Described herein is a surgical instrument guide for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the guide is attached to or is part of an end effector of a robotic arm, and provides a rigid structure that allows for precise preparation of patient tissue (e.g., preparation of a pedicle) by drilling, tapping, or other manipulation, as well as precise placement of a screw in a drilled hole or affixation of a prosthetic or implant in a prepared patient situation.

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 control system for a movement reconstruction and/or restoration system for a patient, comprising a CNS-Stimulation Module, especially an EES-Module, configured and arranged to provide CNS-Stimulation to a patient, and/or a PNS-Stimulation Module, especially an FES-Module, configured and arranged to provide PNS-Stimulation to a patient, a controller configured and arranged to control the CNS-Stimulation Module and/or the PNS-Stimulation Module, and at least one sensor configured and arranged to measure at least one parameter indicative of the movement of at least one limb and/or part of a limb of a patient.

A robotic surgical system can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports can be configured to attach to either a table, a column support of the table, or a base of the table to deploy the adjustable arm supports and robotic arms from a position below the table. In some examples, the adjustable arm supports include at least four degrees of freedom that allow for adjustment of the position of a bar or rail to which the robotic arms are mounted. One of the degrees of freedom can allow the adjustable arm support to be adjusted vertically relative to the table.

A method of operating a surgical tool includes mounting the surgical tool to a tool driver. The surgical tool includes one or more drive cables movable to actuate an end effector, and one or more segments are defined along a portion of at least one of the one or more drive cables and each segment exhibits a usage value. Usage of the drive cables is monitored with a computer system in communication with the tool driver, and the usage value of one or more of the segments is altered based on usage of the surgical tool.

To realize torque control based on an estimated external force and to cope with more various situations. 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 configured to support a medical unit; and a control device including an external force estimation unit configured 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 configured to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Systems and methods related to use of a measurement system in conjunction with a powered instrument for determination of the placement of a tool portion relative to the anatomy of a patient utilizing the powered instrument. The measurement system may include a displacement sensor that indicates the relative displacement of the tool portion relative to the anatomy. The system may also include a sensor for monitoring a tool drive signal representative of a tool drive parameter that is characteristic of the tool portion acting on the anatomy. The tool drive signal may be analyzed relative to a given amount of axial displacement as measured by the displacement sensor to avoid false indications of placement based on noise and or other artifacts in the tool drive signal that may result from characteristics of the anatomy and/or operational behaviors of the surgeon utilizing the instrument.

A surgical user interface system and methods, involving: an interface having at least one overlay element of: at least one menu bar, at least one tab, at least one sidebar, at least one window, at least one icon; at least one graphical control element, at least one haptic control element, and at least one voice control element, the interface configured to: communicate with at least one surgical system, the at least one surgical system having at least one of an imaging system, a guidance system, a control system, a tracking system, a navigation system, a drive system, and a voice recognition system; display information corresponding to at least one surgical parameter of the at least one surgical system; overlay a real-time streaming image from the imaging system; receive input by way of the at least one overlay element; transmit the input to the at least one surgical system; and update, in real-time, the at least one overlay element in response to a change in the at least one surgical parameter.

A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism configured to tension the pair of driving elements; and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.