A teleoperable medical system comprises a manipulator arm and a cannula mount coupled to the manipulator arm. The manipulator arm comprises an interface configured to operably couple with a medical instrument. The cannula mount is configured to removably mount a cannula to the manipulator arm in a position to permit removable insertion of the medical instrument through the cannula. The cannula mount comprises a receptacle configured to receive an attachment portion of the cannula in a mounted state of the cannula, and a reader positioned to be in magnetic field sensing proximity to the attachment portion of the cannula in the mounted state of the cannula. The teleoperable medical system comprises a controller configured to receive output signals from the reader and determine identification information about the cannula based on the output signals.

Systems and methods are disclosed for use in electronic guidance systems for surgical navigation. A sensor is provided with an optical sensor, to provide optical information, and a measuring sensor, to provide measurements for determining a direction of gravity. The sensor communicates optical information and measurements to an inter-operative computing unit. In an embodiment, the inter-operative computing unit receives first optical information for a registration device and a patient anatomy and a measurement to determine a direction of gravity to perform a registration step. The inter-operative computing unit receives second optical information for the patient anatomy and an object and determines and presents measurements relative to the anatomy. The measurements relative to the anatomy are determined from the second optical information, and in relation to the registration of the anatomy of the patient.

Systems and methods are disclosed for use in electronic guidance systems for surgical navigation. A sensor is provided with an optical sensor, to provide optical information, and a measuring sensor, to provide measurements for determining a direction of gravity. The sensor communicates optical information and measurements to an inter-operative computing unit. In an embodiment, the inter-operative computing unit receives first optical information for a registration device and a patient anatomy and a measurement to determine a direction of gravity to perform a registration step. The inter-operative computing unit receives second optical information for the patient anatomy and an object and determines and presents measurements relative to the anatomy. The measurements relative to the anatomy are determined from the second optical information, and in relation to the registration of the anatomy of the patient.

Examples of a module for housing unrelated electronic and electromechanical equipment for use during surgery. The module can include a lower section and a tower-like upper section. The lower section can house unrelated electronic and electromechanical equipment. The tower-like upper section can be located on top of the lower section. A water-resistant cowling can enclose at least a portion of the lower section and the tower-like upper section. A cartridge containing one or more ultraviolet-C producing lights can be protectively housed within the tower-like upper section. The cartridge containing one or more ultraviolet-C producing lights can be configured to emerge upward from a top of the tower-like upper section to substantially seat itself on the top of the tower-like upper section when activated allowing the ultraviolet-C light to disinfect the patient and staff-contacting upper surfaces of the equipment in the operating room.

An aspect of the present invention provides a drape unit that is disposed between a medical robot holding a surgical instrument and the surgical instrument to isolate the surgical instrument and the medical robot from each other. The drape unit transmits power in a forward/backward direction from a power transmission part of the medical robot to a movable part provided in the surgical instrument. The drape unit comprises: a movable intervening part that receives the power from the power transmission part; and a fixed intervening part that is detachably attached to the medical robot. The fixed intervening part has a through-hole through which a part of the movable intervening part is inserted. The fixed intervening part has a housing portion that covers a part of the movable intervening part as viewed in a penetrating direction of the through-hole when the movable intervening part moves to an end portion in the forward/backward direction. It is thereby possible to sufficiently isolate a clean area and an unclean area from each other and improve the operability of surgery.

An aspect of the present invention provides a drape unit that is disposed between a medical robot holding a surgical instrument and the surgical instrument to isolate the surgical instrument and the medical robot from each other. The drape unit transmits power in a forward/backward direction from a power transmission part of the medical robot to a movable part provided in the surgical instrument. The drape unit comprises: a movable intervening part that receives the power from the power transmission part; and a fixed intervening part that is detachably attached to the medical robot. The fixed intervening part has a through-hole through which a part of the movable intervening part is inserted. The fixed intervening part has a housing portion that covers a part of the movable intervening part as viewed in a penetrating direction of the through-hole when the movable intervening part moves to an end portion in the forward/backward direction. It is thereby possible to sufficiently isolate a clean area and an unclean area from each other and improve the operability of surgery.

A sterile bag for covering medical equipment comprises: a barrier section, a flexible body section, and an attaching section. The flexible body section has a tubular shape extending from a proximal end to a distal end thereof, and an outer surface, an inner surface, and an open end. The barrier section is coupled to the proximal end, and the attaching section is formed at the distal end of the flexible body section. The barrier section is a rigid or semirigid component which attaches the sterile bag to a sterile component or to an unsterile component of the medical equipment in a pleaded or folded state. The flexible body section is configured to be deployed over the unsterile component so as to enclose within the inner surface thereof the unsterile component. The unsterile component is connectable to the sterile component through the central opening of the barrier section.

A sterile bag for covering medical equipment comprises: a barrier section, a flexible body section, and an attaching section. The flexible body section has a tubular shape extending from a proximal end to a distal end thereof, and an outer surface, an inner surface, and an open end. The barrier section is coupled to the proximal end, and the attaching section is formed at the distal end of the flexible body section. The barrier section is a rigid or semirigid component which attaches the sterile bag to a sterile component or to an unsterile component of the medical equipment in a pleaded or folded state. The flexible body section is configured to be deployed over the unsterile component so as to enclose within the inner surface thereof the unsterile component. The unsterile component is connectable to the sterile component through the central opening of the barrier section.

Apparatus and methods are described for performing a procedure using a robotic unit. A tool-actuation arm is driven to move linearly, to thereby move at least the portion of the tool linearly with respect to the end effector. The tool-actuation arm is driven to become retracted to a given distance from the tool mount, thereby causing the tool-actuation arm to fold automatically by actuating an automatic tool-actuation arm folding mechanism. Other applications are also described.

An instrument driver comprises opposing rotatable gripping pads. Each of the gripping pads includes an outer circular rim and a center hub. The pads are configured for applying a gripping force to an elongated member. The instrument driver further comprises shafts affixed to the center hubs, and a driver assembly configured for rotating at least one of the shafts, thereby causing the pads to rotate in opposite directions to linearly translate the gripped member. Each of the pads further includes a framework for partially collapsing in response to the gripping force, such that portions of the rims flatten to contact each other. Each rim has a concave gripping surface in order to facilitate vertical centering of the member between the pads. Each of the pads further includes a pair of upper and lower sprockets for interlacing with each other to prevent the elongated member from slipping out between the pads.