa).