A wrist joint, such as for a surgical instrument, may include a first disc, a second disc adjacent the first disc, a drive tendon connecting the first disc and the second disc. The first disc and the second disc may include respective opposing gear features that intermesh with one another. The first disc and the second disc may further include opposing load bearing surfaces. In response to tensioning the drive tendon, the first and second discs rotate relative to each other. The first and second discs may have a maximum rotational range of motion greater than about +/−45 degrees relative to each other.

A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.

A clutch mechanism includes a spool that is configured to receive a cable, a disk with elasticity, a mechanism configured for locking and unlocking the movement of the disk, and at least one sensor. The at least one sensor being configured to measure the movement of at least one of the disk and the spool in the unlocked mode and to measure the movement of the spool relative to the disk when in a locked mode.

An apparatus includes a platform configured to traverse a stationary base along a motion path; a drive coupled to the platform; and a movable arm assembly. The movable arm assembly includes a pivoting base connected to the drive, first and second linkages connected to the pivoting base, each linkage having links connected via rotary joints and each link having at least one end-effector. The platform is configured to traverse the stationary base along a motion path in two opposing directions and the drive and the movable arm assembly are configured to cause independent and simultaneous movement and transfer of substrates from at least one of a first substrate holding area, a second substrate holding area, a third substrate holding area, or a fourth substrate holding area into or from a respective substrate workstation.

For robotically operating a catheter, translation and/or rotation manipulation is provided along the shaft or away from the handle, such as near a point of access to the patient. A worm drive arrangement may allow for both translation and rotation of the shaft. Some control may be provided by robotic manipulation of the handle, while other control (e.g., fine adjustments) are made by robotic manipulation of the shaft.

The disclosure describes devices, systems and methods relating to a transfer chamber for an electronic device processing system. For example, a robot can include a first mover configured to be driven by a platform of a linear motor, a support structure disposed on the first mover, a first robot arm attached to the first end of the support structure at a shoulder axis, and a first arm drive assembly. The first drive assembly can include a first pulley attached to a first end of the support structure and to the first robot arm at the shoulder axis, a second pulley attached to a second end of the support structure, a first band connecting the first pulley to the second pulley, and a second mover configured to be driven by the platform of the linear motor, where the second mover is connected to the first band, and where motion of the second mover relative to the first mover causes the first band to a) rotate the first pulley and the second pulley and b) rotate the first robot arm around the shoulder axis. Also disclosed are systems and methods incorporating the robot.

A gear device includes a first gear, and a second gear meshing with the first gear. At least the first gear is made of a resin. The gear device further includes a connection member connected to an external member, a path member disposed in a path leading to the first gear and the connection member, and other members that are members other than the first gear, the second gear, the connection member, and the path member, and are made of a resin. The first gear, the connection member, and the path member are made of a resin having a higher thermal conductivity than a thermal conductivity of the other members.

A method includes: (a) causing a robotic arm to position a contacting structure of the arm laterally in a horizontal direction in relation to a first subject on a target object; (b) causing the arrn to bring the contacting structure into contact with at least three locations on the first subject; (c) detecting positions of the contacting structure in relation to the robot when contacting the locations; (d) detecting a position of the first subject in relation to the robot by using the detected positions of the contacting structure; (e) performing same steps as the steps (a) to (d) for a second subject on the target object; and (f) detecting a position of the robot in relation to the target object by using the positions of the subjects in relation to the robot and using positions of the subjects in relation to the target object.

A method includes: (a) causing a robotic arm to position a contacting structure of the arm laterally in a horizontal direction in relation to a first subject on a target object; (b) causing the arrn to bring the contacting structure into contact with at least three locations on the first subject; (c) detecting positions of the contacting structure in relation to the robot when contacting the locations; (d) detecting a position of the first subject in relation to the robot by using the detected positions of the contacting structure; (e) performing same steps as the steps (a) to (d) for a second subject on the target object; and (f) detecting a position of the robot in relation to the target object by using the positions of the subjects in relation to the robot and using positions of the subjects in relation to the target object.

A soft structure fiber reinforcement and actuation technology is provided. In an example embodiment, the tendon-driven, fiber-reinforced elastomer membrane comprises an elastomer matrix material and a fiber array embedded within the elastomer matrix material. The one or more tendons are not mechanically bonded to the elastomer matrix material, such that the one or more embedded tendons are able to move through the elastomer matrix material. One or more apparatuses may employ one or more such tendon-driven, fiber-reinforced elastomer membranes for use in a variety of applications.