A surgical instrument, in at least one form, includes an end effector and a power module. The power module may include a first motion conversion assembly. The first motion conversion assembly includes a first rotary drive and a first axial drive operably coupled to the first rotary drive. The power module may further include a second motion conversion assembly which may include a second rotary drive and a second axial drive operably coupled to the second rotary drive. The power module may further include a motor configured to generate at least one rotational motion to actuate the end effector and a transmission assembly configured to selectively engage the motor with the first rotary drive and the second rotary drive, wherein the motor is concentrically arranged with the first rotary drive and the second rotary drive.

An epicycloid planet gear cam that converts rotational movement of a driveshaft into linear movement of an output device is disclosed. An epicycloid planet gear is assembled inside a stationary housing with an internal stationary ring gear. A driveshaft eccentric is connected to a driveshaft. The driveshaft eccentric rotates freely in a mounting hole of the epicycloid planet gear. When the driveshaft rotates, the driveshaft eccentric engages the epicycloid planet gear against the stationary ring gear and causes the epicycloid planet gear to rotate. A cam follower pin attached to an output device is held, via a follower roller ball against a cam track of the epicycloid planet gear. As the epicycloid planet gear rotates, the recessed cam track depth causes the cam follower pin to move up or down thereby moving the output device.

A medical manipulator including a base section at which a support surface is formed, a movable part movably supported on the support surface, when a reference direction parallel to the support surface is defined, between a distal end position, which is a distal end side in the reference direction with respect to the base section, and a proximal end position, which is a proximal end side in the reference direction, a positioning mechanism configured to position the movable part at the distal end position with respect to the base section, a holding section movably supported in the reference direction with respect to the movable part and configured to detachably hold a proximal end portion of a treatment tool, and a driving unit configured to move the holding section in the reference direction with respect to the movable part.

Three controls, three variable gear assemblies, a hatch, and a variable torque and power generator (VT&PG), may be used independently and together to provide constant frequency and voltage output power and to increase the amount of output power generated with the same input water flow or wind speed. A three variable spur/helical gear assembly of sun and planetary gear sets is a mechanical three variable control and referred to herein as a Transgear gear assembly, simply Transgear. A hatch wraps around a waterwheel and may control the amount of water inlet to the system by opening and closing and may be controlled by Transgears and a VT&PG. Two Transgears may comprise a constant speed motor control and produce required frequency and voltage and be reduced in part count and complexity. The VT&PG of a marine hydrokinetic or wind power generator may be used as a low torque generator and a high power-rated generator in these applications and may generate more electric power than a conventional fixed power generator (the rotor axially aligned to overlap the stator in a conventional manner) over a wider input range.

A yawing system (2) for a wind turbine and a method of operating the yawing system (2) are disclosed. The yawing system (2) comprises at least one yaw drive arranged to cause the yawing system (2) to perform yawing movements, a yaw bearing allowing mutual movement between two parts of the yawing system (2) during yawing movements, and a hydraulically driven preload mechanism (1) being adapted to provide an adjustable pre-load force to the yaw bearing. The preload mechanism (1) is automatically operated as a consequence of operating the yawing system (2). Thereby it can be ensured that the preload force is adjusted in accordance with whether yawing movements are being performed, or the position of the nacelle should be maintained. The preload mechanism (1) may be modular, in the sense that two or more preload mechanisms (1) operate independently of each other, thereby providing redundancy.

A flexible conduit fitting system includes a housing that defines at least part of a flexible conduit fitting, and a resilient clip supported by the housing. The flexible conduit fitting may include an aperture for receiving an end of a flexible wiring conduit. The resilient clip may have an engagement portion that extends into the aperture of the flexible conduit fitting to engage the generally corrugated outer structure of the flexible wiring conduit. The housing may be configured to support the resilient clip in a manner that allows the resilient clip to flex in a direction of movement of the flexible wiring conduit when the flexible wiring conduit is being inserted into the aperture and past the engagement portion, but to not substantially flex in the direction of movement of the flexible wiring conduit when attempting to withdraw the flexible wiring conduit from the aperture.

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.