A motorized joint unit comprises a pair of shells defining an inner cavity, the pair of shells adapted to be connected to adjacent links of an articulated mechanism. A rotor and stator in the inner cavity are actuatable to cause a relative rotation therebetween. A shaft connected to the rotor to rotate with the rotor relative to the stator. A support coupled to the shaft by a mechanism, the support being connected to one of the shells to impart a rotation of the shaft to the shell, the support defining an annular wall. One or more strain gauges are located on said annular wall of the support. A printed circuit board (PCB) is applied against the annular wall and electrically connected to the at least one strain gauge, the PCB adapted to be electrically linked to a controller.

A motorized joint unit comprises a pair of shells defining an inner cavity, the pair of shells adapted to be connected to adjacent links of an articulated mechanism. A rotor and stator in the inner cavity are actuatable to cause a relative rotation therebetween. A shaft connected to the rotor to rotate with the rotor relative to the stator. A support coupled to the shaft by a mechanism, the support being connected to one of the shells to impart a rotation of the shaft to the shell, the support defining an annular wall. One or more strain gauges are located on said annular wall of the support. A printed circuit board (PCB) is applied against the annular wall and electrically connected to the at least one strain gauge, the PCB adapted to be electrically linked to a controller.

An apparatus for controlling an end-effector assembly is provided. The apparatus includes a elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. A second motion transfer mechanism is disposed at the second end of the elongated element. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.

An apparatus for controlling an end-effector assembly is provided. The apparatus includes a elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. A second motion transfer mechanism is disposed at the second end of the elongated element. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.

An apparatus and method for medical procedures are provided. The apparatus includes a base, a member having first and second ends, and a support configured to support a plurality of robotic arms. Each robotic arm configured to support and position a robotic instrument according to multiple surgical degrees of freedom.

An articulation assembly, surgical instrument including the same, and robotic surgical system including the same. The articulation assembly includes a lead screw assembly including a lead screw and a collar operably engaged about the lead screw such that rotation of the lead screw translates the collar about the lead screw. The lead screw defines a proximal input end rotatably received within a first base assembly and a distal dock end rotatably received within a second base assembly. An articulation cable is operably coupled to the collar such that movement of the collar about the lead screw tensions or de-tensions the articulation cable. A set screw is threadingly engaged within the second base assembly and operably coupled to the distal dock end of the lead screw such that proximal rotational driving of the set screw urges the lead screw proximally, thereby urging the collar proximally to tension the articulation cable.

An articulation assembly, surgical instrument including the same, and robotic surgical system including the same. The articulation assembly includes a lead screw assembly including a lead screw and a collar operably engaged about the lead screw such that rotation of the lead screw translates the collar about the lead screw. The lead screw defines a proximal input end rotatably received within a first base assembly and a distal dock end rotatably received within a second base assembly. An articulation cable is operably coupled to the collar such that movement of the collar about the lead screw tensions or de-tensions the articulation cable. A set screw is threadingly engaged within the second base assembly and operably coupled to the distal dock end of the lead screw such that proximal rotational driving of the set screw urges the lead screw proximally, thereby urging the collar proximally to tension the articulation cable.

A robot includes a body, a first robotic arm physically coupled to the body, and a first discrete hydraulic system comprising a first plurality of hydraulic components. The first robotic arm includes a first end effector. The first hydraulic system is operable to control the first end effector. The first plurality of hydraulic components is integrated with the first robotic arm. In some implementations, the robot includes a second robotic arm physically coupled to the body, and a second discrete hydraulic system consisting of a second plurality of hydraulic components. The second robotic arm includes a second end effector. The second hydraulic system is operable to control the second end effector. The second plurality of hydraulic components are integrated with the second robotic arm. The second hydraulic system is hydraulically-isolated from the first hydraulic system.

A three-dimensional object printing apparatus includes a head that discharges a liquid to a three-dimensional workpiece, and a robot that includes an arm and a base portion coupled to one end of the arm, and changes relative positions of the workpiece and the head. The arm includes a plurality of joints and a tip portion that is the other end of the arm and supports the head, a first printing operation in which the robot moves a position of the head while the liquid is discharged from the head is executed, and the head moves away from the base portion during the execution of the first printing operation.

A three-dimensional object printing apparatus includes a head that discharges a liquid to a three-dimensional workpiece, and a robot that includes an arm and a base portion coupled to one end of the arm, and changes relative positions of the workpiece and the head. The arm includes a plurality of joints and a tip portion that is the other end of the arm and supports the head, a first printing operation in which the robot moves a position of the head while the liquid is discharged from the head is executed, and the head moves away from the base portion during the execution of the first printing operation.