Abstract: Provided is an implant apparatus for spinal surgery, in which a shaft is detachably connected to a connector equipped with a grip part, thus making it easy to replace and clean the shaft. The implant apparatus for spinal surgery includes a shaft having a predetermined length, with a screw for the spinal surgery being fastened to one end of the shaft, a sleeve fixedly surrounding an outer surface of the shaft, a straight handle and a clamping handle fastened to an outer circumference of the sleeve, a shaft locking part coupled to the clamping handle to lock the shaft, and a connector including an assembly member that is detachably coupled to the other end of the shaft and is assembled with a separate grip part while accommodating the other end of the shaft, and a housing connected to the assembly member and having a shaft coupling space therein to fix or release the inserted shaft.

Abstract: A system, a method, and instruments for manipulating a surgical cord into spinal implants to assist in correcting a spinal deformity are described. The system may include a tensioner, a tensioner extension, and a counter tensioner. One of the instruments can include an elongate body, a dual coupler, and a nose member. The elongate body has a flexible cylindrical member adapted to carry tension along a longitudinal axis, where the flexible cylindrical member is sized to receive a surgical cord through a lumen within the flexible cylindrical member. The dual coupler is disposed on a proximal end of the elongate body, and include a bore for receiving a nose portion of a tensioner and for guiding the surgical cord into the tensioner. The nose member is disposed on a distal end of the elongate body, and be adapted to discharge the surgical cord from the elongate body.

Abstract: A bone nail for stabilizing a fracture. The bone nail having a head portion and a stem portion. The stem portion offset from the longitudinal axis of the head portion. The nail including a continuous passageway extending from a rear edge of the nail to a front edge of the nail. The continuous passageway including a bore extending longitudinally through the head portion and both a groove and a bore in the stem portion.

Abstract: A plate for attaching to an anatomic structure with fasteners. A body defines openings for receiving the fasteners, and includes a bottom surface that is concave. The plate includes bone pad surface, and a spike extends away from the bone pad surface. The bone pad surface is oriented at an angle relative to the bottom surface to prevent further penetration of the spike into the anatomic structure beyond a predetermined depth. The bone pad surface may be oriented at an obtuse angle relative to the bottom surface. The bone pad surfaces may be planar or concave, or contoured to a corresponding profile of the anatomic structure. The spikes may be pyramidal or conical. At least one side of the spike may be integral and continuous with the bottom surface. The side may have a radius of curvature equal to that of the bottom surface.

Abstract: In one example, a system has an insertion handle that can be coupled to an intramedullary nail and includes a first coupler that defines one of a recess and a projection, and one of a latch and an abutment surface. The system has an aiming guide that includes a guide body that defines at least one alignment aperture therethrough. The aiming guide includes a second coupler that can couple the guide body to the first coupler such that the at least one alignment aperture is positioned to guide an instrument towards at least one bone-anchor fixation hole of the intramedullary nail. The second coupler defines another of the recess and the projection, and another of the latch and the abutment surface. The first and second couplers can couple to one another by receiving the projection in the recess and by engaging the latch with the abutment surface.

Abstract: Methods and systems for delivering a cryogenic fluid to an inner surface of a surgical excision cavity, such as following breast tumor removal, are described. A single or dual balloon configuration can be utilized to deliver a cryogenic fluid to necrose tissue surrounding the tumor cavity in order to reduce the risk of recurrence of the cancer. The balloon can be optimally configured for maximum contact with the breast tumor bed.

Abstract: Disclosed herein is a vapor therapy device for producing intra-uterine tissue effects. The device can include a shaft, including a proximal portion and a distal portion, a fluid-expandable medium, near the distal portion of the shaft, a fluid-delivery conduit, extending between the proximal portion and the distal portion of the shaft, the fluid-delivery conduit comprising an outlet, near the distal portion of the shaft, for delivery of the fluid toward the medium, and an in vivo heat generator, near the distal portion of the shaft, to heat the fluid. A method of treating a patient for menorrhagia with the device can include introducing a medium, in a contracted state, into a patient, delivering a fluid toward the medium to expand the medium in vivo; generating heat in vivo on or near the medium to vaporize the fluid, and exposing a treatment site to the vaporized fluid.

