Devices, systems, and methods for automatically exchanging a first end-effector on a robot arm with a second end-effector housed in a docking station. The first end-effector has a clamp that either engages or disengages the robot arm based upon an application of force of the robot arm onto the end-effector. The clamp has a spring loaded clip that disengages the first end-effector to allow the robot arm to move away from the released first end-effector. The robot arm is configured to automatically move to a port of a docking station housing the desired second end-effector using magnetic coils on the robot arm and the docking station to guide the robot arm.

A method and apparatus for installing a fastener in a surface of a structure. A crawler robot may comprise a first movement system and a second movement system. The first movement system may be configured to move the crawler robot and a track system along the surface. The second movement system may be configured to move the crawler robot along the track system on the surface.

Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

The invention relates to a surgical method of attachment of a first bony segment in relation with a second bony segment, both segments belonging to a same bone, which comprises the steps of: milling said bone and cutting it partially, to separate it in two bony segments linked together by a bony hinge distracting both bony segments around said hinge; fitting an osteotomy implant into the cavity thus obtained; attaching said implant to both bony segments; wherein it comprises the preoperative steps of: determining the position and the direction of the future partial cut, calculating its depth, calculating the relative three-dimensional positions of both bony segments to obtain the final desired alignment of the two bony segments, choosing among several osteotomy implants, one which is wider than the largest distance between the facing sides of said bony segments after distraction, determining the position and the shape of the future implant reception cavity and calculating its dimensions, deducing therefrom the shape of the two part cavities to be milled in the bone before the distraction step.

A device for connecting pneumatic tools to a manipulator is described. The device includes a main body fixable to a manipulator and provided with seats for corresponding coupling portions of a tool, at least one duct for feeding or suctioning a working fluid to/from the tool, the duct extends in the main body, and an engaging mechanism to engage to tool. The engaging mechanism is movable between a locked position and an unlocked position in order to respectively prevent or allow the detachment of the tool. Advantageously, the engaging mechanism further acts as a valve for opening and closing the duct and is provided with a vent to the atmosphere through which the pressure of the working fluid in the tool is automatically brought to the atmospheric pressure when the engaging mechanism is in the unlocked position.

Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.

Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.

The invention relates to a manipulator having a manipulator arm (5) at the one free end (6) of which a manipulator flange (8) is provided on which an end effector (46) having an application device (9) for machining a workpiece (37) is held. The manipulator flange (8) is rotatable about hand axes (20, 21, 22). A first hand axis (20) extends in the direction of the longitudinal axis (18) of the manipulator arm (5), a second hand axis (21) extends transversely to the first hand axis (20) and a third hand axis (22) extends transversely to the second hand axis (21), wherein the hand axes (20, 21, 22) intersect one another in a common intersection point (26). A machining force (33) acting on the application device (9) is diverted into the manipulator arm (5) by way of the end effector (46). So that process forces occurring during a mechanical operation do not lead to an impairment of the machining pose of the manipulator arm (5), provision is made to fix the application device (9) to the manipulator flange (8) at an attachment angle (30) to the first hand axis (20) in such a way that a machining force (33) occurring at the application device (9) is diverted in a direction (31) towards the manipulator arm (5), which direction extends through the intersection region (25) of the hand axes (20, 21, 22).

A robotic end effector quick change coupling apparatus employs a drive motor assembly having a center drive interface. A coupling component having a magnetic element extends from the drive motor assembly concentric with the center drive interface. An end effector tool has a drive connection adapted to removably receive the center drive interface. A mating coupling component having a mating magnetic element extends from the end effector tool concentric with the drive connection. The magnetic element and mating magnetic element are separably engaged by mutual magnetic attraction to couple the end effector to the drive motor assembly.

A robotic end effector quick change coupling apparatus employs a drive motor assembly having a center drive interface. A coupling component having a magnetic element extends from the drive motor assembly concentric with the center drive interface. An end effector tool has a drive connection adapted to removably receive the center drive interface. A mating coupling component having a mating magnetic element extends from the end effector tool concentric with the drive connection. The magnetic element and mating magnetic element are separably engaged by mutual magnetic attraction to couple the end effector to the drive motor assembly.