A system for performing a medical procedure on a patient includes an articulating probe assembly and at least one tool. The articulating probe assembly comprises an inner probe comprising multiple articulating inner links, an outer probe surrounding the inner probe and comprising multiple articulating outer links, and at least two working channels that exit a distal portion of the probe assembly. The at least one tool is configured to translate through one of the at least two working channels. A manipulator is provided for controlling the at least one tool.

An apparatus for a robotic limb includes one or more limb segments connected via one or more joints. The robotic limb may feature one or more dual-reduction quasi-quasi-direct-drive joint actuators that permit the robotic limb to move throughout a scene. The robotic limb may further include an end-effector connected to a free end of the robotic limb with one or more opposable fingers comprising a four bar linkage. The end-effector may include a main actuator that actuates the one or more fingers via the four-bar linkages to complete various tasks.

A power transmission unit of a drive mechanism has a link mechanism on both sides of a base portion. The link mechanism has a first link member having a base end portion provided to the base portion to be rotated about a third rotational axis, a second link member having a base end portion connecting the first link member's distal end portion to be rotated about a fourth rotational axis, and a third link member which is provided to a driven body to be rotated about a fifth rotational axis and to which the second link member's distal end portion is provided to be rotated about a sixth rotational axis orthogonal to the fifth rotational axis. A desired operation angle range of two degrees of freedom in a driven body can be ensured with a compact configuration while suppressing deflection of a structure to which the driven body is mounted.

An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a discontinuous plurality of track sections on which an automated carrier may be directed to move, and the automated carrier includes a base structure on which an object may be supported, and at least two wheels assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier.

A surgical instrument includes a medical treatment tool and an attachment device to which the medical treatment tool is attachable. The medical treatment tool includes a distal end part operable in multiple degrees of freedom, an elongate element for operating the distal end part, a shaft which accommodates the elongate element and the distal end part is connected to, and engagement member connected to the elongate element. The attachment device includes: an engaging member engageable with the engagement member; a support portion supporting the engaging member; a housing accommodating the engaging member; and a release mechanism that releases an engagement between the engaging member and the engagement member. The housing includes a lid portion provided with the support portion. The release mechanism moves, in conjunction with an opening operation of the lid portion, the support portion to a position where the engagement is released.

A control arm assembly for controlling a robot system includes a gimbal that is moveable and rotatable about three axes, and a handle assembly coupled to the gimbal. The handle assembly includes a body portion having a controller disposed therein and a first actuator disposed thereon. The first actuator is mechanically coupled to the controller via a four-bar linkage such that actuation of the first actuator causes mechanical movement of a component of the controller which is converted by the controller into an electrical signal.

A knee structure of a robot in which a torque needed for an actuator bending a knee is kept small, when bending the knee shallowly. A leg includes a thigh, a lower leg disposed below the thigh, a knee joint bendably connecting the thigh with the lower leg, and a rubber member attached to the thigh and the lower leg so as to be across the thigh and the lower leg, with a slack when the leg stands straight. A restoring force caused by the rubber member is given to the thigh and the lower leg, when the leg is bent deeply so that the rubber member is stretched.

A robotic leg includes a hip, a first pulley attached to the hip and defining a first axis of rotation, a first leg portion having a first end portion and a second end portion, a second pulley rotatably coupled to the second end portion of the first leg portion and defining a second axis of rotation, a second leg portion having a first end portion and a second end portion, and a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation. The first end portion of the first leg portion is rotatably coupled to the hip and configured to rotate about the first axis of rotation. The first end portion of the second leg portion is fixedly attached to the second pulley.

A manipulator with two degrees of freedom and a surgical robot pivot a lower arm support under the driving of a second transmission structure so that a telescopic motion will be achieved with respect to a remote-center-of-motion (RCM); pivot a middle arm support under the driving of a first transmission structure and pivot an instrument assembly in the same way under the action of a first flexible member so that a pivoting motion will be achieved around the RCM. Therefore, the manipulator with two degrees of freedom is achieved.

A leg structure of a quadruped robot includes a body and four separate leg modules. Each leg module includes a thigh motor assembly, a calf motor assembly, a hip joint motor assembly and an associated linkage and fixing base of the hip joint motor assembly. The hip joint motor drives the thigh and calf assembly through a parallelogram mechanism, the thigh motor assembly directly drives the thigh rod assembly, and the calf motor assembly drives the calf assembly through an anti-parallelogram mechanism. The joint motor assemblies are independent of each other and all the motor assemblies are modularized; the thigh and calf motor assemblies have a good ability to prevent external impact, and the joints on the robot body, formed by using the motor assemblies, have a large working space, thus ensuring the movement flexibility of the robot.