An end effector of a surgical robot, including a force/torque sensor module mounted to a robot arm, an end effector frame to which the force/torque sensor module is coupled, a clamping unit installed in the end effector frame, and a tool mounting unit detachably coupled to the end effector frame by the clamping unit and supporting a surgical tool. The end effector can help to rapidly and conveniently perform a surgical operation by the robot, thereby not only safely carrying out a surgical process but also easily and accurately gripping a surgical tool during the surgical operation and setting and keeping a location of the surgical tool and a surgical site.

The present disclosure relates to an arrangement (21, 71) for minimal invasive intervention, the arrangement (21, 71) comprising a rotation body (23, 73), a retaining device (25, 75) and at least one position sensor (27, 77, 79). The rotation body is adapted to receive a medical instrument (3, 5, 7, 9, 33), or the rotation body forms a part of a medical instrument (83). The medical instrument comprises a shaft (31, 81). At least a portion of a surface of the rotation body comprises a pattern (35, 87, 91). The retaining device is adapted to at least partly surround the rotation body, such that the rotation body is retained by the retaining device in a manner allowing rotational movement of the rotation body in relation to the retaining device. The at least one position sensor is adapted for determining a position in at least two coordinates of the pattern of the rotation body. The at least one position sensor is located at, in or on the retaining device. The disclosure further relates to a medical instrument (3, 5, 7, 9, 33, 83), a kit (63) comprising the arrangement, a system (65) for follow-up of a minimal invasive intervention and a method for determining a position of a medical instrument by means of the arrangement or kit.

The present disclosure relates to an arrangement (21, 71) for minimal invasive intervention, the arrangement (21, 71) comprising a rotation body (23, 73), a retaining device (25, 75) and at least one position sensor (27, 77, 79). The rotation body is adapted to receive a medical instrument (3, 5, 7, 9, 33), or the rotation body forms a part of a medical instrument (83). The medical instrument comprises a shaft (31, 81). At least a portion of a surface of the rotation body comprises a pattern (35, 87, 91). The retaining device is adapted to at least partly surround the rotation body, such that the rotation body is retained by the retaining device in a manner allowing rotational movement of the rotation body in relation to the retaining device. The at least one position sensor is adapted for determining a position in at least two coordinates of the pattern of the rotation body. The at least one position sensor is located at, in or on the retaining device. The disclosure further relates to a medical instrument (3, 5, 7, 9, 33, 83), a kit (63) comprising the arrangement, a system (65) for follow-up of a minimal invasive intervention and a method for determining a position of a medical instrument by means of the arrangement or kit.

A method of analysis using mass spectrometry and/or ion mobility spectrometry is disclosed comprising: (a) using a first device to generate smoke, aerosol or vapour from a target in vitro or ex vivo cell population; (b) mass analysing and/or ion mobility analysing said smoke, aerosol or vapour, or ions derived therefrom, in order to obtain spectrometric data; and (c) analysing said spectrometric data in order to identify and/or characterise said target cell population or one or more cells and/or compounds present in said target cell population.

A method of analysis using mass spectrometry and/or ion mobility spectrometry is disclosed comprising: (a) using a first device to generate smoke, aerosol or vapour from a target in vitro or ex vivo cell population; (b) mass analysing and/or ion mobility analysing said smoke, aerosol or vapour, or ions derived therefrom, in order to obtain spectrometric data; and (c) analysing said spectrometric data in order to identify and/or characterise said target cell population or one or more cells and/or compounds present in said target cell population.

A method for performing a surgical procedure on a patient using a robotic system and a navigation system. The robotic system includes a cutting tool. The navigation system has at least one locating device to track a portion of the patient during the surgical procedure. The navigation system provides information as to a position of the portion of the patient. An optical cutting guide is projected onto the portion of the patient to enable cutting of the portion of the patient with the cutting tool of the robotic system while the optical cutting guide is projected onto the portion of the patient.

Alignment instruments may include joint-line referencing systems having an alignment arm having a body with first and second portions defining first and second sides. The first portion has at least one first pin tube through-hole extending from the first to the second side. The second portion has a first opening on the first side. A pin tube guide member is receivable in the first through-hole. The pin tube guide member has a passageway therethrough. An angelwing alignment member includes a portion receivable in the first opening of the alignment arm. An alignment foot is secured to the second portion, and the alignment foot has a handle and a shim. The shim is positionable in a joint between a first bone and a second bone, the alignment arm is alignable relative to a first bone, and the pin tube guide is operable for securing a pin into the first bone.

Alignment instruments may include joint-line referencing systems having an alignment arm having a body with first and second portions defining first and second sides. The first portion has at least one first pin tube through-hole extending from the first to the second side. The second portion has a first opening on the first side. A pin tube guide member is receivable in the first through-hole. The pin tube guide member has a passageway therethrough. An angelwing alignment member includes a portion receivable in the first opening of the alignment arm. An alignment foot is secured to the second portion, and the alignment foot has a handle and a shim. The shim is positionable in a joint between a first bone and a second bone, the alignment arm is alignable relative to a first bone, and the pin tube guide is operable for securing a pin into the first bone.

System and methods are described herein for generating an injection guide, which include receiving one or more digital images of a body region of an individual, the body region including one or more physical registration landmarks, generating at least one digital representation of the body region using the one or more digital images, the at least one digital representation including one or more digital registration landmarks corresponding to the one or more physical registration landmarks on the body region, adding one or more digitally registered injection sites to the at least one digital representation of the body region in an injection-treatment pattern, the one or more digitally registered injection sites registered relative to the one or more digital registration landmarks, and generating one or more output signals having information for controlling one or more controllable light-emitting elements to illuminate a location on a surface of the body region of the individual corresponding in location to at least one of the one or more digitally registered injection sites.

System and methods are described herein for generating an injection guide, which include receiving one or more digital images of a body region of an individual, the body region including one or more physical registration landmarks, generating at least one digital representation of the body region using the one or more digital images, the at least one digital representation including one or more digital registration landmarks corresponding to the one or more physical registration landmarks on the body region, adding one or more digitally registered injection sites to the at least one digital representation of the body region in an injection-treatment pattern, the one or more digitally registered injection sites registered relative to the one or more digital registration landmarks, and generating one or more output signals having information for controlling one or more controllable light-emitting elements to illuminate a location on a surface of the body region of the individual corresponding in location to at least one of the one or more digitally registered injection sites.