A torque balancing device, a self-balancing joint and a surgical robot are provided. The torque balancing device includes a first body, a second body, an elastic part and a transmission part, the first body includes a first connection end and a first opposite end opposite to the first connection end, the second body includes a second connection end and a second opposite end opposite to the second connection end, the second connection end of the second body is rotatably connected to the first connection end of the first body, the elastic part is provided in the first body, and the transmission part is connected to the second body and the elastic part.

A torque balancing device, a self-balancing joint and a surgical robot are provided. The torque balancing device includes a first body, a second body, an elastic part and a transmission part, the first body includes a first connection end and a first opposite end opposite to the first connection end, the second body includes a second connection end and a second opposite end opposite to the second connection end, the second connection end of the second body is rotatably connected to the first connection end of the first body, the elastic part is provided in the first body, and the transmission part is connected to the second body and the elastic part.

Methods and devices for producing cavitation in tissue are provided. Methods and devices are also provided for surgical navigation, including defining a target treatment zone and navigating a focus of a therapy transducer to the target treatment zone. Embodiments are provided for co-registering a plurality of surgical imaging and navigation systems. Systems for performing Histotripsy therapy are also discussed.

Methods and devices for producing cavitation in tissue are provided. Methods and devices are also provided for surgical navigation, including defining a target treatment zone and navigating a focus of a therapy transducer to the target treatment zone. Embodiments are provided for co-registering a plurality of surgical imaging and navigation systems. Systems for performing Histotripsy therapy are also discussed.

Exemplary methods and systems that provide a curved path trajectory that can be used with a bendable medical device. The curved pathway can comprise straight and curved concatenated arc segments. The methods and systems can provide planning, visualizing and treatment of, for example, temporal lobe epilepsy (TLE) using laser interstitial thermal therapy (LITT) or tumors using ablation therapy. With curved pathway, the physician can create plan for intervention to avoid critical structure and to cover more target volume for treatment/diagnosis than straight pathway

Various embodiments of a surgical instrument are disclosed. The surgical instrument includes a handle, a working element extending from the handle configured to be positioned internal of a target site while the handle is external to the target site, and a laser guide configured to generate at least one emitted marker. The emitted marker corresponds to movement of the working element internal of the target site. Various embodiments of methods using the surgical instrument are also disclosed.

Various embodiments of a surgical instrument are disclosed. The surgical instrument includes a handle, a working element extending from the handle configured to be positioned internal of a target site while the handle is external to the target site, and a laser guide configured to generate at least one emitted marker. The emitted marker corresponds to movement of the working element internal of the target site. Various embodiments of methods using the surgical instrument are also disclosed.

An end effector is removably connected to a robot arm under sterile conditions with an arm mount module configured to be permanently connected to the robot arm, and an arm drape module configured to be removably connected to the arm mount module by a first locking mechanism. A third module, which is a passive end effector, may be configured to be removably connected to the arm drape module by a second locking mechanism. In some embodiments, a sterile hand drape module is configured to be removably connected to the arm drape module by the second locking mechanism; and a hand mount module is configured to be removably connected to the hand drape module by a third locking mechanism, and to be permanently connected to the end effector or the hand mount module is the end effector itself.
The systems for connecting an end effector to a robot arm provide a signal or energy transmission pathway between the robot arm and the end effector. The transmitted energy can be electrical or mechanical.

An end effector is removably connected to a robot arm under sterile conditions with an arm mount module configured to be permanently connected to the robot arm, and an arm drape module configured to be removably connected to the arm mount module by a first locking mechanism. A third module, which is a passive end effector, may be configured to be removably connected to the arm drape module by a second locking mechanism. In some embodiments, a sterile hand drape module is configured to be removably connected to the arm drape module by the second locking mechanism; and a hand mount module is configured to be removably connected to the hand drape module by a third locking mechanism, and to be permanently connected to the end effector or the hand mount module is the end effector itself.
The systems for connecting an end effector to a robot arm provide a signal or energy transmission pathway between the robot arm and the end effector. The transmitted energy can be electrical or mechanical.

A slave-end apparatus for an interventional robot includes: a body, and a first drive mechanism, a second drive mechanism and a third drive mechanism that are successively mounted on the body; wherein in a case that the guide wire runs into the second catheter, the second catheter runs into the first catheter, and the first catheter, the second catheter and the guide wire are respectively clamped by the first drive mechanism, the second drive mechanism and the third drive mechanism, the first drive mechanism, the second drive mechanism and the third drive mechanism move along the same axial direction on the body to respectively drive the first catheter, the second catheter and the guide wire to move.