Abstract: A multi-joint fixture including a proximal base unit, one or more arms serially connected by electromagnetically lockable ball joints, and a distal hub. The ball joints unlock when not powered. A centering mechanism biases the ball joints toward a neutral position. A control system activates the electromagnetic brake with a high-then-low voltage profile. A headpiece attaches to the hub and holds a drape that covers the fixture. A connector connects a surgical device to the headpiece. A switch on the hub can be actuated via actuators on the headpiece or connector.

Abstract: A surgical drape with a functional interface for engaging surgical instruments, including a flexible, tube-like sleeve for creating a sterile barrier around a non-sterile holding arm. The drape is open at a proximal end, and has a hub at a distal end for connection to a distal end of the holding arm. The hub has sterile external surfaces that allow surgical instruments to be easily removably attached in a variety of directions and orientations, providing sufficient mechanical strength to transmit forces from the instruments to the holding arm. The hub includes an externally accessible, sterile actuator for actuating an electronic circuit local to the holding arm on the non-sterile side of the barrier.

Abstract: A clamp for attaching a medical device to an OR table rail, including two closable clamp jaws that close to an extreme position that leaves inadequate room for the rail. A handle actuates the jaws apart, and a spring biases them together through a range of jaw positions. A lock member is biased to swing through a range of lock positions in which it progressively engages and locks the jaw mechanism through its range of jaw positions. A pair of bars carries the medical device on the clamp, and allows it to be adjustably positioned with respect to the rail.