Apparatus and methods for providing a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a tabletop on which a patient can be disposed are described herein. In some embodiments described herein an arm cart can contain multiple robotic arms. A robotic arm can be selected and moved from a storage position within the arm cart to a deployment position in which at least a portion of that robotic arm protrudes from the arm cart. A robotic arm in a deployment position can be coupled to a surgical table and decoupled from the arm cart.

The endoscopic cleaning and lubrication system is a mechanical structure. The endoscopic cleaning and lubrication system is a medical device. The endoscopic cleaning and lubrication system clamps an endoscope to a working surface, such as an operating table, such that the endoscope can be cleaned and lubricated before use. The endoscopic cleaning and lubrication system comprises an endoscope clamp, a clamp mount, a gooseneck tube, and a table clamp. The gooseneck tube attaches the clamp mount to the table clamp. The table clamp attaches the endoscopic cleaning and lubrication system to the working surface. The clamp mount attaches the endoscope clamp to the gooseneck tube. The endoscope attaches to the endoscope clamp. The endoscope clamp holds the endoscope in a fixed position relative to the endoscopic cleaning and lubrication system. The gooseneck tube is a flexible structure that allows for the repositioning of the endoscope clamp.

A holding arm for medical purposes, in particular for holding surgical mechatronic assistance systems and/or surgical instruments, includes a proximal end for attaching the holding arm to a base and a distal end for receiving a surgical mechatronic assistance system and/or surgical instrument; at least one first and one second arm segment, wherein the first arm segment is connected to a first joint and the second arm segment is connected to a second joint, wherein each joint is releasable and lockable. An operating unit is provided for bringing the holding arm into a desired pose, wherein the operating unit is adapted to release the associated joint upon contact between an operator and one of the first and second arm segments. A corresponding method is also provided.

Certain aspects relate to systems, devices and techniques for vessel sealing and cutting. In particular, an instrument is provided that is capable of performing multiple functions, including sealing and cutting. The instrument can be robotically controlled, and can include a shaft, a multi-DOF wrist, and an end effector. The end effector is capable of generating and delivering heat via different energy modalities to perform the various functions at different temperatures.

A holding arm for holding a surgical mechatronic assistance system or a surgical instrument is described. The holding arm includes a proximal end for attaching the holding arm to a base and a distal end for receiving the surgical mechatronic assistance system or the surgical instrument. The holding arm also includes a first arm segment connected to a first joint and a second arm segment connected to a second joint. The first joint and the second joint are releasable and lockable. The holding arm also includes a switch adapted to release both the first and second joints. The holding arm also includes a first contacting device with two contact elements arranged substantially opposite one another on the first arm segment. The first contacting device is adapted to release the first joint only when both of the two contact elements of the first contacting device are contacted.

A device sized and shaped for insertion into a body comprising: at least one mechanical limb comprising: a support segment; a first flexible section extending from the support segment and terminating in a coupling section; and a second flexible section extending from the coupling section and terminating in a tool or a connector for a tool; wherein a long axis of one or more of the flexible sections is bendable in a single bending plane; wherein a long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis; wherein a long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

In some embodiments, an apparatus can include a cart for a surgical robotic arm having a coupler releasably coupleable to a coupling site on a surgical table. The cart can include a base and a first engagement feature. The base can be freely movably on a support surface between a first location remote from the surgical table and a second location adjacent the surgical table. The first engagement feature can be configured for engagement with a second engagement feature associated with the surgical table such that, when the first engagement feature and the second engagement feature are engaged, the coupler of the robotic am is disposed in a position in which the coupler of the robotic arm can be engaged by the coupler of the surgical table.

Provided is a system for positioning an intermediate head clamp (300) on a subject for medical interventions on the subject comprising a superior positioning cap (200) configured for placement on a head of the subject having a domed receiving space (222) for receiving a part of the head of the subject, provided with a plurality of adjustable protrusions (260, a, b, c, d, e) to adjust a pose of the superior positioning cap (200);

an inferior positioning support (400) comprising a main body (410) configured for placement around the head of the subject in a region and a plurality of locating bodies (460, 470, 480) each for locating in and engaging with a bodily recesses to adjust the pose of the inferior positioning support (400); wherein the superior positioning cap (200) and inferior positioning support are configured to flank and each engage with the intermediate head clamp (300) such that intermediate head clamp (300) is rotatable around an axis of rotation co-axial with the axes of reference (250, 450) of the superior positioning cap (200) and of the inferior positioning support (400).

Surgical tissue retraction systems and methods are described herein. Such systems and methods can be employed in some embodiments to provide medial-lateral tissue retraction to increase access to a surgical site. In one embodiment, a surgical instrument can include a body configured to couple to an implantable anchor, a first tissue manipulating implement coupled to the body and capable of polyaxial movement relative thereto, and a second tissue manipulating implement coupled to the body and capable of polyaxial movement relative thereto. Further, the first and second tissue manipulating implements can be opposed to one another such that they can move any of toward and away from one another.

Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.