Abstract: A surgical robotic system is configured to control a surgical robotic arm that conforms to the constraints of an incision point without physical constraints, such as a port latch coupling an access port to the robotic arm. The system is also configured to continuously monitor and determine the relative location of the incision point, the access port with respect to the robotic arm, and/or the instrument. Location and position of these components may be accomplished using cameras, electromagnetic sensors, and other tracking methodologies.

Abstract: A flywheel energy storage device is included on a mobile robotic cart or a robotic arm to stabilize the cart and/or arm as well as provide electric energy allowing for uninterrupted power supply thereto.

Abstract: A surgical robotic system includes a robotic arm and a setup arm, each having multiple joints. The arms may be set into a passive mode allowing for manual movement of each joint until an aligned configuration is achieved. Once each joint in a desired position, that joint is locked. An aligned configuration is achieved once all of the joints are in the desired position and are locked.

Abstract: A robotic arm with a linear transmission mechanism for a surgical robotic system. The robotic arm includes a first link pivotally coupled to a second link at a first joint and a holder pivotally coupled to the second link at a second joint.

Abstract: A robotic surgical system includes a carrier for axially moving an instrument drive unit and an attached surgical instrument. A release mechanism is coupled to the carrier and a slide rail and transitions between a first state, in which the carrier and instrument drive unit are fixed relative to the release mechanism, and a second state, in which the carrier and instrument drive unit are manually movable relative to a slide rail.

Abstract: A surgical robotic system includes a robotic arm cart for supporting a robotic arm, and a docking station configured to be secured to an operating room floor around a surgical table. The robotic arm cart has a plurality of legs having wheels for facilitating movement of the robotic arm cart along the floor of the operating room. The robotic arm cart is configured to transition from an enlarged footprint state to a reduced footprint state. When the robotic arm cart is in the reduced footprint state, the robotic arm cart may be connected to the docking station to provide stability to the robotic arm cart.

Abstract: A surgical robotic system includes a first robotic arm, a second robotic arm, a control tower, and a surgeon console. The first robotic arm is engaged with a first movable cart. The second robotic arm is engaged with a second movable cart. The control tower is configured to control movement of the first robotic arm. The surgeon console is configured to provide instructions to the control tower. The control tower is electrically coupled to the surgeon console via a first cable. The surgeon console is electrically coupled to the first movable cart via a second cable.

Abstract: A surgical robotic system having multiple robotic arm carts and a surgeon console including a processor and a memory. The memory including instructions stored thereon, which when executed by the processor cause the surgical robotic system to receive data indicating a first pose of the first movable cart and a second pose of the second movable cart and determine a relative location of the first movable cart and the second movable cart based on the first pose and the second pose.

Abstract: A surgical robotic system includes a plurality of magneto sensors for measuring a torque, axial force, angle, position, or speed of various driven members in the surgical robotic system.

Abstract: A storage assembly for a surgical robotic arm includes a stand, legs configured to be coupled to a bottom end portion of the stand, and a handle slidably coupled to the stand. The stand is configured to receive and support a surgical robotic arm therein when in vertical and horizontal positions.

Abstract: A robotic arm configured to support and operate a surgical instrument includes a slider, first and second nuts rotatably disposed within the slider, a gear, and left-handed and right-handed lead screws. The first and second nuts each have a geared outer surface operably coupled to the gear. The left-handed lead screw extends through the slider and threadingly engages the first nut. The right-handed lead screw is disposed in parallel relation with the left-handed lead screw and extends through the slider. The right-handed lead screw threadingly engages the second nut. A rotation of the left-handed lead screw and/or the right-handed lead screw effects a rotation of the gear relative to the slider or an axial movement of the slider and the gear along the lead screws.

Abstract: A robotic arm configured to support and operate a surgical instrument includes a slider, first and second nuts rotatably disposed within the slider, a gear, and left-handed and right-handed lead screws. The first and second nuts each have a geared outer surface operably coupled to the gear. The left-handed lead screw extends through the slider and threadingly engages the first nut. The right-handed lead screw is disposed in parallel relation with the left-handed lead screw and extends through the slider. The right-handed lead screw threadingly engages the second nut. A rotation of the left-handed lead screw and/or the right-handed lead screw effects a rotation of the gear relative to the slider or an axial movement of the slider and the gear along the lead screws.

Abstract: A holding device for surgical instruments, in particular for minimally invasive surgery, is provided. The device includes a holding arm that holds an instrument support at the distal end of the holding arm. The instrument support can have which a surgical instrument is mounted thereon. The surgical instrument is operated by way of a drive device. To permit a simple replacement of the instrument support, the drive device is connected to the holding arm by way of a holding device, such that the drive device can easily be changed from a drive position to a replacement position.

Abstract: Minimally invasive instrument for robotic surgery including a functional element, a force, torque and/or pressure transmission device for transmitting force, torque and/or pressure from a drive to the functional element, a coupling device for coupling the instrument to a medical robot such that the functional element can be actuated by the drive, wherein an operating element for manually operating the functional element in a state in which the instrument is uncoupled from the medical robot.

Abstract: A robot system is provided that includes a transport device and a robot. The transport device has a receiving device that receives a robot and a movement device connected with the receiving device. The robot has a robot base with at least one manipulator element connected with the robot base. The robot system further includes a fastening device connected with the robot base for fastening the robot to a holding device and includes a transport device receiver that is connected with the robot base for fastening the robot to the transport device.

Abstract: To connect conventional or laparoscopic instruments to a robot that can be used for medical applications, there can be a device that has a first and a second circular cylinder segment having a continuous center bore is connected with the angled first segment affixed to the free end of a robot arm. This connection can be by way of an articulated joint that can be rotated by 180°. On one end surface of the second segment, there can be a third segment in the form of a flange, having a bore that is coaxial with the continuous center bore in the second segment. There is also a rolling joint which can be used to allow the device to rotate. Around the bore of the flange, there can be supply technology and data technology connection elements and a locking mechanism for coupling end effectors on and off.

Abstract: A holding device for surgical instruments, in particular for minimally invasive surgery, which device comprises a holding arm. The holding arm serves to hold an instrument support at the distal end of which a surgical instrument is mounted. The instrument is operated by way of a drive device. To permit a simple replacement of the instrument support, the drive device is connected to the holding arm by way of a holding device, such that the drive device can easily be changed from a drive position to a replacement position.

Abstract: A robot structure, in particular for minimally invasive surgery, is provided with a first robot element and a second robot element that can be moved relative to the first robot element, said second robot element having two grasping and/or cutting elements which can be uniformly moved with respect to each other and which are connected to the first robot element via a hinge axis. The robot structure further has a force transmitting device for moving the grasping and/or cutting elements of the movable robot element and at least one sensor element comprising a sensitive end for receiving forces and/or torques that occur on the movable robot element and includes a base element that is fixed to the first robot element.

Abstract: A robot system comprising a transport device and a robot, wherein the transport device has a receiving means for receiving a robot and a movement device connected with the receiving device. The robot comprises a robot base, wherein at least one manipulator element is connected with the robot base. Further, a fastening device is connected with the robot base for fastening the robot to a holding device. Moreover, a transport device receiving means is connected with the robot base for fastening the robot to the transport device.

Abstract: Minimally invasive instrument for robotic surgery including a functional element, a force, torque and/or pressure transmission device for transmitting force, torque and/or pressure from a drive to the functional element, a coupling device for coupling the instrument to a medical robot such that the functional element can be actuated by the drive, wherein an operating element for manually operating the functional element in a state in which the instrument is uncoupled from the medical robot.