Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

A patient securing overlay is provided that includes a sheet of fabric for supporting a patient's torso on a surgical table. The sheet of fabric has an upper surface configured to face the patient and a lower surface configured to face a surgical table mattress or underbody support. The sheet of fabric includes friction enhancing elements applied to at least a portion of the upper surface thereof. The sheet of fabric can include an extension at a foot end of the sheet of fabric that provides material to be tucked under a foot end of the surgical table mattress or underbody support for securing the foot end of the sheet of fabric to the surgical table mattress or underbody support. The extension can include one or more friction enhancing elements.

A support device (10) forms a medical apparatuses bracket system and functions as a bracket system for medical apparatuses (12). The support device (10) includes a central vertical, or at least essentially vertical, column (14) and at least one tine (20) and optionally two or more tines (20). The tine (20) or tines (20) is/are oriented obliquely to a crossbeam (22) mounted on the column (14).

An apparatus (18) for mounting surgical rails (40, 42) to a litter (10) having a pair of parallel poles (12) includes a pair of longitudinal members (20, 22) fixed to outboard sides of respective ones of the pair of poles (12). A pair of surgical rails (40, 42) is fixed to outboard surfaces of respective ones of the pair of longitudinal members (20, 22). Clamps (24, 26, 28, 30) at each end of each longitudinal member (20, 22) fix the longitudinal members (20, 22) to the pair of poles (12). A pair of cross bars (36, 38) extend between and are fixed to opposing clamps (24, 26, 28, 30) at each end of each longitudinal member (20, 22).

A method of administering a massage comprising providing a base member with a flexible member coupled to opposite sides of the base member. The base member is rested on top of a support surface so that connection points where the flexible member attaches to the base member are vertically disposed above the support surface. A patient is positioned on the base member and the support surface so that the patient is laying between the opposite sides of the base member. Force is delivered to the patient laying on the base member using a foot of a massage practitioner. The massage practitioner utilizes the flexible member to assist with balance of the massage practitioner while the force is delivered to the patient.

An apparatus for mounting and securing medical/surgical devices may be attached to a litter (40), The medical/surgical devices may include. for example, IV holders (186), aspirators (144). cardiac monitors (148) , defibrillators (150) , infusion pumps 152 (152), ventilators (146) and other devices. The apparatus frame assembly (10) includes rails (12), (14), (16), (18), (20), (46), (48), (50), (52) having cross-sections of standard surgical rails, for attachment of slidable rail clamps (84), (104). Medical device mounts (108), (110), (112) are attached to the slidable rail clamps. The medical device mounts have height and/or rotational adjustment to improve patient access and view. The apparatus may be mounted longitudinally anywhere along the litter to maximize access to the patient.

A surgical tool comprising a drive housing having first and second ends, a lead screw extending between the first and second ends and rotatably coupled to the first end at a drive input, a carriage mounted to the lead screw at a carriage nut and movable within the drive housing between the first and second ends, and an instrument driver arranged at an end of a robotic arm and matable with the first end. A drive output is matable with the drive input such that rotation of the drive output correspondingly rotates the drive input and the lead screw to thereby translate the carriage nut along the lead screw. A fin may be connected to the carriage and accessible by a user from an exterior of the drive housing to manually translate the carriage along the lead screw and thereby backdrive the drive output.

A surgical tool comprising a drive housing having a first end and a second end, a spline extending between the first and second ends and being rotatably coupled to the first end at a drive input, a drive gear coupled to and rotatable with the spline, a carriage movably mounted to the spline and housing an activating mechanism operatively coupled to the drive gear such that rotation of the spline actuates the activating mechanism, and a bailout mechanism arranged at the second end. The bailout mechanism may include a lever that is movable relative to the spline, from a first position, where the spline is disengaged from the lever, to a second position, where the spline engages the lever such that rotation of the lever correspondingly rotates the spline.

A surgical leg positioner capable of bending the knee in varus or valgus while simultaneously distracting the tibia from the femur, the leg positioner having a thigh clamp module, a swing arm module connected to the thigh clamp module in a manner that offsets a joint axis laterally to the side of the knee of the patient so as not to damage the opposite compartment of the knee when bent in varus or valgus. The swing arm module also distracts the knee simultaneously when the knee is bent in varus or valgus. The swing arm module also permits flexion and extension of the knee at the knee's natural flexion-extension axis. The surgical leg positioner also utilizes a thigh brace that property aligns the leg on the surgical leg positioner.

A robotic medical system can include a motorized arm that is supported by a column of the system. The robotic arm can be operated by rotating a link of the motorized arm by actuating an actuator to drive rotation of a rotary joint. A brake can then be applied to the rotary joint to stop rotation of the link. The arm can also include an arbor that can be actuated to increase a torsional stiffness of the rotary joint.