Abstract: An electrotherapeutic device can be configured for at least partial insertion into a patient. The device can include a shaft including a proximal portion and a distal portion, a gas-delivery lumen extending between the proximal portion and the distal portion of the shaft, and one or more electrodes located near the distal portion of the shaft. The electrodes can include a plasma activation electrode for generating plasma from gas delivered to the distal portion of the shaft via the gas-delivery lumen, and an ablation electrode for generating electromagnetic ablation energy. The medical device can be used in a method of treating endometriosis including delivering a gas toward an in vivo treatment site within a patient, generating plasma from the gas on or near the in vivo treatment site using a plasma activation electrode, exposing the treatment site to the plasma, and applying electromagnetic ablation energy to treat endometrial tissue.

Abstract: An electrode assembly with an electrosurgery blade having argon beam capabilities. The electrode assembly includes an electrosurgery blade, which may be monopolar, bipolar, or bipolar with monopolar capability, and a non-conductive housing for providing an ionized argon gas.

Abstract: A robotic surgical arm includes a puck containing motors to drive an end effector. A tool assembly attached to the puck generates ultrasonic and/or radio frequency energy to apply to tissue disposed between the jaws of the end effector. The tool assembly can include modular components such as a modular shaft that can include an ultrasonic transducer, nonvolatile memory, wireless interface, and/or a power source. The power source allows the modular shaft to communicate wirelessly with the robotic arm. The tool assembly can be moved from one robotic arm to another while remaining powered by the power source. The tool assembly can include sensors to determine a location or movement of the tool assembly after being detached from the robotic surgical arm. The modular shaft can be moved from a robotic arm to a handle manually controlled by a surgeon and back again to the robotic arm.

Abstract: The present invention relates to a device for inducing migration of cancer cells for cancer treatment, comprising an RF absorber including an antenna for irradiating a frequency of a specific band to a living tissue including cancer cells; a method for inducing migration of cancel cells using the same; and a method for cancer treatment.

Abstract: A surgical assembly and system are disclosed for use in performing a surgical procedure on a patient. The assembly comprises a surgical tool, the tool being arranged to receive a first signal for use in cutting or cauterizing tissue of the patient during the surgical procedure and an electrode disposed upon the tool. The assembly further comprises an electrical generator communicatively couplable with the electrode, for generating a second signal for use in generating an electrical field from the electrode proximate a site of the surgical procedure, for removing particles suspended proximate the surgical site. The assembly further comprises a controller for controlling the application of the second signal to the electrode, a sensing arrangement for sensing an activation status of the first signal, the sensing arrangement being communicatively coupled with the controller and arranged to output a sensing signal to the controller in dependence of the activation status of the first signal.

Abstract: A surgical tool for performing telesurgical surgical operations such as cutting, shearing, grasping, engaging, or contacting tissue. The surgical tool comprises a pair of jaws cooperatively rotating open and close about an axis of rotation. The jaws further comprise one or more compliant electrodes electrically communicating with a conductor to deliver electrical energy to tissue engaged by the jaws. The electrodes formed of an elastomeric material impregnated with a conductive material or formed atop an elastomeric material allowing a certain amount of flexibility and thereby maintaining more consistent pressure on the tissue when the jaws engage the tissue.

Abstract: A method of performing a tissue seal utilizing a robotic surgical system includes grasping tissue between a pair of jaws of an electrosurgical instrument; displaying on a display a visual representation of the grasped tissue; emitting electrosurgical energy from the pair of jaws into the tissue; and displaying on the display a visual representation of a progress of the tissue seal.

Abstract: A treatment tool includes: a handle; an elongated fixation member a proximal end side of which is fixed to the handle; a movable member that is provided coaxially with the fixation member, the movable member being configured to move with respect to the fixation member; and an airtight member which is provided between the fixation member and the movable member and in which a second contact width in contact with the movable member is smaller than a first contact width in contact with the fixation member.

Abstract: An apparatus includes a flexible electrically-insulating substrate including an inner surface and an outer surface. The substrate is shaped to define multiple channels passing between the inner surface and the outer surface, at least some of the channels being concave channels. The apparatus further includes an outer layer of an electrically-conducting metal covering at least part of the outer surface, an inner layer of the electrically-conducting metal covering at least part of the inner surface, and respective columns of the electrically-conducting metal that fill the channels such as to connect the outer layer to the inner layer.

Abstract: A tissue resecting device includes an outer sleeve having an axial bore extending along a longitudinal axis from a proximal end to a distal end and opening to an outer window near the distal end. An inner sleeve is rotatably received in the axial bore of the outer sleeve and has an axial channel adapted for communication with a negative pressure source. A distal housing is attached to a distal end of the inner sleeve and has an annular dielectric portion and a circumferentially adjacent annular metal portion having an inner window with circumferentially spaced-apart sharp cutting edges that opens to the axial channel. An active electrode is carried by the annular dielectric portion, and the inner window is circumferentially spaced-part from the active electrode so that the inner window and the active electrode rotate alternately into alignment with the outer window as the inner sleeve is rotated within the outer sleeve.

