Abstract: A platform device for material excision or removal from vascular structures for either handheld or stereotactic table or robotics platform use may comprise a work element or elements configured to selectively open and close at least one articulable beak or scoopula configured to penetrate and remove intra-vascular materials or obstructions, or follow a central lumen of another device or over a wire in a longitudinal direction. Flush and vacuum tissue transport mechanisms may be incorporated as well as single or multiple arrays of image guidance elements, directional elements, ablation elements and other interventional assistance elements. A single tube or an inner sheath and an outer sheath which may be co-axially disposed relative to a work element may be configured to actuate a beak or beaks or scoopulas and provisions for simultaneous or differential beak or scoopula closing under their differential rotation may be incorporated.

Abstract: Robotic surgery systems and methods of surgical robot operation are provided. A method of surgical robot operation includes moving a surgical instrument through a tissue using the surgical robot, where the surgical robot attempts to move the surgical instrument to a desired position. The method further includes measuring an actual position of the surgical instrument, and calculating a difference between the actual position and the desired position. The actual position of the surgical instrument is adjusted to the desired position using the surgical robot.

Abstract: This invention provides a system and method for finding multiple line features in an image. Two related steps are used to identify line features. First, the process computes x and y-components of the gradient field at each image location, projects the gradient field over a plurality subregions, and detects a plurality of gradient extrema, yielding a plurality of edge points with position and gradient. Next, the process iteratively chooses two edge points, fits a model line to them, and if edge point gradients are consistent with the model, computes the full set of inlier points whose position and gradient are consistent with that model. The candidate line with greatest inlier count is retained and the set of remaining outlier points is derived. The process then repeatedly applies the line fitting operation on this and subsequent outlier sets to find a plurality of line results. The process can be exhaustive RANSAC-based.

Abstract: A quick-connection type magnetic transmission apparatus for use in a medical interventional instrument, comprising a drive-side housing and a driven-side housing. The drive-side housing and the driven-side housing are coaxially arranged and are connected in a nested mode; a magnetic coupling structure, a magnetic coupling and coaxial guiding mechanism, and an integral coaxial guiding mechanism are sequentially comprised from inside to outside; the magnetic coupling structure consists of a magnetic transmission drive end (12), a magnetic transmission driven end (11), and a quick-connection separation sleeve (13); the magnetic coupling and coaxial guiding mechanism consists of a magnetic coupling and guiding sleeve (21) and a magnetic coupling and guiding groove (22); the integral coaxial guiding mechanism consists of a coaxial guiding sleeve (31), a coaxial guiding groove (32), and a coaxial locking structure.

Abstract: A radiotherapy system, comprising: a patient support, a radiation beam generator, a gantry on which the radiation beam generator is mounted, the gantry being moveable so as to rotate the radiation beam generator around the patient support, and a control system including a real-time control system mounted on the gantry and configured to provide real-time control signals to the patient support, the radiation beam generator, and the gantry.

Abstract: A method of controlling a robotic surgical system is provided, where the robotic surgical system including an arm having an instrument with jaws and an access port each coupled to the arm. The method includes detecting a position of the instrument, and opening the jaws of the instrument, in response to a determination that a distance between the position of the instrument and a position of the access port is greater than a predetermined distance.

Abstract: A robotic surgical system is described. In some embodiments, the robotic surgical system includes a physician-side shaft controlled by a physician, the movement of which is tracked by a plurality of physician-side balls and transmitted to a plurality of patient-side balls, which in turn, move a patient-side shaft and attached surgical device, such as a stent retriever.

Abstract: A prosthesis fastener applier includes a handle, a plurality of input controls, and a fastener delivery shaft. The handle contains a motor and a control circuit. The input controls are connected to the handle and communicatively connected to the control circuit. The fastener delivery shaft includes a fastener cartridge and a driver shaft. The fastener cartridge includes a plurality of internal threads configured to receive a plurality of helical fasteners in stacked relationship. The driver shaft is operatively connected to the motor, disposed within the fastener cartridge, and configured to pass through respective inner diameters of the helical fasteners. The control circuit is configured to control the motor in response to signals from one or more of the input controls to rotate the driver shaft to cause one or more of the helical fasteners to be advanced axially relative to the fastener cartridge.

