Abstract: Airway management methods, devices, assemblies and systems. Methods, devices, assemblies and systems may include robotic movement and control of an intubation tube introducer or guide, and may include utilizing image data from one or more image sensors. The methods, devices, assemblies and systems may optionally be used in endotracheal intubation procedures.

Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.

Abstract: A teleoperative system includes an input device and a controller. The controller is configured to receive input associated with movement of the input device, determine a commanded pose of an instrument coupled to the teleoperative system based on the received input, determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument, determine a first feedback force command based on a difference between the commanded pose and the first preferred pose, and actuate the input device based on the first feedback force command.

Abstract: Example methods and systems for radiotherapy treatment planning based on treatment delivery efficiency are described. One example method may comprise a computer system configuring dosimetric planning objective(s) and non-dosimetric planning objective(s) associated with efficiency of treatment delivery. A set of multiple treatment plan variants may be generated based on the dosimetric planning objective(s) and non-dosimetric planning objective(s). A first treatment plan associated with a first tradeoff and a second treatment plan associated with a second tradeoff may then be identified from the set of multiple treatment plan variants. The second treatment plan may be associated with improved efficiency of treatment delivery compared to the first treatment plan.

Abstract: Exemplary medical devices may include a snare device. The snare device may include a first leg having a proximalmost end and a second leg having a proximalmost end. The first leg and the second leg may form a distal loop. The proximalmost end of first leg may be independently moveable relative to the proximalmost end of the second leg.

Abstract: A treatment system comprises a power supply device and a treatment tool configured to communicate electrically with the power supply device so as to perform an operation on a treatment target. The treatment tool includes a sheath and an end effector configured to detachably attach to the sheath and being capable of bending with respect to the sheath. The end effector includes an electric element used to apply a treatment energy to the treatment target using an electric energy. The power supply device includes a processor. The processor sets to increase an output of the electric energy to be supplied to the electric element at in a second state. The sheath and the end effector are bent at a predetermined angle with respect to one another, compared with a first state where the sheath and the end effector are disposed straight in line with one another.

Abstract: A device that uses an anatomic landmark or fiduciary point to establish a point of origin for device orientation in space is provided. The device controls the direction and depth of delivery of a needle, wire, trocar or cannula utilized for diagnostic or therapeutic intervention. The device guides the percutaneous delivery of a needle, wire, trocar or cannula to a target spatial location on or within tissue.

Abstract: A cutting instrument comprising: an outer tube comprising a distal end and a proximal end; an inner tube rotatably disposed within said outer tube, said inner tube comprising a distal end, a proximal end and a region intermediate said distal end and said proximal end, said region comprising a plurality of slits formed in said inner tube so as to render said region of said inner tube flexible; and a bellows disposed adjacent to said plurality of slits so as to render said region of said inner tube fluid-tight.

Abstract: Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

Abstract: A surgical stapling system comprising an end effector, a shaft, a drive member, a first cable, a second cable, and a third cable is disclosed. The end effector comprises a first jaw, a second jaw rotatable relative to the first jaw between an open position and a closed position, and a staple cartridge comprising staples. The shaft defines first and second articulation joints. The end effector is movable about the first articulation joint in a first articulation plane and about the second articulation joint in a second articulation plane. The drive member traverses the first articulation joint and the second articulation joint and is configured to space the second jaw relative to the first jaw. Actuation of the first and second cables moves the end effector within the first articulation plane. Actuation of the second and third cables moves the end effector within the second articulation plane.

Abstract: The present disclosure is directed, in part, to methods and systems of intra-operatively identifying a retained surgical item by imaging a surgical item with an intra-operative imaging device to obtain image data, imaging a patient suspected of having a retained surgical item with an intra-operative imaging device to obtain image data, interacting the image data to a module configured to identify the surgical item from the intra-operative surgical item image data, and identifying the retained surgical item from the surgical item image data.