Abstract: A medical device can comprise a catheter shaft comprising a proximal end and a distal end, the catheter shaft defining a catheter shaft longitudinal axis. A flexible tip portion can be located adjacent to the distal end of the catheter shaft, the flexible tip portion comprising a flexible framework. A plurality of curved microelectrodes can be disposed on the flexible framework and can form a flexible array of curved microelectrodes adapted to conform to tissue.

Abstract: Devices and methods for tissue lesion assessment and/or creation based on dielectric properties are disclosed. In some embodiments, one or more probing frequencies are delivered via electrodes including an electrode in proximity to a tissue (for example, myocardial tissue). Measured dielectric properties (such as impedance properties), optionally together with other known and/or estimated tissue characteristics, are used to determine the lesion state of the tissue. In some embodiments, a developing lesion state is monitored during treatment formation of a lesion (for example, ablation of heart tissue to alter electrical transmission characteristics).

Abstract: Systems, methods, and devices allow percutaneous mapping, orientation and/or ablation in bodily cavities or lumens. Such may include a structure that is percutaneously positionable in a cavity, such as an intra-cardiac cavity of a heart. Transducers carried by the structure are responsive to blood flow. For example, the transducers may sense temperature, temperature being related to convective cooling caused by blood flow. A controller discerns positional information or location, based on signals from the transducers. For example, blood flow may be greater and/or faster proximate a port in cardiac tissue than proximate tissue spaced from the port. Position information may allow precise ablation of selected tissue, for example tissue surround a port in the intra-cardiac cavity.

Abstract: The instant disclosure relates to electrophysiology catheters for tissue ablation within a cardiac muscle. In particular, the instant disclosure relates to an electrophysiology ablation balloon catheter with an electrode coil that is wrapped around at least a portion of the balloon and delivers ablation energy at a desired portion of tissue.

Abstract: The present invention provides a microwave ablation probe comprising an antenna including a helical arm and a linear arm.

Abstract: An assembly with a handpiece assembly configured to receive electromagnetic energy and fluid, and to selectively deliver the electromagnetic energy and/or the fluid to a target surface. The handpiece assembly includes a handpiece housing and a plurality of fluid lines extending through the handpiece housing. The plurality of fluid lines can transfer fluid from a proximal end of the handpiece assembly to a distal end of the handpiece assembly. A spray mixer can be positioned at the distal end that is coupled to fluid lines of the plurality of fluid lines. An air input port can be positioned at the proximal end that is configured to be coupled to an auxiliary air hose, and an air delivery channel can be coupled to the air input port, and can supply air to a tip of an exchangeable applicator that can be coupled to the distal end of the handpiece housing.

Abstract: The present invention provides an optical irradiation apparatus including: a dual laser light source unit which simultaneously or selectively outputs multiple light sources created with different outputs; an optical fiber which is connected to the dual laser light source unit, receives the light outputted from the dual laser light source unit, and emits the received light through an embossed end surface; and an inflatable balloon catheter which is formed to surround the embossed end surface of the optical fiber and expands constricted tissue. With the present invention, it is possible to effectively treat constricted tissue during a procedure of performing an anticancer therapy on entire human bodies with various types of cancers, and it is possible to mitigate patient's pain by reducing a relapse rate of stenosis after the photothermal therapy.

Abstract: A catheter system for treating a vascular lesion within or adjacent to a vessel wall within a body of a patient includes a catheter fluid, an energy source that generates energy, an energy guide and an energy manifold. The energy guide includes a guide distal end that is selectively positioned near the vascular lesion. The energy guide is configured to receive energy from the energy source and generate a plasma bubble within the catheter fluid. The energy manifold is coupled to the energy guide near the guide distal end. The energy manifold includes (i) a manifold body that defines a body chamber, the body chamber being configured to retain at least some of the catheter fluid, and (ii) a manifold aperture that extends through the manifold body. The energy manifold directs energy from the plasma bubble out of the body chamber through the manifold aperture and toward the vascular lesion.