Abstract: A method includes transmitting an instruction to a motive power supply of an elastically deformable device to drive the elastically deformable device in accordance with a drive setting; measuring a force exerted on the elastically deformable device with a sensor; outputting an observed value representative of the force; comparing the observed value with a reference value corresponding with a predetermined force to be exerted on the elastically deformable device; and adjusting the drive setting based on a determination that the observed value is outside of a predetermined range of the reference value. The method prevents slack in the elastically deformable device over time. Related apparatuses, systems, techniques and articles are also described.

Abstract: Provided is a control device including a control unit that calculates a first positional relationship between an eye of an observer observing an object displayed on a display unit and a first point in a master-side three-dimensional coordinate system, and controls an imaging unit that images the object so that a second positional relationship between the imaging unit and a second point corresponding to the first point in a slave-side three-dimensional coordinate system corresponds to the first positional relationship.

Abstract: A control system for a capsule endoscope is provided. The control system includes a balance arm device, a mechanical arm, a permanent magnet and a 2-DOF rotary platform. The bottom of the balance arm device is fixed, and the active end of the balance arm device connects with a boom. The bottom of the mechanical arm is fixed, and the active end of the mechanical arm connects with a spherical hinge. The 2-DOF rotary platform is fixed below the boom and the permanent magnet is located in the 2-DOF rotary platform. The spherical hinge connects to the boom, assisting the permanent magnet to move around a fan-shaped area around a subject.

Abstract: Cutting tools, systems and methods for navigated procedures are provided. A cutting tool (e.g. oscillating blade, etc.) for a power tool has an optically trackable feature in a defined positional relationship relative to a cutting feature of the cutting tool. The trackable feature may include reflective material applied to a surface (e.g. a recessed blade surface). The trackable feature is be imaged by a camera integral with or attached to the power tool and provided to a computing unit of a navigation system to determine a relative pose of the cutting feature and camera. The camera may also track a patient's bone such that the computing unit may determine a relative position of the bone and camera. The unit then computes a relative pose of the cutting feature with respect to the patient's bone and provides same for determining display information and/or to a robotic controller for procedural control.

Abstract: A motion feedthrough for a surgical drape, the motion feedthrough comprising a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of a robot arm and the second portion being releasably engageable with a portion of an instrument, the drive transfer element being movable relative to a bulk portion of the drape so as to transfer drive between the robot arm and the instrument.

Abstract: A surgical access device assembly includes a cannula hub and a cannula tube. The cannula tube extends distally from the cannula hub along a longitudinal axis. The cannula tube defines a working channel. The cannula tube includes a tissue engagement feature and a balancing feature. The balancing feature is configured to promote lateral stability of the cannula tube and the cannula hub relative to the body cavity wall of the patient. The balancing feature includes a proximal portion of the cannula tube having a first wall thickness. The balancing feature also includes a distal portion of the cannula tube having a second wall thickness that is greater than the first wall thickness. At least a portion of the proximal portion is proximal relative to the tissue engagement feature. At least a portion of the distal portion is distal relative to the tissue engagement feature.

Abstract: A surgical treatment instrument includes an elongated member an end effector that is bendable with respect to the elongated member, a bending operator operable to bend the end effector, a rotor rotatable about a rotation axis in response to operation of the bending operator, and a transmitter that transmits a driving force to bend the end effector. The bending operator, the rotor, and the transmitter are rotatable about the longitudinal axis together with the elongated member and the end effector.

Abstract: A position and tracking system for radio-based localization in an operating room, includes a receiver, a mobile cart, a processor, and a memory coupled to the processor. The mobile cart includes a robotic arm and a transmitter in operable communication with the receiver. The memory has instructions stored thereon which, when executed by the processor, cause the system to receive, from the transmitter, a signal including a position of the mobile carts in a 3D space based on the signal communicated by the transmitter and determine a spatial pose of the mobile carts based on the received signal.

Abstract: Systems and methods for joint replacement are provided. The systems and methods include a surgical orientation device and at least one orthopedic fixture. The surgical orientation device and orthopedic fixtures can be used to locate the orientation of an axis in the body, to adjust an orientation of a cutting plane or planes along a bony surface, to distract a joint, or to otherwise assist in an orthopedic procedure or procedures.

