Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

A medical waste collection system for collecting medical waste material, and a manifold for filtering the waste material and/or coupling a suction tube to the system. The system may include a receiver in which the manifold is configured to be inserted in a proximal direction to facilitate an inlet mechanism moving correspondingly in the distal direction. The manifold may include an arm, a spine, a lock element, and/or a catch each having a surface with a relative position in the proximal-to-distal direction. The rim and the catch may be spaced apart by a void, and the rim may be positioned below the catch. The housing may include a body portion, a first leg extending proximally from the body portion, and a second leg spaced apart from the first leg to define the void. The rim may be on the first leg, and the catch may be on the second leg.

Surgical instruments operable to apply a grasping force to a tissue include a cable driven actuation mechanism. A surgical instrument includes an end effector and a first actuation mechanism. The end effector includes an end effector base, an articulated jaw pivotally coupled to the end effector base, and an opposing jaw. The first actuation mechanism includes a first pulley and a first cable segment. The first pulley is mounted for rotation relative to the end effector base. The first cable segment is interfaced with a sector of the first pulley. The first cable segment is coupled to the articulated jaw. The first actuation mechanism is operable to retract the first cable segment to cause the articulated jaw to apply a grasping force to a tissue disposed between the articulated jaw and the opposing jaw.

Surgical instruments operable to apply a grasping force to a tissue include a cable driven actuation mechanism. A surgical instrument includes an end effector and a first actuation mechanism. The end effector includes an end effector base, an articulated jaw pivotally coupled to the end effector base, and an opposing jaw. The first actuation mechanism includes a first pulley and a first cable segment. The first pulley is mounted for rotation relative to the end effector base. The first cable segment is interfaced with a sector of the first pulley. The first cable segment is coupled to the articulated jaw. The first actuation mechanism is operable to retract the first cable segment to cause the articulated jaw to apply a grasping force to a tissue disposed between the articulated jaw and the opposing jaw.

The invention relates to a device for establishing and maintaining a sterile environment for conducting surgical procedures. In particular, the invention is related to a tent-like device providing an interior space and being attachable to a patient's skin to allow surgical treatment of the patient. Several aspects of the invention are directed to devices to be used in connection with such a surgical procedure using the tent-like device. According to the invention, an isolation device for providing a sterile operation chamber above a skin region of a patient is provided, in particular for performing a surgical procedure, said isolation device comprising an inflatable bag coupled to a support frame, the support frame having a transport configuration and an operation configuration, wherein in the transport configuration, the first inflatable bag is confined, such as to have compact dimensions; in the operation configuration, the first inflatable bag is extended, such as to form said sterile operation chamber.

The invention relates to a device for establishing and maintaining a sterile environment for conducting surgical procedures. In particular, the invention is related to a tent-like device providing an interior space and being attachable to a patient's skin to allow surgical treatment of the patient. Several aspects of the invention are directed to devices to be used in connection with such a surgical procedure using the tent-like device. According to the invention, an isolation device for providing a sterile operation chamber above a skin region of a patient is provided, in particular for performing a surgical procedure, said isolation device comprising an inflatable bag coupled to a support frame, the support frame having a transport configuration and an operation configuration, wherein in the transport configuration, the first inflatable bag is confined, such as to have compact dimensions; in the operation configuration, the first inflatable bag is extended, such as to form said sterile operation chamber.

Described are a system, method, and computer program product for tracking endoscopes in a forced-air drying cabinet including a compressor, a support arrangement, and an inner area accessible by a door. The method includes receiving a signal from a signal emitting member attached to or associated with an endoscope and determining an identifier of the endoscope. The method includes determining a drying protocol for the endoscope based on the identifier and identifying the support arrangement, associated with an airflow output, to support the endoscope. The method includes determining a connection status indicative of whether the endoscope has been connected to the airflow output. The method includes, in response to the connection status indicating the endoscope has been connected to the airflow output, initiating a drying process according to the drying protocol for the endoscope by causing the compressor to create an airflow from the airflow output through the endoscope.

Described are a system, method, and computer program product for tracking endoscopes in a forced-air drying cabinet including a compressor, a support arrangement, and an inner area accessible by a door. The method includes receiving a signal from a signal emitting member attached to or associated with an endoscope and determining an identifier of the endoscope. The method includes determining a drying protocol for the endoscope based on the identifier and identifying the support arrangement, associated with an airflow output, to support the endoscope. The method includes determining a connection status indicative of whether the endoscope has been connected to the airflow output. The method includes, in response to the connection status indicating the endoscope has been connected to the airflow output, initiating a drying process according to the drying protocol for the endoscope by causing the compressor to create an airflow from the airflow output through the endoscope.

Methods, devices and program products are provided for a medical instrumentation storage cabinet. First and second instrumentation retention trays are configured to receive surgical instruments. The housing includes a top plate, a bottom shelf and at least one intermediate shelf there between. The bottom and intermediate shelfs and the first and second instrumentation retention trays include a plurality of holes there through to allow passage of a sterilization medium during a sterilization process. Standoffs are distributed about a perimeter of the housing. The standoffs separate the intermediate shelf from the top plate and bottom shelf to define first and second tray storage areas there between. The first and second tray storage areas have a shape and dimension to receive the first and second instrumentation retention trays. The standoffs are spaced apart from one another to define tray passages there between. The tray passages re sized and located to allow both of the first and second instrumentation retention trays to be inserted into the housing and opened to an open position relative to the housing in at least three directions.