The present invention is directed at minimally invasive systems in which the proximal end portion of the working channel has either zero or a limited range of movement in the lateral direction. A first embodiment has a slidable collar attached to a pair of flanges, wherein movement of the collar is bounded by an annular frame. A second embodiment has a substantially spherical element attached to the tube. A third embodiment has a plurality of caps. A fourth embodiment is adapted for a larger working channel.

A stabilizing unit for a medical device includes a base member, a housing, a stabilizing fork, one or more springs, and a retaining arm. The housing has a lower housing portion and an upper housing portion connected to the lower housing portion. The lower housing portion is disposed in a laterally extending slot of the base member. The stabilizing fork is disposed in the upper housing portion. The one or more springs extend into the stabilizing fork. The retaining arm is slidably coupled to the upper housing portion. The retaining arm retains the stabilizing fork in the upper housing portion.

An optical shape sensing (OSS) system includes a launch fixture configured to receive and secure an optical fiber within a flexible OSS enabled instrument, where the launch fixture includes a docking interface; a launch fixture base configured to be connected to a support structure; and a docking device configured to secure the launch fixture onto the launch fixture base. The docking device includes a launch fixture slot passing through the docking device, and the launch fixture slot is configured to receive and secure the docking interface of the launch fixture through both a top side of the docking device and an opposing bottom side of the docking device.

The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods.

Described herein are systems and methods for aligning an elongate member with an access site. An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient may include a longitudinal support rail and support arms coupled with and extending from the longitudinal support rail to form an alignment joint. One or more of the support arms may be configured to maintain the alignment of the elongate member with the access site during a surgical procedure. A method of aligning an elongate member with an access site may include determining a position of a stabilizer of an alignment joint and the access site on a patient, coupling the stabilizer to the access site on the patient, and automatically aligning the instrument driver with the stabilizer on the patient.

Systems and methods for a teleoperational system and control thereof are provided. An exemplary system includes a first manipulator configured to support an instrument moveable within an instrument workspace, the instrument having an instrument frame of reference, and includes an operator input device configured to receive movement commands from an operator. The system further includes a control system to implement the movement commands by comparing an orientation of the instrument with an orientation of a field of view of the instrument workspace to produce an orientation comparison. When the comparison does not meet certain criteria, the control system causes instrument motion in a first direction relative to the instrument frame in response to a movement command. When the comparison meets the criteria, the control system causes instrument in a second direction relative to the instrument frame in response to the movement command. The second direction differs from the first direction.

The systems and methods disclosed herein are directed to robotically controlling a medical device to utilize manual skills and techniques developed by surgeons. The system can include an emulator representing a medical device. The system can include at least one detector configured to track the emulator. The system can also include an imaging device configured to track the medical device. The system may be configured to move the medical device to reduce an alignment offset between the location of the emulator and the location of the medical device, to move the imaging device based on the translational movement of the emulator, and/or to move the medical device based on data indicative of an orientation of the emulator.

An electronic circuit for a surgical robotic system includes a central power node, a first voltage bus that electrically couples a first power source to the node, a second voltage bus that electrically couples a second power source to the node, and several robotic arms, each arm is electrically coupled to the node via an output circuit breaker and is arranged to draw power from the node. Each bus is arranged to provide power from a respective power source to the node and each bus has an input circuit breaker that is arranged to limit a first output current flow from the node and into the bus. Each breaker that is arranged to limit a second output current flow from the node and into a respective arm. A breaker is arranged to open in response to a fault occurring within the respective arm, while the other breakers remain closed.

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.

In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member coupled to a second link member, and a third link member coupled to a fourth link member. The first link member and the third link member are each pivotally coupled to the interface mechanism at a shared first pivot joint. The second link member and the fourth link member are each coupleable to a robotic arm. The first link member and the second link member collectively provide for movement of the first robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top. The third link member and the fourth link member collectively provide for movement of the second robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.