Abstract: A surgical system includes a detector, comprising an array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a processor configured to receive the first signal, generate a modified image of the surgical instrument that includes a control panel. The control panel includes one or more control elements representative of one or more operating parameters of the surgical instrument. The processor is further configured to receive an input to the control panel from a user, the input being effective to change one of the operating parameters. The processor is also configured to generate a command signal based on the input to change the one of the operating parameters.

Abstract: Hip joint navigation systems and methods are provided. In some embodiments, the systems and methods described herein determine a table reference plane that approximates the Anterior Pelvic Plane. In some embodiments, the systems and methods described herein measure a pre-operative and post-operative point. In some embodiments, the comparison of the pre-operative and post-operative point corresponds to changes in leg length and joint offset. In some embodiments, the systems and methods described herein determine an Adjusted Plane. In some embodiments, the Adjusted Plane adjusts for tilt by rotating the Anterior Pelvic Plane about the inter-ASIS line. In some embodiments, the Adjusted Plane improves correlation between navigated cup angles and post-operative images.

Abstract: A sterile interface module for coupling an electromechanical robotic surgical instrument to a robotic surgical assembly is provided. The surgical instrument includes an end effector and is configured to be actuated by the robotic surgical assembly. The sterile interface module includes a body member and a drive assembly. The body member is configured to selectively couple the surgical instrument to the robotic surgical assembly. The body member is formed of a dielectric material. The drive assembly is supported within the body member and is configured to transmit rotational forces from the robotic surgical assembly to the surgical instrument to actuate the surgical instrument to enable the surgical instrument to perform a function.

Abstract: Systems, methods and instrumentalities are described herein for automating a medical environment. The automation may be realized using one or more sensing devices and at least one processing device. The sensing devices may be configured to capture images of the medical environment and provide the images to the processing device. The processing device may determine characteristics of the medical environment based on the images and automate one or more aspects of the operations in the medical environment. These characteristics may include, e.g., people and/or objects present in the images and respective locations of the people and/or objects in the medical environment. The operations that may be automated may include, e.g., maneuvering and/or positioning a medical device based on the location of a patient, determining and/or adjusting the parameters of a medical device, managing a workflow, providing instructions and/or alerts to a patient or a physician, etc.

Abstract: Presented herein is a method of using a manually-operated light plane generating module to make accurate measurements of the dimensions of an object seen in an image taken by an endoscopic camera. The method comprises: providing the light plane generating module with distinctive features, introducing the light plane generating module until the distinctive features are visible in the image, aligning the light plane across the object, and providing a processor device and software configured to analyze the camera images. Also described are diagnostic or therapeutic endoscopic tools that comprise an attached light plane generating module to provide the tool with integrated light plane measurement capabilities, wherein the tool is configured to be used in the described method.

Abstract: A technique of providing user guidance for surgical navigation is provided. A method implementation of the technique includes obtaining a predetermined spatial relationship between an optical tracking pattern and a through-hole extending through an implant, obtaining image data of the optical tracking pattern acquired by an imaging unit attached to a surgical instrument, obtaining a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired, determining a spatial relationship between the surgical instrument and the through-hole, obtaining a plurality of predefined spatial relationships between the surgical instrument and the through-hole, and triggering simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole.

Abstract: A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

Abstract: The technology disclosed herein is directed to a medical manipulator system having a medical device. The medical device such as endoscope or other surgical instrument includes an elongated insertion portion. A holder assembly includes an articulated arm carrying the medical device that is attached thereto and is actuated following movement of the medical device and holds the medical device in a stationary state at a desired position. A position/attitude detection unit detects positions and attitudes of the elongated insertion portion in plurality states into which the medical device is caused to swing about a constraint point. A constraint point estimation unit estimates a position of the constraint point based on the positions and attitudes of the insertion portion as detected by the position/attitude detection unit.

Abstract: A retractor apparatus for a surgical robotic system includes a frame defining a central open region, a connecting member that connects the frame to a robotic arm, a plurality of coupling mechanisms for attaching a set of retractor blades within the central open region of the frame such that blades define a working channel interior of the blades, and a plurality of actuators extending between the frame and each of the coupling mechanisms and configured to move the blades with respect to the frame to vary a dimension of the working channel. Further embodiments include a surgical robotic system that includes a robotic arm and a retractor apparatus attached to the robotic arm, and methods for performing a robot-assisted surgical procedure using a retractor apparatus attached to a robotic arm.

