Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

A transformer being capable of reducing cross regulation even in a case where the load is unbalanced and a switched-mode power supply apparatus using the transformer are provided. A transformer T has a core; a primary winding provided in the core; at least two secondary windings provided in the core around a winding axis which is the same as a winding axis of the primary winding; and at least two auxiliary windings provided in the core around a winding axis which is the same as the winding axis of the primary winding; respectively neighboring the secondary windings; and connected in parallel to each other. A switched-mode power supply apparatus has the transformer T; a switching element connected to the primary winding of the transformer T; and a control circuit configured to control the switching element.

A transformer is capable of suppressing the output voltage difference, and a switched-mode power supply apparatus uses the transformer. A transformer has a core; a primary winding provided in the core; a gap provided in the core at a location where the primary winding is provided; and at least two secondary windings, provided in the core and spaced apart from both sides of the primary winding as well as the gap at an equal distance in a winding axis direction of the primary winding. A switched-mode power supply apparatus has the transformer; a switching element connected to the primary winding of the transformer; and a control circuit configured to control the switching element.

A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.

Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

A hand-held antenna system allows medical personnel to ascertain the presence or absence of objects (e.g., medical supplies) tagged with transponders in an environment in which medical procedures are performed. In use, the hand-held antenna system may be positioned proximate a patient at a time after a medical procedure, such as after childbirth, so the system can scan the patient's body to determine the presence of objects tagged with transponders. The antenna system includes two sets of three antenna elements arranged mutually orthogonal to each other to transmit and receive signals in at least three coordinate directions. A controller is coupled to the antenna elements to transmit signals to the transponders and to receive response signals. The antenna system may operate in a static scan mode wherein the antenna system is held in a fixed position by a user and a dynamic scan mode wherein the antenna system is moved by a user.

A hand-held antenna system allows medical personnel to ascertain the presence or absence of objects (e.g., medical supplies) tagged with transponders in an environment in which medical procedures are performed. In use, the hand-held antenna system may be positioned proximate a patient at a time after a medical procedure, such as after child birth, so the system can scan the patient's body to determine the presence of objects tagged with transponders. The antenna system includes three antenna elements arranged mutually orthogonal to each other to transmit and receive signals in three coordinate directions. A controller is coupled to the antenna elements to transmit signals to the transponders and to receive response signals. The antenna system may operate in a static scan mode wherein the antenna system is held in a fixed position by a user and a dynamic scan mode wherein the antenna system is moved by a user.

This disclosure provides systems, methods and apparatus for wireless power transfer. In one aspect, an apparatus for wirelessly transmitting power is provided. The apparatus includes a first conductive structure configured to generate a first magnetic field based on a first current received from a power source. The apparatus further includes a second conductive structure configured to generate a second magnetic field based on a second current from the power source. The apparatus further includes a controller configured to determine a respective coupling coefficient between each of the first and second conductive structures and a third conductive structure configured to receive power via the first or the second magnetic field. The controller is further configured to adjust the first or second current applied to the first and second conductive structures based at least in part on the coupling coefficients.

Embodiments of an apparatus that includes a substrate and an inductor residing in the substrate are disclosed. In one embodiment, the inductor is formed as a conductive path that extends from a first terminal to a second terminal. The conductive path has a shape corresponding to a two-dimensional (2D) lobe laid over a three-dimensional (3D) volume. Since the shape of the conductive path corresponds to the 2D lobe laid over a 3D volume, the magnetic field generated by the inductor has magnetic field lines that are predominately destructive outside the inductor and magnetic field lines that are predominately constructive inside the inductor. In this manner, the inductor can maintain a high quality (Q) factor while being placed close to other components.