Abstract: A system for tracking a piece of medical equipment intraoperatively using a collinear array of fiducial markers positioned at known fixed distances relative to each other on the medical equipment and a camera capturing an image on a single image plane. Representations of the fiducial markers are segmented from a captured image, 3D orientation and position of the medical equipment are calculated using the segmented representations, and the orientation and position of the medical equipment are tracked relative to the camera. The orientation and position of the medical equipment may be registered within a 3D virtual space. The system may be used as part of a surgical navigation system.

Abstract: A verification method of an osteotomy guide tool, a verification system and a detection element are disclosed. The verification method includes obtaining a pose parameter of a feature portion of an osteotomy guide tool in a coordinate system of a trackable element; then comparing the obtained pose parameter of the feature portion of the osteotomy guide tool with a corresponding standard value to obtain an offset between the pose parameter of the feature portion of the osteotomy guide tool and the standard value; if the offset is greater than an expected value, the osteotomy guide tool is determined as deformed. With this configuration, the osteotomy guide tool can be verified to avoid deformation of the osteotomy guide tool during repeated use or transportation, affecting its positioning accuracy and affecting the operation.

Abstract: Neuromodulation systems and corresponding methods for providing neuromodulation are disclosed. The neuromodulation systems can include at least one input module for inputting patient data into the neuromodulation system. The systems can further include at least one model calculation and building module for building a patient model, the patient model describing the anatomy and/or physiology and/or pathophysiology and the real and/or simulated reaction of the patient on a provided and/or simulated neuromodulation. The systems can further include at least one computation means for using the patient model (M) and calculating the impact of the provided and/or simulated neuromodulation.

Abstract: Systems and methods are provided in which local tissue diagnostic measurements are correlated with archival local tissue diagnostic data from prior tissue analyses to supplement diagnostic measurements with tissue analysis data from prior tissue analyses having similar local tissue diagnostic data. The tissue analysis data may include information such as pathology data, outcome data, and diagnosis data. The archived local tissue diagnostic data and the tissue analysis data may be stored in a database, and employed for a wide variety of methods, involving preoperative, intraoperative, and/or postoperative phases of a medical procedure. Methods and systems are also provided for displaying, on a medical image shown in a user interface, hyperlinked reference markers associated with tissue analyses, where the reference markers are shown at locations corresponding to local tissue analyses, and where associated diagnostic data and/or tissue analysis may be viewed by selecting a given reference marker.

Abstract: Methods of orthopedic fixation and imagery analysis are provided. Images of first and second bone segments attached to a fixation apparatus are captured. Fixator elements identified in the images can be used to obtain imaging scene parameters. Bone elements identified in the images can be used with the imaging scene parameters to reconstruct a three dimensional representation of positions and/or orientations of the first and second bone segments with respect to the fixation apparatus.

Abstract: Systems and methods are disclosed for predicting coronary plaque vulnerability, using a computer system. One method includes acquiring anatomical image data of at least part the patient's vascular system; performing, using a processor, one or more image characteristics analysis, geometrical analysis, computational fluid dynamics analysis, and structural mechanics analysis on the anatomical image data; predicting, using the processor, a coronary plaque vulnerability present in the patient's vascular system, wherein predicting the coronary plaque vulnerability includes calculating an adverse plaque characteristic based on results of the one or more of image characteristics analysis, geometrical analysis, computational fluid dynamics analysis, and structural mechanics analysis of the anatomical image data; and reporting, using the processor, the calculated adverse plaque characteristic.

Abstract: A method for registering one or more surfaces associated with a bone for implant revision procedures includes a digitizer used to digitize surface points on remaining cement, bone surfaces, or both. The bone is adapted to hold a primary implant and from which the primary implant was removed. The position of the one or more surfaces associated with bone is registered by computing at least one of: a generic set of one or more planes using the surface points or a best match between a known implant geometry and the surface points. A computer-assisted surgical system is also provided to execute the method.

Abstract: The subject matter includes a system and method for providing graphical feedback visualizing forces within a joint through a range of motion of the joint. The method can comprise receiving position data, receiving force data, and generating a graphical representation based on the position data and the force data. The receiving position data can include data for at least one bone of a joint while the at least one bone is moved through a range of motion (ROM). The receiving force data can occur concurrently to receiving the position data and using one or more processors, the force data can be collected from at least one force sensor embedded within a trial prosthesis in the joint. The graphical representation can illustrate changes in the force data versus locations of the bone as it moved through the ROM.