Abstract: A patient interface device for use with a laser surgery apparatus, the device including an upper assembly and a lower assembly attached to the upper assembly. The device including a spherical-like object that engages the lower assembly so that an enclosed volume is defined between the spherical-like object, the lower assembly and the upper assembly, wherein a first liquid substantially fills the enclosed volume. The device further including a channel that contains a second fluid that is exposed to ambient atmosphere.

Abstract: A radially expandable trocar, port or cannula system is provided for use in minimally invasive surgeries. The cannula creates a port access with an initial small internal diameter. The passage of the cannula devices is defined by a plurality of elongate rigid members. A number of mechanisms are provided for expanding the passage of the cannula devices, by moving the plurality of elongate rigid members towards a larger radial location, thereby creating a larger internal diameter for the port. The elongate rigid members can be prevented from unintended movement when the system is at the un-expanded state, during expansion and when it is expanded to the desired larger diameter. Exemplary embodiments include methods of preventing gas loss from the tissue that would occur through the gaps created during expansion.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: A surgical stapling device includes a body portion that defines a longitudinal axis and a tool assembly that articulates about an axis transverse to the longitudinal axis. An articulation link assembly is supported in the body portion and is movable between retracted and advanced positions to pivot the tool assembly between a non-articulated position and articulated positions. The articulation assembly supports an articulation lock assembly that is movable from a locked position to an unlocked position in response to longitudinal movement of the articulation assembly to facilitate articulation of the tool assembly. The articulation lock assembly stabilize the articulation link assembly within the body portion when the surgical stapling device is fired to minimize occurrence of tremors in the tool assembly.

Abstract: A method for disengagement detection of a surgical instrument of a surgical robotic system, the method comprising: determining whether a user's head is unstable prior to disengagement of a teleoperation mode; determining whether a pressure release has occurred relative to at least one of a first user input device or a second user input device for controlling a surgical instrument of the surgical robotic system during the teleoperation mode; and in response to determining the user's head is unstable or determining the pressure release has occurred, determining whether a distance change between the first user input device and the second user input device indicates the user is performing an unintended action prior to disengagement of the teleoperation mode.

Abstract: A device includes a first arm having a first rotating member including a first gear coupled thereto and a first rotation imparting member fixed thereto, a second arm pivotally coupled to the first arm at proximal ends of the first arm and the second arm, the second arm having a second rotating member including a second gear coupled thereto and a second rotation imparting member fixed thereto, wherein when the first arm and the second arm are brought towards each other, the first rotation imparting member engages with the second gear to cause the second rotating member to rotate in a first direction, and the second rotation imparting member engages with the first gear to cause the first rotating member to rotate in a second direction, opposite the first direction.

Abstract: A system for assisting in performing an interventional procedure includes a first subsystem (1) and a second subsystem at different places, especially in different rooms. At a first place the first subsystem a) generates a first image of a subject (22) while an interventional device (12) is introduced into the subject and b) determines the position of the interventional device within the subject. At a second place the second subsystem a) generates a second image of the subject with the introduced interventional device and b) plans and/or monitors a treatment based on the second image and the already determined position of the interventional device, i.e. the second subsystem does not need to start a completely new position determination procedure, thereby reducing technical efforts. Moreover, the first and second images are generated by different imaging modalities which allows for, for instance, improved image guidance, planning and/or monitoring.

Abstract: A surgical instrument is described that includes a surgical effector moving with N degrees of freedom for manipulation of objects at a surgical site during surgical procedures. The N degrees of freedom are manipulated by N+1 input controllers and a plurality of cables, the controllers and cables coupled to the surgical effector and configured to change the orientation of the surgical effector about the N degrees of freedom when actuated. In some embodiments, the N+1 input controllers and plurality of cables are further coupled to a pantograph, the pantograph configured to move in a reciprocal manner to the surgical effector when the input controllers and cables are actuated.

