Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a main body that is composed of the wave washers stacked in an axial direction and kept a stacked state, the main body being bendable according to the expansion and contraction in the axial direction. Accordingly, linearity of load characteristics based on load and a bending angle is made high to make it possible to obtain the flexible tube having superior load bearing and bendability while conducting size reduction.

Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a main body that is composed of the wave washers stacked in an axial direction and kept a stacked state, the main body being bendable according to the expansion and contraction in the axial direction. Accordingly, linearity of load characteristics based on load and a bending angle is made high to make it possible to obtain the flexible tube having superior load bearing and bendability while conducting size reduction.

A control system for regulating operative control of a surgical instrument by a remote surgeon input device. The surgical instrument is supported by an articulated robot arm, and comprises an end effector connected to a shaft by an articulated coupling. The remote surgeon input device is capable of operatively controlling the surgical instrument by controlling articulation of the end effector, and controlling articulation of the robot arm and coupling. On receiving a request to engage operative control of the surgical instrument by the surgeon input device, the control system initially engages operative control of articulation of the robot arm and coupling by the surgeon input device, whilst maintaining disengagement of operative control of articulation of the end effector by the surgeon input device. Subsequently, the control system engages operative control of articulation of the end effector by the surgeon input device following a manipulation of the surgeon input device.

A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Electrodes that are configured to apply energy within the tissue while moving relative to the tissue. The apparatuses (devices, assemblies, systems) described herein may be configured with one or more electrodes that may move slightly in oscillatory movement and/or rotation relative to the tissue. The apparatuses described herein may be used to apply energy to a patient while minimizing or preventing the unintended modification of the tissue adjacent to the electrode, such as by arcing.

Electrodes that are configured to apply energy within the tissue while moving relative to the tissue. The apparatuses (devices, assemblies, systems) described herein may be configured with one or more electrodes that may move slightly in oscillatory movement and/or rotation relative to the tissue. The apparatuses described herein may be used to apply energy to a patient while minimizing or preventing the unintended modification of the tissue adjacent to the electrode, such as by arcing.

A surgical robotic system including a surgical console including a user input device configured to generate a user input, a movable cart, a surgical robotic arm disposed on the movable cart, the surgical robotic arm including a surgical instrument, and a control tower including a controller having a system monitor configured to synchronize activation or deactivation of the control tower, the surgical console, the movable cart, and the surgical robotic arm. The system monitor includes a communication interface coupled to the control tower, the surgical console, the movable cart, and the surgical robotic arm; and a system monitor state machine operably coupled to the communication interface and configured to interact with the control tower, the surgical console, the movable cart, and the surgical robotic arm to monitor the status and to activate or deactivate the control tower, the surgical console, the movable cart, and/or the surgical robotic arm.

A surgical robotic system including a surgical console including a user input device configured to generate a user input, a movable cart, a surgical robotic arm disposed on the movable cart, the surgical robotic arm including a surgical instrument, and a control tower including a controller having a system monitor configured to synchronize activation or deactivation of the control tower, the surgical console, the movable cart, and the surgical robotic arm. The system monitor includes a communication interface coupled to the control tower, the surgical console, the movable cart, and the surgical robotic arm; and a system monitor state machine operably coupled to the communication interface and configured to interact with the control tower, the surgical console, the movable cart, and the surgical robotic arm to monitor the status and to activate or deactivate the control tower, the surgical console, the movable cart, and/or the surgical robotic arm.

An instrument includes a tubular shaft, an end effector coupled to a distal end portion of the tubular shaft, and a relief feature extending circumferentially along a wall of the shaft and along at least a portion of a length of the shaft. The relief feature defines flexural members on opposing sides of the relief feature. The flexural members can move relative to one another in response to bending the shaft. The flexural members can engage one another on one or both of tension and compression sides of the shaft on the condition the shaft is bent to an angle within a predetermined range of bend angles. Systems and methods relate to instruments including such shafts.