Abstract: An apparatus for fixing a wearable structure and/or a user-feedback element to a user is provided. The apparatus includes a wearable structure configured to be worn by a user, and a grounding assembly, coupled to the wearable structure. The grounding assembly includes: (i) an inflatable bladder, coupled to a first portion of the wearable structure, and (ii) a cord, coupled to a second portion of the wearable structure and the inflatable bladder. The inflatable bladder is configured to receive a fluid from a source. The cord is configured to tighten around a portion of the user's body according to and in proportion with the fluid pressure inside the inflatable bladder.

Abstract: Described herein are systems and apparatus of surgical instruments engineered for integration with robotic surgical systems to enhance precision in surgical procedures. Also described herein are methods of using such surgical instruments in performing surgical procedures. The use of such surgical instruments reduce complications arising from misalignment during surgery. The disclosed technology assists in stages of a surgical procedure that require a precise trajectory to be followed. Surgical instrument guides are attached to a universal surgical instrument guide, which is engineered to attach directly or indirectly with a robotic arm of a robotic surgical system. Surgical instruments can then be precisely guided along an axis defined by the universal surgical instrument guide. Individual instruments are easily inserted and removed from the channel of the universal surgical instrument guide, thus allowing a range of instruments to be used throughout a procedure while maintaining the surgical trajectory.

Abstract: Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.

Abstract: A support system, a support method, and a support program in the form of a non-transitory computer readable medium are disclosed that support a medical action during an operation. The support system includes a data acquisition unit configured to acquire, during an operation, use state data on a use state of a medical device during the operation, and target lesion data on a target lesion of a patient during the operation, a learning unit configured to perform machine learning using the use state data and the target lesion data, and a presentation unit configured to present a recommended operation policy based on a result of the machine learning.

Abstract: A medical device drive system can include a rotational input, a coupling member engaged with the rotational input, a first gear having an engagement feature sized and shaped to engage with the coupling member, and a second gear coupled with the first gear, the second gear coupled to a movable element. The system can have a first system state and a second system state. In the first system state the coupling member is not engaged with the engagement feature and the first gear rotates without moving the coupling member. In the second system state the coupling member is engaged with the engagement feature of the first gear and rotation of the rotational input turns the coupling member, the first gear, and the second gear to move the movable element.

Abstract: A system, method, and computer readable media are provided for obtaining a first set of skin data from an image capture system including at least one ultraviolet (UV) image of a user's skin. Performing a correction on the skin data using a second set of skin data associated with the user. Quantifying a plurality of skin parameters of the user's skin based on the first skin data, including quantifying a bacterial load. Quantifying the bacterial load by applying a brightness filter to isolate portions of the at least one UV image containing fluorescence, applying a dust filter, identifying portions of the at least one UV image that contain fluorescence due to bacteria, and determining a quantity of bacterial load in the users skin. Determining, using a machine learning model, an output associated with a normal skin state of the user and a current skin state of the user.

Abstract: A method is provided for running a collision protection system for a medical operating device, which has a patient bed for a patient to be operated on, an image recording device having at least one movable image recording component for recording image data of the patient during the operation, and an assistance robot having a movable assistance component which during the operation is situated at least temporarily inside the patient and/or is coupled in terms of movement to an instrument situated inside the patient. In the method, an item of criticality information is determined which describes the criticality of possible collisions of components of the operating device and/or movements of the patient with regard to the interaction of the assistance robot with the patient. Depending upon the criticality information, when a criticality criterion indicating a raised criticality, (e.g.

Abstract: There is provided a computer implemented method of providing a surgical controller with instructions to restrict a manipulation of an endoscopic tool during an endoscopic medical procedure in an intrabody cavity, comprising: inputting into classifier(s), indication(s) of instructions for manipulation of the endoscopic tool outputted by sensor(s), classifying by the classifier(s), the indication of instructions into an envelope defining a volume that restricts therein manipulation of the endoscopic tool, wherein the classifier(s) classifies the envelope based on previously obtained indications of instructions for manipulation of endoscopic tools during other endoscopic medical procedures performed in intrabody cavities of other patients, analyzing the indication of instructions for manipulation of the endoscopic tool according to the envelope to determine when the instructions are for manipulation of the endoscopic tool externally to the envelope, and providing the surgical controller with an indication of ina

Abstract: A wrist joint, such as for a surgical instrument, may include a first disc, a second disc adjacent the first disc, a drive tendon connecting the first disc and the second disc. The first disc and the second disc may include respective opposing gear features that intermesh with one another. The first disc and the second disc may further include opposing load bearing surfaces. In response to tensioning the drive tendon, the first and second discs rotate relative to each other. The first and second discs may have a maximum rotational range of motion greater than about +/?45 degrees relative to each other.