Abstract: A method of corneal implantation with cross-linking is disclosed herein. In one or more embodiments, the method includes the steps of: (i) prior to implantation, treating an implant formed from donor corneal tissue or a tissue culture grown corneal stroma with a solution of sodium dodecyl sulfate (SDS), Triton X-100, benzalkonium chloride (BAK), Igepal, genipin, 100% glycerol, or alcohol for making the implant acellular, and for killing any bacteria, viruses, or parasites prior to implantation; (ii) implanting the implant into a recipient cornea; (iii) applying laser energy to the implant so as to modify the refractive power of the implant while being monitored using a Shack-Hartmann wavefront system so as to achieve a desired refractive power for the implant; and (iv) applying a cross-linking solution and irradiating the implant to cross-link the implant to prevent an immune response to the implant and/or rejection of the implant by a patient.

Abstract: A low profile surgical system includes a movable cart assembly, an endoscope, and a surgical instrument. The movable cart assembly includes a fluid source and a receptacle assembly that are in fluid communication with one another. The endoscope is operably coupled to the cart assembly and in fluid communication with the fluid source. The surgical instrument is operably coupled to the cart assembly. The surgical instrument and the endoscope are configured to dispense outflow fluid into the receptacle assembly.

Abstract: Disclosed is a device for facilitating placement of a central line in a patient, said device comprising: a housing having proximal and distal ends and a central portion therebetween, said housing having an upper portion and a lower portion; a handgrip provided on the proximal end of the housing, said handgrip having at least one of a channel and a through hole extending from the proximal end to the central portion, wherein the channel or through hole is sized to receive a guidewire; a feeder tip receiver provided on a proximal end of the handgrip in communication with the channel or through hole in said handgrip; a stabilizer provided on the lower portion of said housing; a luer slip tip provided on the distal end of the housing, said luer slip tip having a mounting portion for attachment to a needle hub, said luer slip tip having a lumen aligned with the channel or through hole in said handgrip; and a wire slide platform provided on the central portion of the housing.

Abstract: A system for positioning a conduit within an ophthalmic surgical field comprises a conduit (12), a first fixation point (14) and a second fixation point (15). The first fixation point (14) comprises base structure (16) arranged to be secured in a fixed location, and a grip arrangement (18) configured to hold the conduit (12). The grip arrangement (18) is mounted on the base structure (16) by way of a ball joint structure (20, 22), with the ball joint structure (20, 22) being arranged to allow pivoting and rotational movement of the grip arrangement (18) with respect to the base structure (16). The second fixation point (15) is positioned remote from the first fixation point (14) at a predefined distance therefrom. A method for positioning a conduit with an ophthalmic surgical field is also described.

Abstract: Routines and methods disclosed herein can increase a power efficiency of a prosthetic hand without drastically reducing the speed at which it operates. A prosthesis can implement an acceleration profile, which can reduce an energy consumption of a motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from an idle state to a non-idle state. A prosthesis can implement a deceleration profile, which can reduce the energy consumption of the motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from a non-idle state to an idle state.

Abstract: For the purposes of working on eye tissue, an ophthalmological apparatus comprises a laser source that is configured to produce a pulsed laser beam, a focusing optical unit that is configured to focus the pulsed laser beam into the eye tissue, a scanner system for deflecting the pulsed laser beam onto work target points in the eye tissue, and a measurement system for optically capturing structures in the eye tissue. A circuit controls the measurement system in such a way that the latter captures a cut first outer face of a lenticule to be cut. The circuit controls the scanner system in such a way that the latter guides the pulsed laser beam onto work target points on a second outer face, positioned in relation to the captured first outer face, of the lenticule to be cut, in order to cut the second outer face of the lenticule.

