An eye surgery apparatus includes a model surgical tool, a robotic arm coupled with an eye surgery tool, a tracking-system, and a processor. The model surgical tool is configured to be maneuvered by a physician. The robotic arm is coupled with an eye surgery tool and configured to be placed in proximity to an eye of a patient. The tracking-system is configured to track movements of at least the model surgical tool. The processor is configured to (i) receive the tracked movements of the model surgical tool from the tracking system, while the physician moves the model surgical tool to perform a model eye surgery on an oversized model eye, and (ii) apply to the robotic arm movements that mirror and scale-down the movements applied by the physician to the model surgical tool, to perform a surgical procedure on the eye of the patient using the eye surgery tool.

A medical device is provided. The medical device includes a parallel manipulator. The parallel manipulator has an end platform coupled to a surgical tool and a base platform coupled to a machine module. The machine module is coupled to the surgical tool through a transmission shaft disposed between the end platform and the base platform. The transmission shaft has a transmission yoke, a runner, a first rod coupled to the transmission yoke, a second rod coupled to the runner, and a universal joint coupled between the first rod and the second rod.

Provided are surgical instruments, and more particularly, surgical instruments that may be manually operated to perform laparoscopic operations or various surgical operations.

A joint ring includes a main body part and a pair of protrusion parts protruding from a first surface of the main body part in a direction of a central axis thereof and having spherical surfaces on protruding portions. The main body part includes a pair of engagement holes and a pair of receiving holes. The protrusion parts include engagement parts which are configured to be capable of being inserted into the engagement holes. When the joint rings are arranged in the direction of the central axis and the protrusion parts of a first joint ring enter the receiving holes of a second joint ring, the spherical surfaces come into contact with receiving surfaces inside the receiving holes, and the first joint ring and the second joint ring become rotatable relative to each other with a line segment connecting centers of the respective spherical surfaces as a rotational center.

A surgical instrument includes a handle with a main body having a central axis, a lever pivotable around a pivot axis fixed with respect to the main body. The lever includes a finger abutment section including a lower finger rest contacting the ventral sides of a user's first and second fingers during pivoting movement of the finger abutment section towards the central axis, and an upper finger rest contacting the dorsal sides of both the fingers during pivoting movement of the finger abutment section away from the central axis; and a septum fixed to lower and upper finger rests and extending therebetween forming a separate first and second finger receiving portion for respectively receiving a first and a second fingers. The lever pivots around the pivot axis such that during pivoting of the lever, the septum central plane remains substantially coplanar with a plane parallel to the central axis.

A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.

Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.

A fiducial marker includes a fastener and a feedback component to provide a registration signal when engaged by a probe. The feedback component includes light-up cap, a conducting component, a magnetic component and an RFID tag. A cap for registering fiducial markers with robotic surgical systems includes a housing, a socket in the housing for coupling to a fastener, an access port in the housing, a switch disposed in the housing proximate the access port, and a sensory indicator device coupled to the switch, wherein the sensory indicator device produces a signal when activated through the access port to confirm marker contact. Methods of registering a fiducial marker fastener, such as with robotic surgical systems, include manipulating a probe to align with a signal-producing feedback component attached to or integrated with the fastener, and engaging the feedback component with the probe to activate a sensory feedback indicator.

Provided are robotic systems and methods for navigation of luminal network that detect physiological noise. In one aspect, the system includes a set of one or more processors configured to receive first and second image data from an image sensor located on an instrument, detect a set of one or more points of interest the first image data, and identify a set of first locations and a set of second location respectively corresponding to the set of points in the first and second image data. The set of processors are further configured to, based on the set of first locations and the set of second locations, detect a change of location of the instrument within a luminal network caused by movement of the luminal network relative to the instrument based on the set of first locations and the set of second locations.

The medical manipulator system includes: a treatment tool having a long flexible shaft and a rigid shaft; an access device having a long flexible tube, into which the flexible shaft is inserted, and a rigid sheath, into which the shafts are inserted; and a resistance generating part that is provided on at least one of the rigid shaft and the sheath and that generates resistance to advancing of the rigid shaft through the sheath. The resistance generated by the resistance generating part increases when a distal end of the advancing treatment tool passes through a distal end of the flexible tube or a vicinity thereof, and the resistance generated by the resistance generating part decreases after the distal end of the advancing treatment tool passes through the distal end of the flexible tube or the vicinity thereof.