A clamp apparatus is disclosed that includes a body, first and second actuators, first, second, third and fourth gear sets, first and second movable grippers, and at least one leaf spring. The first gear set is coupled to the first actuator and the second gear set is coupled to the second actuator. The first gear set engages the second gear set. The first and second movable grippers are each operatively coupled to the body. The third gear set is coupled to the first movable gripper and the fourth gear set is coupled to the second movable gripper. The third gear set operatively engages the fourth gear set. The leaf spring engages with the third gear set and the fourth gear set to urge the first movable gripper and the second movable gripper toward a clamped position.

A probe fastening system has a plate having at least one coupling-on recess and having at least one alignment element, which is arranged in the outer region of the plate, a backplate which has a fastening device for the fastening of a static probe and at least one recess which corresponds with the alignment element, at least one peelable shim which corresponds with the alignment element and which is arranged between the plate and the backplate, at least one alignment device which corresponds with the alignment element, and a coupling-on element which defines a cavity and which is designed for isobarically coupling the static probe onto the coupling-on recess.

A power transmission system is provided, which includes a biasing member configured to bias a second power-transmission member in a rotational direction with respect to a first power-transmission member by a spline part of the biasing member being engaged with a spline part of the second power-transmission member while the biasing member is locked by the first power-transmission member and a spring part thereof is in a first elastically displaced state, and a temporarily fixing member having a temporarily fixing part which temporarily fixes the biasing member to the first power-transmission member in a second elastically displaced state with greater elastic displacement than in the first state. The second power-transmission member is provided, on a first axial side of the spline part, with a canceling part configured to cancel the temporary fixing of the biasing member to the first power-transmission member by the temporarily fixing part.

A coupler can connect one or more instruments to a robotic surgical arm. The coupler can include a base and an actuator. The base can be securable to the robotic surgical arm. The actuator can be operable to release or secure the stem to the base and the robotic surgical arm.