Abstract: A system for deploying a shape memory catheterization device within a patient, includes a catheter for endovascular insertion of the shape memory catheterization device. A heat source heats the shape memory catheterization device above the transition temperature. A transformation data generator includes a circuit driver for driving a circuit that includes at least one resistive element of the shape memory catheterization device and a detection circuit for generating transformation data based on a resistance of the at least one resistive element, wherein the transformation data indicates a shape transformation of the shape memory catheterization device from a catheterization shape to a transformed shape.

Abstract: Treatment of aneurysms can be improved by use of a treatment system including a conduit have a distal portion, a coupler slidably coupled to the distal portion, an occlusive member coupled to the coupler, and a securing member coupled to the conduit proximal to the coupler. The securing member can include a distal end portion that is removably coupled to the coupler. In some embodiments, the securing member can have a shape and/or be treated such that the securing member self-expands to decouple itself from the coupler during deployment of the occlusive member. In some embodiments, movement of the conduit relative to the coupler causes the securing member to decouple from the coupler.

Abstract: A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

Abstract: Methods and systems for identifying and determining the size and orientation of a reamed portion of a patient's bone are disclosed. A tracking array and/or point probe may be inserted into an adapter device. The adapter device comprising a plurality of openings, having various connection means therein, such that when the tracking array is inserted into the adapter, a secure and robust connection is created. A reamer, stem, or similar tool may then be inserted into the opposing side of the adapter, during which, a secure and robust connection is created between the adapter and the tool. Thus, through the use of Computer Assisted Surgery Systems, a more accurate representation of the patient's anatomy can be obtained.

Abstract: Systems and methods of tracking the position of an endoscope within a patient's body during an endoscopic procedure is disclosed. The devices and methods include determining a position of the endoscope within the patient in the endoscope's coordinate system, capturing in an image fiducial markers attached to the endoscope by an external optical tracker, transforming the captured fiducial markers from the endoscope's coordinate system to the optical tracker's coordinate system, projecting a virtual image of the endoscope on a model of the patient's organ, and projecting or displaying the combined image.

Abstract: In certain embodiments, the systems, apparatus, and methods disclosed herein relate to robotic surgical systems with built-in navigation capability for patient position tracking and surgical instrument guidance during a surgical procedure, without the need for a separate navigation system. Robotic based navigation of surgical instruments during surgical procedures allows for easy registration and operative volume identification and tracking. The systems, apparatus, and methods herein allow re-registration, model updates, and operative volumes to be performed intra-operatively with minimal disruption to the surgical workflow. In certain embodiments, navigational assistance can be provided to a surgeon by displaying a surgical instrument's position relative to a patient's anatomy.

Abstract: A bone anchor delivery system device (10) has a retractable punch driver assembly and a locking mechanism (32). The punch driver assembly has a retractable punch shaft (30) and a guide (20) for receiving the retractable punch shaft (30). The guide (20) is rotatable relative to the punch shaft (30) and the shaft has an extended length with bone penetrating tip (35) at a first end (33). The locking mechanism (32) for locking the retractable punch shaft (30) from linear movement and rotational movement relative to the guide (20) is positioned at an opposite second end. The retractable punch shaft (30) has a reduced diameter end (33) extending from the tip (35) toward a shoulder stop for receiving a releasable punch (12). The releasable punch (12) has a hollow opening for receiving the reduced diameter end (33) of the punch shaft (30). The punch (12) is profiled to pierce and form a bone anchor hole.

Abstract: The present invention relates to devices and methods for improving the function of a defective heart valve, and particularly for reducing regurgitation through an atrioventricular heart valve—i.e., the mitral valve or tricuspid valve. For a tricuspid repair, the device includes an anchor deployed in the tissue of the right ventricle, in an orifice opening to the right atrium, or anchored to the tricuspid valve. A flexible anchor rail connects to the anchor and a coaptation element on a catheter rides over the anchor rail. The catheter attaches to the proximal end of the coaptation element, and a locking mechanism fixes the position of the coaptation element relative to the anchor rail. A proximal anchoring feature fixes the proximal end of the coaptation catheter subcutaneously adjacent the subclavian vein. The coaptation element includes an inert covering and helps reduce regurgitation through contact with the valve leaflets.

