A surgical robot includes robot arms, an arm base, and a control device. Each of the robot arms includes a base portion, a tip portion that can hold a medical instrument, and links. The link adjacent to the base portion is connected to the base portion through a rotational joint. The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion of a first link is located between a second portion of the base portion and a third portion of the tip portion.

A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

Devices are described for high accuracy displacement of tools. In particular, embodiments provide a device for adjusting a position of a tool. The device includes a threaded shaft having a first end and a second end and a shaft axis extending from the first end to the second end, a motor that actuates the threaded shaft to move in a direction of the shaft axis. In some examples, the motor is operatively coupled to the threaded shaft. The device includes a carriage coupled to the camera, and a bearing assembly coupled to the threaded shaft and the carriage. In some examples, the bearing assembly permits a movement of the carriage with respect to the threaded shaft. The movement of the carriage allows the position of the camera to be adjusted.

A retractor, preferably a nerve root retractor, comprising three components: an upper portion, a mid-portion, and a lower portion. The nerve retractor is designed to eliminate the requirement of having a person hold the retractor tool during a surgical procedure. The nerve retractor can be secured to a portion of the anatomical structure involved with, or near, the surgical procedure site, and utilizes an actuating device which allows the user to manipulate the angle of orientation of the arm portion or anatomical structure retractor portion. The anatomical structure retractor may comprise a modular anatomical structure engaging member/head, allowing the surgeon to use multiple or differently configured structure engaging members/heads during a procedure as needed.

Modules for housing electronic and electromechanical medical equipment including a system to measure and record administration of one or more IV medications or fluids for IV administration.

Modules for housing electronic and electromechanical medical equipment including a system to measure and record administration of one or more IV medications or fluids for IV administration.

A surgery supporting apparatus is capable of controlling a posture of a surgical instrument that is inserted into a body cavity and mechanically drivable. The apparatus includes a robot arm that can control the posture of the surgical instrument, which is attached to the robot arm via a gimbal mechanism.

A histotripsy therapy system configured for the treatment of tissue is provided, which may include any number of features. Provided herein are systems and methods that provide efficacious non-invasive and minimally invasive therapeutic, diagnostic and research procedures. In particular, provided herein are systems and methods for acoustically coupling a histotripsy therapy system to the skin of a patient to provide targeted, efficacious histotripsy in a variety of different regions and under a variety of different conditions without causing undesired tissue damage to intervening/non-target tissues or structures.

A histotripsy therapy system configured for the treatment of tissue is provided, which may include any number of features. Provided herein are systems and methods that provide efficacious non-invasive and minimally invasive therapeutic, diagnostic and research procedures. In particular, provided herein are systems and methods for acoustically coupling a histotripsy therapy system to the skin of a patient to provide targeted, efficacious histotripsy in a variety of different regions and under a variety of different conditions without causing undesired tissue damage to intervening/non-target tissues or structures.

Provided is a medical arm device that avoids interference with a surgeon.

A medical arm device includes a first arm part including a tip part that supports a medical instrument such as an endoscope, and a second arm part that supports the first arm part, and includes at least two horizontal rotation axes and an inter-axis distance changing unit that changes a distance between the two horizontal rotation axes. The tip part includes a structure in which joint members corresponding to rotation axes of three degrees of freedom that determine an attitude of the medical instrument are directly connected, and a rotation axis around a longitudinal axis of the medical instrument, a yaw axis in a case where the rotation axis around the longitudinal axis is a roll axis, and a pitch axis are disposed in order from a most tip part.