An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising: a clamp assembly configured to attach a cannula to a robotic surgical system, the clamp assembly comprising an actuator coupled to a clamp to transition the clamp between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system; and a lock out assembly coupled to the clamp assembly to control the transition of the clamp, the lock out assembly having a hook that is dimensioned to engage a bearing coupled to the actuator when the clamp is in the open position and disengage the bearing to allow the clamp to automatically transition to the closed position.

An object of the present invention to provide a tapered roller bearing in which a flange portion is formed at a large-diameter end of an outer ring track surface of an outer ring, capable of providing high moment stiffness and long life without extremely decreasing its pure axial load capacity. The tapered roller bearing comprising: an outer ring 12 having an outer ring track surface 12a on its inner circumferential surface; an inner ring 13 having an inner ring track surface 13a on its outer circumferential surface; a plurality of tapered rollers 14 rotatably disposed between the outer ring track surface 12a and the inner ring track surface 13a; and a retainer 15 having a plurality of pockets for retaining the plurality of tapered rollers 14 at a predetermined interval; the outer ring track surface 12a of the outer ring 12 having a small-diameter end and a large-diameter end, the inner ring track surface 13a of the inner ring 13 having a small-diameter end and a large-diameter end, and, of these four ends, a flange portion 12b that protrudes radially inwardly is formed at the large-diameter end of the outer ring track surface 12a of the outer ring 12; wherein the tapered roller bearing has a contact angle greater than 35° and a roller angle not greater than 3.5°.

A joint bearing for a robot 1 which comprises a shaft 21 and at least one link element 24, 35, 36, 37, 38, 59, 60 mounted to be rotatable on shaft 21 between two axial bearings 22, 23, 43, 44, 45, 46, 54, 55, 63, 64, 69, where a resiliently compressible preloading element 33, 49, 52, 53, 56, 57, 65, 66 is provided which applies an axial preloading force to the axial bearings. A robot with at least one such joint bearing as well as a method for assembling a joint bearing for a robot are disclosed herein.

Provided is a seal member or a ball joint capable of satisfactorily maintaining sealing performance between a ball portion of a ball shank and a ball receiving portion of a holder for a long time even when the ball shank is used under a condition that the ball shank is pivoted repeatedly with respect to the holder at a large pivot angle and at high speed. The seal member includes: a base portion having an annular ring shape and is to be fixed to the holder; a retaining portion formed on an inner peripheral side of the base portion integrally with the base portion and is recessed into a conical shape toward the holder; and a lip portion formed along an inner peripheral edge of the retaining portion so as to be held in sliding contact with a spherical surface of the ball portion of the ball shank.

A gear device includes an internal gear, an external gear having flexibility configured to partially mesh with the internal gear and relatively rotate around a rotation axis with respect to the internal gear, a bearing disposed at an inner side of the external gear, and a cam section having an elliptical shape disposed at an inner side of the bearing and configured to move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis. The bearing is deformed in an elliptical shape by the cam section and includes a plurality of balls disposed side by side in the circumferential direction and a holder including a plurality of partition walls disposed alternately with the balls in the circumferential direction and holding the balls. A gap is provided between the ball located on a major axis of the bearing and the partition wall adjacent to the ball in the circumferential direction. The ball located on a minor axis of the bearing is in contact with each of the partition walls adjacent to the ball at both sides in the circumferential direction.

An assembly includes a first component including an arm having a first end and a second end, a plurality of nuts positioned within an interior of the arm, a yoke cap, a plurality of fasteners threadably coupled with the plurality of nuts to affix the yoke cap to the first end of the arm, and a second component positioned between the first end of the arm and the yoke cap. The second component is rotatable about an axis relative to the arm.

A drive unit for providing drive from a robot arm to an instrument comprises a plurality of drive elements for engaging corresponding elements of the instrument, and a load cell structure. Each drive element is movable along a drive axis and the drive axes of each of the drive elements are substantially parallel to each other. The load cell structure includes a plurality of deflectable bodies coupled to the drive elements for sensing load on the drive elements parallel to their drive axes, and a frame. The frame includes an integral member supporting the deflectable bodies in such a way as to isolate each deflectable body from the load applied to the or each other deflectable body.

A joint cover is removably attached to a joint of a robot including first and second joint members, and a spherical bearing coupling the first and second joint members, wherein the bearing includes a ball shank including a shaft part fixed to the first joint member and including a ball part at one end of the shaft part, and a holder fixed to an end of the second joint member and including a ball receiver configured to enclose and support the ball part, the joint cover includes a body made of an elastic material and configured to cover the holder and the end of the second joint member, and the body includes two through-holes respectively allowing for insertion of the shaft part and the second joint member, and the joint cover includes a slit configured to open and close and to make the two through-holes continuous with each other.

A bearing includes an outer ring, an inner ring provided on the inner side in the radial direction of the outer ring, a rolling body provided between the outer ring and the inner ring, and a holder including a base formed in an annular shape around a center axis of the outer ring and the inner ring and a first wall section and a second wall section provided to project from the base, the holder holding the rolling body. The first wall section includes a first channel provided in the circumferential direction of the base. The second wall section includes a second channel provided in the circumferential direction of the base. The position of the first channel in the first wall section and the position of the second channel in the second wall section are different.

In some examples, a slider may include a an inner slider and an outer slider that are engaged with each other via a number of ball bearings. The inner slider may be longitudinally movable along the outer slider to extend the slider. At one end of the slider, the inner slider may include two first stops holding one or more end ball bearings in place. At the other end of the slider, the outer slider may include two second stops holding one or more end ball bearings in place. In such configuration, when the slider is extended in an open mode, the end of the inner slider that stays insider the outer slider will be held in place and engaged with the outer slider by the end ball bearings. This prevents the inner slider from being shaky when the slider is extended.