Abstract: A method for controlling a package delivery sorting system onboard a vehicle includes loading, onboard a package sorting platform, a first package comprising a first fiducial marker, the package sorting platform disposed in a cargo hold of the package delivery vehicle, determining, via a processor, a package identity based on the first fiducial marker, determining, via the processor and based on the fiducial marker, a first package pose comprising a first package position and a first package orientation with respect to the package sorting platform, defining, via the processor, a first package geometry associated with the first package, and causing the sorting platform to position the first package, via the processor, to a second first package pose.

Abstract: A passive end effector of a surgical system includes a base connected to a rotational disk, and a saw attachment connected to the rotational disk. The base is attached to an end effector coupler of a robot arm positioned by a surgical robot, and includes a base arm extending away from the end effector coupler. The rotational disk is rotatably connected to the base arm and rotates about a first location on the rotational disk relative to the base arm. The saw attachment is rotatably connected to the rotational disk and rotates about a second location on the rotational disk. The first location on the rotational disk is spaced apart from the second location on the rotational disk. The saw attachment is configured to connect to a surgical saw including a saw blade configured to oscillate for cutting. The saw attachment rotates about the rotational disk and the rotational disk rotates about the base arm to constrain cutting of the saw blade to a range of movement along arcuate paths within a cutting plane.

Abstract: Disclose herein are embodiments related to a delivery system for performing a minimally invasive procedure, the system including one or more station legs configured to attach to an operating surface and a cross-beam connected to the one or more station legs and running from 0° to 45° relative to a top of the operating surface, wherein a distance between the operating surface and the cross-beam is adjustable. Additionally, an embodiment may have a first arm connected to the cross-beam, a second arm connected to the first arm, and an axial member connected to the second arm, the axial member comprising an axial joint. The delivery system may then be configured to advance to an internal target site using the axial joint while maintaining a stationary trajectory in relation to the internal target site with the delivery system trajectory is modifiable at the target site.

Abstract: Wearable user interface devices are described. A wearable user interface device can include a wearable base connected to a trackable device component by a linkage. The linkage can connect to a pivoted support that the trackable device is mounted on, and which maintains poses when the user interface device is not manipulated by a user's hand. The pivoted support has several orthogonal axes intersecting at a center of rotation located inside a device body of the trackable device. Other embodiments are also described and claimed.

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 energetic material device is disclosed. The energetic material device can include a casing. The energetic material device can also include an energetic material in a solid state within the casing. In addition, the energetic material device can include an optical sensor encased within the energetic material to sense a condition of the energetic material. An energetic material monitoring system is also disclosed. The energetic material monitoring system can include an energetic material device. The energetic material device can include a casing. The energetic material device can also include an energetic material in a solid state within the casing. In addition, the energetic material device can include an optical sensor encased within the energetic material. The energetic material monitoring system can also include an interrogator in communication with the optical sensor via an optical fiber.

Abstract: A surgical system includes a drive unit on a support. The drive unit includes motors or other actuators and a plurality of output elements arranged such that operation of each drive unit linearly translates a corresponding one of the output elements. A surgical device has an input subsystem carried at the proximal end of the shaft. The input subsystem includes linearly translatable input elements or pistons. The input and output elements are positioned such that operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element. The input elements deliver linear motion to a rotary conversion system which converts the linear motion to rotary motion and delivers the rotary motion to a shaft of the surgical device, causing axial rolling of the surgical device or its distal end effector. A sterile drape is positionable between the input elements and the output elements.

Abstract: The invention relates to a cannulation robot for the automated affixing of a cannula to a patient. The cannulation robot comprises a fixing apparatus for affixing the cannula to the patient by means of an adhesive carrier. The cannulation robot comprises a positioning device designed to position a cannula holder of the cannula to an area of the patient's skin. The cannulation robot comprises an actuator device for a guide means, wherein the guide means is designed to guide the adhesive carrier to said skin area. The actuator device is designed to activate the guide means and thereby move the adhesive carrier by means of the guide means toward the skin area, wherein the adhesive carrier contacts the skin area as a result of the movement and adheres to same as well as is disposed such that it is connected to the cannula at least after being adhered.

