A robot includes an arm, and a force detector that is disposed on the arm and detects a force, in which a first object is held from both of a gravity direction and a direction opposite to the gravity direction, and the first object is inserted into an insertion portion provided in a second object.

Systems and methods are provided for aligning a fastener feed mechanism. One embodiment is an apparatus that includes an alignment tool that aligns a fastener feed mechanism with a chamber of a fastening device that receives fasteners. The alignment tool includes a tip section having a diameter less than a diameter of the chamber, a chamber fit section that extends from an end of the tip section in a lengthwise direction and has a diameter corresponding with the diameter of the chamber, a lip that protrudes radially from the chamber beyond the diameter of the chamber, and a fitting member that extends from the lip in the lengthwise direction.

Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

A robot includes an arm, and a force detector that is disposed on the arm and detects a force, in which a first object is held from both of a gravity direction and a direction opposite to the gravity direction, and the first object is inserted into an insertion portion provided in a second object.

Systems and methods are provided for aligning a fastener feed mechanism. One embodiment is an apparatus that includes an alignment tool that aligns a fastener feed mechanism with a chamber of a fastening device that receives fasteners. The alignment tool includes a tip section having a diameter less than a diameter of the chamber, a chamber fit section that extends from an end of the tip section in a lengthwise direction and has a diameter corresponding with the diameter of the chamber, a lip that protrudes radially from the chamber beyond the diameter of the chamber, and a fitting member that extends from the lip in the lengthwise direction.

Systems and methods are provided for aligning a fastener feed mechanism. One embodiment is an apparatus that includes an alignment tool that aligns a fastener feed mechanism with a chamber of a fastening device that receives fasteners. The alignment tool includes a tip section having a diameter less than a diameter of the chamber, a chamber fit section that extends from an end of the tip section in a lengthwise direction and has a diameter corresponding with the diameter of the chamber, a lip that protrudes radially from the chamber beyond the diameter of the chamber, and a fitting member that extends from the lip in the lengthwise direction.

Systems and methods are provided for aligning a fastener feed mechanism. One embodiment is an apparatus that includes an alignment tool that aligns a fastener feed mechanism with a chamber of a fastening device that receives fasteners. The alignment tool includes a tip section having a diameter less than a diameter of the chamber, a chamber fit section that extends from an end of the tip section in a lengthwise direction and has a diameter corresponding with the diameter of the chamber, a lip that protrudes radially from the chamber beyond the diameter of the chamber, and a fitting member that extends from the lip in the lengthwise direction.

Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

An alignment meter for a rail system includes a housing defining a cavity, a flexible member connected to the housing, and at least one strain measuring element provided on the flexible member. The strain measuring element may be configured to measure the strain experienced by the flexible member. At least one strain measuring element may be positioned to measure strain in a horizontal direction relative to the flexible member. The at least one strain measuring element may be positioned to measure strain in a vertical direction relative to the flexible member.

Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.