An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.

An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.

This extensible/contractible driving device includes a rotatable driving member configured to be rotated by drive force of a driving unit; a drive force-transmitting member connected to a leading end of the internal cylinder, configured to be driven by the rotatable driving member so as to move along a rotary shaft direction of the rotatable driving member; and an elastic member disposed in the periphery of the drive force-transmitting member, connected to the leading end of the internal cylinder, and configured to apply biasing force in the rotary shaft direction to the drive force-transmitting member. The rotatable driving member, the drive force-transmitting member, and the elastic member include an intervening member (24) stored in an inner space between external and internal cylinders, disposed in the periphery of the internal cylinder, and intervening between the internal cylinder and the external cylinder. The intervening member (24) includes a plurality of component parts (31a, 31b) having a length in a longitudinal direction of the external cylinder. One of the component parts (31a) is displaced relatively with respect to the other component part (31b) so that the intervening member (24) is opened widely outward. Accordingly, it is possible to suppress a problem of slidability caused by distortion in shape of the intervening member (24) and a problem of interference among the composing members.

This extensible/contractible driving device includes a rotatable driving member configured to be rotated by drive force of a driving unit; a drive force-transmitting member connected to a leading end of the internal cylinder, configured to be driven by the rotatable driving member so as to move along a rotary shaft direction of the rotatable driving member; and an elastic member disposed in the periphery of the drive force-transmitting member, connected to the leading end of the internal cylinder, and configured to apply biasing force in the rotary shaft direction to the drive force-transmitting member. The rotatable driving member, the drive force-transmitting member, and the elastic member include an intervening member (24) stored in an inner space between external and internal cylinders, disposed in the periphery of the internal cylinder, and intervening between the internal cylinder and the external cylinder. The intervening member (24) includes a plurality of component parts (31a, 31b) having a length in a longitudinal direction of the external cylinder. One of the component parts (31a) is displaced relatively with respect to the other component part (31b) so that the intervening member (24) is opened widely outward. Accordingly, it is possible to suppress a problem of slidability caused by distortion in shape of the intervening member (24) and a problem of interference among the composing members.

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.

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.

A hydraulically powered rotary actuator is described including: a hydraulic linear actuator which is moveable in both directions between a retracted position and an extended position; a clutch device which is operable between an engaged condition and a disengaged condition; and a rotary output member; wherein the linear actuator is coupled to the rotary output member by way of the clutch.

A hydraulically powered rotary actuator is described including: a hydraulic linear actuator which is moveable in both directions between a retracted position and an extended position; a clutch device which is operable between an engaged condition and a disengaged condition; and a rotary output member; wherein the linear actuator is coupled to the rotary output member by way of the clutch.

An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.

A rotor turning system for turning a rotor is provided. The system may include a rotary driver including a rotating drive shaft. A removable rotor grasping element is configured to frictionally grasp at least a portion of an exterior circumference of a portion of the rotor. A drive linkage couples the rotating drive shaft to the rotor grasping element to impart a torque to the rotor with the rotor grasping element to turn the rotor. A rotor grasping element is also provided for grasping a substantially smooth exterior surface of a rotor to allow for turning of the rotor. A related method is also provided.