A solenoid valve includes a spool valve and a linear solenoid. The spool valve is used inside a hydraulic oil. The linear solenoid includes a resin cylindrical bobbin, a coil, and a case. The solenoid valve further includes a projecting portion, a first terminal, a first coil lead wire, a slit, a first coating portion, and a second coating portion. Each of the first coil lead wire and the second coil lead wire includes an exposed portion. The slit separates an electrical connection between the first terminal and the first coil lead wire from an electrical connection between the second terminal and the second coil lead wire. The first coating portion is formed by coating an entire surface of the exposed portion of the first coil lead wire. The second coating portion is formed by coating an entire surface of the exposed portion of the second coil lead wire.

A coil unit may include an even number of coils comprising a first coil and a second coil; and a coil holding member which holds the even number of the coils. An outer peripheral face of the coil holding member may include a side-face pair comprising a first side face and a second side face which are substantially parallel to each other. The first side face may be formed with a first protruded part around which the first coil is wound, the first protruded part being protruded to an outer peripheral side with respect to the coil holding member. The second side face may be formed with a second protruded part around which the second coil is wound, the second protruded part being protruded to an outer peripheral side with respect to the coil holding member. The first coil and the second coil may be structured from one conducting wire.

A coil unit may include coils and a coil holding member. An outer peripheral face of the coil holding member includes two side-face pairs, each of which includes a pair of parallel side faces. Each side face includes a protruded part around which the coil is wound and an abutting face with which one end face of the coil is abutted. Two pieces of the coil wound around protruded parts of two paired side faces is formed of one conducting wire. One side faces includes a coil guide part for wiring a crossover wire which connects the coil wound around the protruded part of one side face with the coil wound around the protruded part of the paired side-face pair, the coil guide part being recessed from the abutting face, and a recessed amount of the coil guide part is not less than an outer diameter of the conducting wire.

An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.

Systems and methods for mitigating constraints associated with wireless power transmission in applications where the position and orientation of the desired magnetic field changes over time, for example, because the position and orientation of the receiver being powered changes over time or because different receivers having different positions and orientations are being powered at different times. In accordance with some embodiments, the system employs a plurality of wireless power transmitters in a defined space, each transmitter consisting of individual coils oriented orthogonally relative to each other. Using field interference amongst these individual coils as well as amongst the transmitters they form, one can actively control the wireless power field intensity and orientation at any given point in the defined space. This allows for methods to steer the power transmission towards a specific target at a specific angle.

An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

Systems and methods for mitigating constraints associated with wireless power transmission in applications where the position and orientation of the desired magnetic field changes over time, for example, because the position and orientation of the receiver being powered changes over time or because different receivers having different positions and orientations are being powered at different times. In accordance with some embodiments, the system employs a plurality of wireless power transmitters in a defined space, each transmitter consisting of individual coils oriented orthogonally relative to each other. Using field interference amongst these individual coils as well as amongst the transmitters they form, one can actively control the wireless power field intensity and orientation at any given point in the defined space. This allows for methods to steer the power transmission towards a specific target at a specific angle.

A power transmitting device for a contactless power supply, can include: a power transmitting antenna having a plurality of transmitting coils; where each of the plurality of transmitting coils comprises a coil turn or a plurality of concentric coil turns with a substantially coplanar setting and having a coil surface; where an axis of each of the plurality of transmitting coils is axially perpendicular to the power transmitting antenna; and where the axis of each of the plurality of transmitting coils forms a predetermined angle with respect to each other.

A wireless power transfer system comprising: a wireless power transfer transmitter having at least one power transmitting coil aligned in a first plane; a wireless power transfer receiver having at least one power receiving coil aligned in a second plane, the first and second planes being non-parallel to one another; and a wireless power transfer adaptor for adapting the power transferred in the first plane to power transferred in the second plane.