A method of priming a surgical instrument, wherein the surgical instrument includes a shaft assembly including a lumen, and a valve assembly. The valve assembly includes a first inlet configured to receive the fluid from a fluid source, a second inlet configured to receive a suction from a vacuum source, an outlet in fluid communication with the lumen, a valve chamber, and at least one valve plug. The method includes activating the fluid source to provide the fluid to the first inlet, activating the vacuum source to provide the suction to the second inlet, transitioning the at least one valve plug from a first position to a second position, and transferring a first portion of the fluid from the first inlet toward the vacuum source through the second inlet thereby priming the surgical instrument.

A suction and irrigation valve for a robotic surgical system includes a shaft assembly, a rotary drive, and a valve assembly. The valve assembly is operatively connected to the rotary drive member and includes a valve body and a valve plug. The valve body has a first fluid inlet, a second fluid inlet, and an outlet. The valve plug is received with the valve body and is configured to rotate about a plug axis relative to the valve body to a first position, a second position, and a third position. The valve plug has at least a first conduit configured to selectively fluidly communicate with each of the outlet and at least one of the first or second fluid inlets.

A joint clamp for a surgical retractor system includes clamps, a cam bolt, and a cam lever. The cam bolt passes through the clamps. A cam lever comprising a cam head pivotally attached an upper portion the cam bolt to permit rotation about a pivot axis that is perpendicular to a longitudinal axis of the cam bolt. The cam head includes an outer surface that results in a distance between the pivot axis and an upper surface of the clamps being greater when the cam lever is rotated about the pivot axis to a clamping position than when the cam lever is rotated about the pivot axis to a non-clamping position. The clamping force may be calibrated or set via a cam bolt having an adjustable length and/or via a setting screw.

Example embodiments relate to robotic arm assemblies. Embodiments of the robotic arm assembly include a shoulder segment and upper arm segment having a motor drive portion. Embodiments also include a shoulder coupling joint assembly connecting the upper arm segment to the shoulder segment. Shoulder coupling joint assembly includes a distal shoulder joint subassembly connected to the upper arm segment. The distal shoulder joint subassembly includes a distal shoulder joint forming a first axis. The distal shoulder joint subassembly includes a shoulder planetary gear assembly. Embodiments include an elbow coupling joint assembly connecting the upper arm segment to the forearm segment. The elbow coupling joint assembly includes a proximal elbow joint subassembly connected to the upper arm segment. The proximal elbow joint subassembly includes a proximal elbow joint forming a second axis. The proximal elbow joint subassembly includes an elbow planetary gear assembly.

Systems, methods, and devices are disclosed for holding devices for securing a surgical robotic device and a patient anatomy positioner to a support (e.g., in an operating room). A holding device comprises a carriage, an anchor component fixed to the carriage for attaching to the support, a patient stabilization connector extending from the anchor component for attaching to the patient positioner, and an elongate holder slidably mounted on the carriage for attaching to the robotic device, wherein, when the anchor component is attached to the support, the carriage and the patient stabilization connector are immobilized. The holding devices may also include a hydraulic cylinder interposed between the elongate holder and carriage and/or a horizontal linkage interposed between the elongate holder and the robotic device.

Disclose herein are embodiments related to a delivery system for performing a minimally invasive procedure, the system including one or more station legs configured to attach to an operating surface and a cross-beam connected to the one or more station legs and running from 0° to 45° relative to a top of the operating surface, wherein a distance between the operating surface and the cross-beam is adjustable. Additionally, an embodiment may have a first arm connected to the cross-beam, a second arm connected to the first arm, and an axial member connected to the second arm, the axial member comprising an axial joint. The delivery system may then be configured to advance to an internal target site using the axial joint while maintaining a stationary trajectory in relation to the internal target site with the delivery system trajectory is modifiable at the target site.

The present invention provides a supporting hook structure, comprising a sleeve, a fixing rod, a first limit unit, a hook and a fixing device. The fixing rod is connected to the side surface of the sleeve. The hook body is connected to one end of the sleeve. The first limit unit is arranged on the side surface of the sleeve and adjacent to the hook body. The first limit unit makes the hook body rotates with the axis direction of the sleeve as a rotation axis. The fixing device is connected to the other end of the sleeve to fix the rotating position of the hook body. Through the above, the hook part enters the proximal thigh from a surgical entrance and the hook part rotates to make the hook part abut against the proximal femur to complete the positioning and fixation of the femur hook structure to the femur.

The present invention relates to holding equipment at an operating table. In order to removably provide equipment at a patient support, a holding device (10) is provided that comprises an accessory rail (12) and at least a first portion (14) of a coupling is provided. The accessory rail is configured as an attachment interface (16) for temporal attachment of equipment (18) at a patient support (20). The accessory rail is rigidly connected to the first portion of the coupling. The first portion of the coupling is configured to provide, in interaction with a second portion (22) of the coupling, a movable connection for connecting the accessory rail to a patient support, wherein the movable connection is configured to provide a horizontal sliding movement of the accessory rail in relation to the patient support. The provision of a movable connection allows, for example, to temporarily move or even remove the accessory rail together with mounted equipment. For example, during an intervention procedure, for certain phases, the equipment is not needed or a different configuration is needed, and wider access to the patient is required. The equipment can then easily be removed and put back in place.

A head-holder support for attaching a medical head-holder to a patient table is provided that has a rigid base body, an adjustable and lockable head-holder interface at the base body, which is adapted to adjustably couple the head-holder to the base body by providing at least three degrees of freedom for the spatial relative position between the head-holder and the base body, wherein the at least three degrees of freedom are lockable so as to establish a rigid coupling between the head-holder and the base body, and at least one robotic arm interface at the base body, which is adapted to provide a rigid coupling between a robotic arm and the base body.

A surgical instrument assembly includes a support frame system, and a surgical tool engageable with the support frame system. The support frame system is adapted for providing a surgical tool attachment and articulation locus that is maintained during the course of a surgical procedure to direct a fixed and repeatable delivery path for introduction and manipulation of one or more surgical instruments and implants at a surgical site in or on the patient's anatomy. The delivery path can be substantially curvilinear along an arc that is defined by a radius of curvature and length defined by the surgical tool, and a predetermined range of articulation of the tool at the articulation locus.