Abstract: A forceps includes an end effector assembly having first and second jaw members movable between a spaced-apart position and an approximated position for grasping tissue therebetween. A knife assembly having a cutting blade disposed at a distal end thereof is also provided. The knife assembly is translatable relative to the end effector assembly between a retracted position and an extended position, wherein the cutting blade extends between the jaw members to cut tissue grasped therebetween. The knife assembly includes a proximal component and a first distal component that includes the cutting blade. The proximal and first distal components are removably coupled to one another to facilitate replacement of the first distal component. Methods of preparing such forceps for reuse are also provided.

Abstract: A surgical instrument assembly comprising a shaft, an actuator positioned within the shaft, an articulation joint, an attachment interface positioned distal to the articulation joint and an end effector removably attachable to and detachable from said articulation joint by the attachment interface is disclosed. The end effector is configured to be articulated relative to the shaft. The end effector comprises a first jaw, a second jaw movable relative to the first jaw, and a firing member configured to move the second jaw relative to the first jaw when the end effector is attached to the attachment interface and control motions are applied to the firing member by the actuator. When the end effector is attached to the articulation joint, the actuator is movable between an engaged position in which the actuator and the firing member are operably engaged and a disengaged position.

Abstract: Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.

Abstract: Disclosed is a monitor equipment. The monitor equipment comprising a nasal clip configured to clip onto nasal septum of a patient. Further, the monitor equipment comprising a monitor detector connected to the nasal clip through at least one of a wired and a wireless connection.

Abstract: Provided is a laser surgical guidance system including a C-arm fluoroscopy (hereinafter, C-arm) to identify a patient's condition and support a surgical plan and a laser targeting projector to project a line of the surgical plan directly onto an affected part through a line projection module which generates a laser. The laser surgical guidance system may generate a particular laser pattern from the line projection module, transmit the particular laser pattern outputted from the line projection module through a calibration tool including a collimator having a particular orientation, calculate an extrinsic parameter of the calibration tool in a projection image having passed through the calibration tool, and convert coordinates of the C-arm image into the line projection module coordinates using the extrinsic parameter.

Abstract: A surgical apparatus comprising: a mechanism that is configured to perform an operational motion of the surgical apparatus; and at least one transformation member having an original shape and a deformed shape, the at least one transformation member connecting the mechanism together, when the at least one transformation member is in the deformed shape so that the mechanism is capable of performing the operational motion; and wherein after the transformation member is subject a transition temperature, the at least one transformation member changes from the deformed shape to the original shape and disengages a portion of the mechanism so that the mechanism is prevented from performing the operational motion.

Abstract: A device for implanting in a gastrointestinal system of a patient may include an elongate flow modulator configured to be inserted in an intestine, wherein the flow modulator defines an enclosed interior space to hold a fill material.

Abstract: An implantation and/or retrieval device for a leadless cardiac pacing device may include a first elongate shaft including a lumen; a second elongate shaft slidably disposed within the lumen of the first elongate shaft; an end cap assembly fixedly attached to a distal end of the first elongate shaft; and a plurality of wires attached to the second elongate shaft and extending distally from the end cap assembly, the plurality of wires being movable relative to the end cap assembly. The plurality of wires is configured to engage a proximal hub of the leadless cardiac pacing device. The plurality of wires forms a plurality of wire loops extending distally from the end cap assembly.

Abstract: A device used for applying an antiseptic preparation, such as an antibiotic solution or water, or all other substance deemed necessary in treating a wound prior to arrival at a hospital or other treatment facility or for continuing wound therapy and maintenance while hospitalized, in an out-patient facility or at home. A loose-fitting bag is provided which encloses the wound by securing the open end(s) to the patient by closing means. The bag further includes ports or resealable flaps that allow access to the wound for treatment and cleaning while containing all fluids resulting therefrom. A high friction scrub surface is provided in the bag. A method and apparatus are also provided for wound maintenance with a lavage system.

