Robotic arms and surgical robotic systems incorporating such arms are described. A robotic arm includes a roll joint connected to a prismatic link by a pitch joint and a tool drive connected to the prismatic link by another pitch joint. The prismatic link includes several prismatic sublinks that are connected by a prismatic joint. A surgical tool supported by the tool drive can insert into a patient along an insertion axis through a remote center of motion of the robotic arm. Movement of the robotic arm can be controlled to telescopically move the prismatic sublinks relative to each other by the prismatic joint while maintaining the remote center of motion fixed. Other embodiments are also described and claimed.

A remote control apparatus to remotely control a patient-side system including medical equipment and an endoscope to capture an image of a surgery site according to an embodiment includes: an operation handle with which an operator controls the medical equipment; and an operation pedal section. The operation pedal section includes: plural pedals configured to be pressed down to execute functions concerning the medial equipment; and a base on which the plural pedals are arranged, the plural pedals being arranged at locations not overlapping each other in a planar view. The plural pedals include first height pedals with upper ends thereof located at a first height position and second height pedals with upper ends thereof located at a second height position, which is different from the first height position. The first height pedals are arranged alternately with the second height pedals.

A foot pedal apparatus for use with a workstation operated by a seated user in controlling a robotic surgery system is disclosed. In some embodiments, the apparatus includes a platform mountable to the workstation proximate a floor surface on which the workstation is located. The apparatus also includes a first pedal mounted on the platform and having an upwardly disposed actuation surface, and a second pedal mounted vertically elevated with respect to the first pedal and having an upwardly disposed actuation surface, the second pedal having at least a proximate portion vertically overlapping a distal portion of the first pedal such that the first and second pedals have a mounted depth in a direction away from the user that is less than a sum of the respective individual depths of the first and second pedals.

A user console for a surgical robotic system has a seat having an armrest and an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest. A user input device having a handheld housing is to be positioned within the EM tracking by an operator who is seated in the seat, during a surgical procedure. Other aspects are also described and claimed.

A user interface for enabling and controlling functions of a surgical system, comprising: a foot-operated function switch configured to be switched to any one of multiple discrete states by the user's foot; a head tracker configured to track the user's head motions; and a processor coupled to the function switch and head tracker, and configured to: obtain an association between a plurality of sequences comprising at least one of the multiple discrete states, and a plurality of corresponding system functions of the surgical system, receive an indication of at least one of the discrete states from the function switch, identify a system function based on the indication and the association, receive a head motion from the head tracker, and apply the head motion to control the identified system function of the surgical system.

A surgical system and a method of operating a surgical system are disclosed herein. The surgical system includes a foot-operable control device and a dongle. The foot-operable control device includes a first communication device and a radio frequency (RF) reader and communicates with a surgical console to remotely control a surgical device. The dongle includes a second communication device and an RF device and physically couples to a connection port of the surgical console to be powered through the connection port. The RF reader is configured to receive pairing information from the RF device in response to the RF device being within a threshold proximity of the RF reader. The first and second communication devices are configured to wirelessly connect based on the pairing information to thereby enable the foot-operable control device to wirelessly communicate with the surgical console to remotely control the surgical device.

A system comprises a teleoperational manipulator configured to control operation of a medical instrument in a surgical environment. The system further comprises an operator input system including an input device and a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu including a set of directionally arranged menu options. The processing unit is further configured to transition the input device from a first constraint state for interaction with the medical instrument to a second constraint state for interaction with the menu. In the second constraint state, the input device is constrained to move in one or more directions based on the set of directionally arranged menu options.

Disclosed embodiments provide systems and methods for preventing unintentional laser emission via an integrated foot controller having an electronic shroud that is implemented using electronics and software. The risk of unintentional laser emission is reduced by permitting laser emission via the pedal of the foot controller only at defined stages of surgical procedures, and by requiring that the user initiate control of laser emission by actuating existing switches on the foot controller in a specified sequence, such as a passcode unique to a particular user. Additionally, disclosed embodiments include one more proximity sensors useful to detect data indicative of the presence of the user's foot on the foot controller. Such data may be useful in determining whether the system should remain in a ready state for laser emission or whether the system should be taken out of ready state to reduce the risk of unintentional laser emission when the user's foot is not present.

A medical instrument comprises a housing and an elongated sheath configured to be attached to the housing. The elongated sheath includes opposed distal end and proximal end along a longitudinal axis. An end effector is configured to be attached to the distal end of the elongated sheath. The end effector includes a pair of grasps. A direction changer is used to change a direction of the end effector with respect to the distal end of the elongated sheath. A first drive shaft movable in the elongated sheath in ganged relation for opening and closing movement of the pair of grasps. A second drive shaft movable in the elongated sheath in ganged relation for angular movement of the end effector by the direction changer with respect to the elongated sheath. An operating member is configured to actuate the second drive shaft between a bent positions and a neutral position.

Systems, methods and devices for surgical procedurelization via a modular energy system are disclosed herein. In various aspects, the systems, methods and devices include an energy module, a header module communicably coupled to the energy module, and a display screen capable of rendering a graphical user interface (GUI). The GUI may be configured to display a plurality of steps that correspond with actions performed by a user while operating the modular energy system. In some aspects, the steps displayed are steps of a predetermined procedural checklist corresponding with a mental model followed by the user while performing a surgical procedure. In some aspects, the steps displayed are steps of an output verification process.