Abstract: Methods and systems for displaying an image of a medical procedure (e.g., an intraoperative image) with additional information (e.g., data) that can augment the image of the medical procedure are provided. Augmenting the image can include overlaying data from a first image to a second image. Overlaying the data can involve determining, for a point or multiple points in the first image, a matching location or multiple matching locations in a second image. The first image and the second image can be of a patient. Determining the matching location can involve using a rotation and scale invariant geometrical relationship. The matching locations can be used as the basis for the overlay.

Abstract: A biopsy and therapy device comprising: a needling unit for holding and inserting a biopsy needle; an imaging module comprising an ultrasound probe and an actuator for moving the probe in a reciprocal action; a first arcuate slide; a second arcuate slide in sliding engagement with the first arcuate slide and a linkage to which the first arcuate slide is mounted; said linkage arranged to move the first and second arcuate slides within a vertical plane; said needling unit mounted to said arcuate slide wherein the first and second arcuate slides are mounted perpendicular to each other so as to rotate the needling unit about respective first and second principal axes.

Abstract: A system and method of collision avoidance includes determining a position and an orientation, the position and the orientation being of a repositionable arm or of an instrument, the repositionable arm being configured to support the instrument; determining, based on the position and the orientation, a plurality of first virtual boundaries around the repositionable arm or the instrument; determining a second virtual boundary around an object; determining a first overlap force on the repositionable arm due to a first overlap between the second virtual boundary and a virtual boundary of the plurality of first virtual boundaries; determining a tip force on a distal end of the instrument based on the first overlap force; and applying the tip force as a first feedback force on the instrument or the repositionable arm.

Abstract: A control system for a surgical robot is provided. The control system includes a first embedded computer and a second embedded computer configured to receive status information from the first embedded computer. The status information includes a status of zero-return for a surgical tool driving module or an imaging tool driving module. The control system also includes a host computer configured to receive the status information from the second embedded computer. The surgical tool driving module or the imaging tool driving module includes a controller, a motor connected with a first coupling and configured to drive the surgical tool or an imaging tool, and a zero point switch configured to detect whether the first coupling is at a zero position. The controller is configured to transmit the status of zero-return to the first embedded computer based on whether the first coupling is at the zero position.

Abstract: An interface for a surgical system includes an instrument drive unit and a surgical instrument. The instrument drive unit includes a connection hub and at least one drive shaft rotatably supported in the connection hub. The at least one drive shaft extends between a first end and a second end having an oblique end surface. The surgical instrument is releasably connectable to the instrument drive unit and includes a connecting member and at least one driven shaft rotatably supported in the connecting member. The at least one driven shaft extends between a first end and a second end. The second end has an oblique end surface corresponding to the oblique end surface of the at least one drive shaft. The oblique end surfaces are configured such that the connecting member is connectible with the connection hub via a first connection pathway and a second connection pathway.

Abstract: Systems and methods are disclosed for treating back pain associated with a vertebral body of a patient. The system may include an external energy source configured to be positioned at a location external to the body of the patient, a linear configured to drive translation of the external source in one or more axes, a computer coupled to the external source and linear drive and programming executable on said computer for determining a target treatment site within or near the vertebral body based on acquired imaging data, positioning a focal point of the external energy source to substantially coincide with the target treatment site, and delivering a treatment dose of therapeutic energy at said target treatment site, wherein the treatment dose is configured to modulate a nerve within or near the vertebral body.

Abstract: The present invention relates to a method for positioning and navigation of a fracture closed reduction surgery, comprising: installing preoperative positioning devices (1), performing CT-scanning to obtain image information of broken bones and the preoperative positioning devices; determining data information of broken bone segments and of positioning balls of the preoperative positioning devices(1); taking a broken bone segment and a preoperative positioning device (1) as a group to divide the obtained data information into data groups, determining ball center coordinates of the positioning balls (9); determining a matching relation between each preoperative positioning device (1) and the corresponding broken bone segment based on the ball center coordinates of the positioning balls(9); detaching the preoperative positioning devices(1), and installing intraoperative positioning devices (11); identifying indicator balls (14) of the intraoperative positioning devices (11) using infrared light tracking to dete