Abstract: A surgical instrument system for treatment of an anatomical structure comprises an instrument and/or a patient specific instrument. The instrument and/or the patient specific instrument comprises an integrated measurement system for tracking the instrument and/or the patient specific instrument relative to the anatomical structure. The integrated measurement system comprises a tracking system, which comprises a shadow imaging tracking system comprising an optical source, a shadow-generating device and a patient specific instrument sensor. An initial position of the instrument or the patient specific instrument is registerable by the patient specific instrument sensor. The shadow-generating device is arranged between the optical source and the imaging device for generating a shadow. The shadow imaging tracking system is configured to compute the elevation of the source from the pattern the shadow casts on the surface of the imaging device.

Abstract: The present invention relates to an intervention device (20) for surgically intervening a target tissue of a human or animal body, comprising a penetrating body (100) arranged to be advanced into the target tissue along an advancing axis (Z+). The penetrating body (100) has an outer surface with a plurality of electrodes (e1, e2, e3, e4, . . . , eN) insulated from each other. More particularly, the penetrating body comprises a substrate base (5), a number N>1 of electrically conducting coatings (cce1, cce2, cce3, cce4, . . . , cceN) and a number M=N?1 electrically insulating coatings (ici1, ici2, ici3, . . . , iciM). A 1st electrically conducting coating (cce1) at least partially covers the substrate base (5), whereas each mth electrically insulating coating of the M electrically insulating coatings ici1, ici2, ici3, ici4, . . . , iciM) partially covers the mth electrically conducting coating of the N electrically conducting coatings (cce1, cce2, cce3, cce4, . . .

Abstract: A MRI-guided stereotactic surgery method including the following steps: assigning coordinates of a surgery target point of a surgery cannula and an insertion direction of the surgery cannula; performing coordinate transformation to transform the coordinates of the surgery target point into an insertion position of the surgery target point; substituting the insertion position and the insertion direction into an inverse kinematics model to obtain five parameters respectively corresponding to five degrees of freedom of a MRI-compatible stereotactic surgery device; controlling the MRI-compatible stereotactic surgery device according to the parameters to start a stereotactic surgery procedure, thereby inserting the surgery cannula; obtaining an actual cannula position according to a magnetic resonance (MR) image; comparing the actual cannula position with the surgery target point to obtain an actual position vector; and withdrawing the surgery cannula to finish the stereotactic surgery procedure when the actual po

Abstract: An osteotomy calibration method, calibration tools, a readable storage medium, and an orthopedic surgery system are provided. Firstly using the plane calibration tool to obtain the calculated position information of the current osteotomy plane, and then determining a position error between the calculated position information and a predetermined position information of a planned osteotomy plane, and if the position error exceeds a preset value, calculating and transmitting a relocation information to a robotic arm to control and relocate the robotic arm. By comparing and identifying the position error between the current osteotomy plane formed by the first osteotomy and the planned predetermined osteotomy plane, relocating the robotic arm, and performing a secondary correction of the osteotomy plane. In addition, by relocating the robotic arm and secondary correction of the osteotomy plane, additional bone nails which is to fix the navigation tool to the bone can be avoided.

Abstract: The present invention provides a digestive organ endoscope system which allows a user to perceive whether or not the tip of an endoscope instrument inserted along a channel approaches the tip of an endoscope channel portion within a certain distance, thereby being capable of quickly inserting the endoscope instrument up to a position close to the tip of the endoscope channel portion, and thus, it is possible to reduce a procedure time and to prevent a digestive organ from being damaged due to instantaneous protrusion of the tip of the endoscope instrument occurring when the endoscope instrument is quickly inserted.

Abstract: Systems and methods are provided in which an intraoperative video feed is augmented with one or more virtual display features based on a detected orientation and position of the tracked medical instrument. In some example embodiments, the virtual display features may be employed to represent, in an augmented video feed, information associated with a previously-detected intraoperative position and orientation of the tracked medical instrument. The virtual display element may be employed, for example, to facilitate the alignment of an untracked medical instrument with a previously determined intraoperative position and orientation of the tracked medical instrument. In other example embodiments, the virtual display element may be dynamically displayed in a fixed spatial relationship relative to the tracked medical instrument.

Abstract: An electromagnetic (EM) system for tracking a surgical tool is provided. The system may comprise a plurality of subsets of field generator coils disposed along edge portions of a surgical bed. Each subset of field generator coils may be configured to generate a magnetic field within a control volume. The system may further comprise a position sensor disposed on a portion of the surgical tool. The position sensor may be configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume. Additionally, the system may comprise an EM system controller configured to selectively activate one or more of the subsets of field generator coils based on the sensor signal.