Abstract: A universal wire driver attachment comprises a driveshaft forming a lumen extending along a longitudinal axis. The driveshaft forms a plurality of channels extending perpendicularly from the longitudinal axis. The attachment further comprises a plurality of primary jaws movably disposed at least partially within the channels. The primary jaws comprise a plurality of wire gripping surfaces facing the longitudinal axis and configured to grip the surgical wire. The primary jaws cooperate with the channels such that the primary jaws are constrained from moving in an axial direction along the longitudinal axis. The primary jaws are capable of moving outward from the longitudinal axis when the surgical wire is inserted between the primary jaws, and the primary jaws are capable of being urged inward toward the longitudinal axis by the securing mechanism to increase a grip force on the surgical wire.

Abstract: A data collection device comprises: a first portion having one or more features configured for attaching of the first portion to a dosage knob of an injection device; a second portion rotatably coupled with the first portion, wherein at least part of the second portion is movable axially relative to the first portion; a sensor arrangement configured to detect rotation of the first portion relative to the second portion; and a processor arrangement configured to, based on said detected movement, determine a medicament amount expelled by the injection device, wherein the coupling arrangement is configured to provide a non-permanent coupling between the first portion and the dosage knob of the injection device.

Abstract: A method, apparatus and computer readable medium for schematically representing a spatial position of an instrument used in a robotic surgery system is disclosed. The instrument includes an end effector coupled to a positioning device for spatially positioning the end effector in a surgical workspace in response to input signals generated by movement of a hand controller of an input device in an input device workspace. The method involves causing a processor circuit to calculate a current three-dimensional spatial position of the instrument within the surgical workspace for current input signals received from the input device.

Abstract: A sterile barrier assembly, mounting system, and method for kinematically coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.

Abstract: A tool holder for use as a surgical assistant, the tool holder including: first and second beam members; a frame; at least one linkage member coupled to the frame and the first and second beam members; a mounting configuration to hold a tool, the mounting configuration being coupled to the first and second beam members; and a drive mechanism mounted with respect to the frame, wherein the at least one linkage member and the mounting configuration are coupled to the first and second beam members in a parallelogram configuration, the drive mechanism is configured to drive a tilt movement of the mounting configuration with respect to the frame by movement of the first beam member with respect to the second beam member to orient the mounting configuration to a tilt angle, and the drive mechanism is configured to drive a pan movement of the tool about a pan axis, the drive mechanism being further configured to orient the pan axis with respect to the frame dependent on the tilt angle.

Abstract: A surgical device adapter for coupling an end effector to a surgical device includes: a proximal joint housing that is couplable to the surgical device; a middle joint housing pivotally coupled to the distal end of the proximal joint housing; and a distal joint housing pivotally coupled to the distal end of the middle joint housing. The middle joint housing is pivotable about a first pivot axis defined between the proximal joint housing and the middle joint housing. The distal joint housing is couplable to the end effector and pivotable about a second pivot axis defined between the middle joint housing and the distal joint housing, the second pivot axis being transverse to the first pivot axis.

Abstract: A driver interface provided to a robot arm of a robotic surgical system according to an embodiment may include: a drive member provided corresponding to a drive transmission member provided on an adaptor; an actuator to drive the drive member to rotate; and a housing accommodating the actuator therein and including a drive member opening at a location corresponding to the drive member and a drape detection opening. The driver interface may further include a detection member movable between a protrusion position at which a part of the detection member is protruded from the drape detection opening of the housing, and a withdrawal position at which the detection member is withdrawn into the drape detection opening of the housing. The driver interface may further include a sensor configured to detect the detection member is moved to the withdrawal position as a drape is brought into contact with the detection member.

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.