Abstract: Disclosed are systems, devices and methods for providing proximity awareness to an anatomical feature while navigating inside a patient's chest, an exemplary method including receiving image data of the patient's chest, generating a three-dimensional (3D) model of the patient's chest based on the received image data, determining a location of the anatomical feature based on the received image data and the generated 3D model, tracking a position of an electromagnetic sensor included in a tool, iteratively determining a position of the tool inside the patient's chest based on the tracked position of the electromagnetic sensor, and indicating a proximity of the tool relative to the anatomical feature, based on the determined position of the tool inside the patient's chest.

Abstract: A patient introducer for use with a surgical robotic system is disclosed. In one aspect, the patient introducer may include an introducer tube extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool. The introducer tube may be configured to guide the surgical tool into the port. The patient introducer may also include an alignment member connected to the introducer tube and including a first shape and a first alignment marking. The alignment member may be configured to interface with a manipulator assembly of a robotic system. The manipulator assembly may include a second shape and a second alignment marking, the first shape being complementary to the second shape. The first alignment marking of the alignment member may facilitate rotational alignment of the alignment member and the manipulator assembly.

Abstract: Surgical tools and robotic systems adaptable for treating a left side or a right side of a patient with minimal interference with the patient and surrounding operative site are disclosed. In some embodiments, a surgical tool can include a body, an end-effector, a first connector, a second connector, and a third connector. The end-effector can extend from a distal end of the body and be movable relative to the body about a pivot axis. The first connector can rigidly secure the body to a planar mechanism. The second and third connectors can rigidly secure a distal part and a proximal part of a tracker, respectively, to the body. The first and second connectors can be symmetrical to each other with respect to a plane including a longitudinal axis of the body and the pivot axis and can be suited for attachment of either the tracker or the planar mechanism.

Abstract: A method of placing a surgical robotic cart assembly includes, determining a first position of a first surgical robotic cart assembly relative to a surgical table, calculating a path for the first surgical robotic cart assembly towards a second position of the first surgical robotic cart assembly relative to the surgical table, wherein in the second position, the first surgical robotic cart assembly is spaced-apart a first safe distance from the surgical table, moving the first surgical robotic cart assembly autonomously towards the second position thereof, and detecting a potential collision along the path of the first surgical robotic cart assembly as the first surgical robotic cart assembly moves towards the second position thereof.

Abstract: An exemplary system is configured to access image data representative of an image of an internal space of a patient, the image depicting a physical medical element positioned over an anatomical surface within the internal space, identify a region, within the image, that depicts a fiducial marker on the physical medical element, determine, based on the identified region, an affixation target location on the physical medical element, and assist, based on the determined affixation target location, an affixation process in which the physical medical element is affixed to the anatomical surface.

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.

Abstract: A computer-assisted medical system includes a manipulator arm and an instrument holder physically coupled to the manipulator arm. The instrument holder is configured to releasably couple to an instrument. The instrument holder includes an adjustable assembly and a cannula clamp physically coupled to the adjustable assembly. A physical adjustment of the adjustable assembly moves the cannula clamp relative to the manipulator arm. The cannula clamp is configured to releasably couple to a cannula configured to receive the instrument.

Abstract: Some embodiments are directed to a surgical master-slave robot for use in minimally (or reduced) invasive surgery on a subject. The robot includes an instrument manipulator for mounting of a surgical instrument, and a linkage system for moveably suspending the instrument manipulator. A first linkage component is configured for guiding a first suspension to move along a first movement trajectory. A second linkage component is configured for guiding a second suspension point to move along a second movement trajectory. The first movement trajectory and the second movement trajectory differ and are selected to provide a combined translational and rotational movement of the instrument manipulator which moves the instrument manipulator along a predefined trajectory from a surgical position to a standby position. The robot may provide a stable removal of the instrument manipulator during a surgery as well as sufficient surgeon's workspace after the removal of the instrument manipulator.

Abstract: A medical navigation system is provided for controlling medical equipment during a medical procedure. The medical navigation system includes a passive radio frequency identification (RFID) tag, an RFID sensor for detecting the passive RFID tag, a controller coupled to the RFID sensor, and a robotic arm having an end effector and controlled by the controller. The RFID sensor provides a signal to the controller indicating presence of an activated passive RFID tag. The passive RFID tag has an antenna, an RFID circuit, and a switching device coupled to the RFID circuit for activating the passive RFID tag. The passive RFID tag is used to control a payload attached to the end effector.

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.