A system and methods are disclosed for precision placement or insertion of an object using robotic manipulation. A robotic tool includes at least three members, including a first member and a second member that grip the object between opposing faces and a third member that exerts a force on a proximate end of the object to push the object out of the robotic tool. A series of maneuvers is performed with the robotic tool in order to place the object on a surface or insert the object in a hole. The maneuvers include positioning the object against the surface, rotating the object around a contact point between the object and the surface, rotating the robotic tool around a contact point between the object and either the first or second member of the robotic tool, sliding the object horizontally along a surface, and tucking the object into a final desired position.

A robot hand includes: a first link; a first fixed pulley and a second fixed pulley, respectively provided at a proximal end pivot part of the first link and rotatable around a first axis; a second link, supported at an intermediate pivot part by the first link to be rotatable around a second axis; a lever link, supported by the proximal end pivot part of the first link to be rotatable around the first axis; a lever pulley, supported by the lever link; a hanging cable, hung on the first fixed pulley, the lever pulley, and the second fixed pulley; a conversion mechanism, connecting the lever link and the second link, and converting rotation of the lever link into rotation of the second link; and a second link driving mechanism, rotating the lever link around the first axis by pulling the hanging cable.

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 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 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 force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

A translatable end effector for a surgical robot includes a pair of linkage arms, an anchor adapted to be mounted to an arm of the surgical robot and a tool holder connected to the anchor through the pair of arms. The hinges at the anchor are pivotally and slidably coupled to the pair of arms to allow the arms to pivot and slide relative to the anchor hinges. The tool holder is configured to hold a surgical tool and has a pair of hinges that pivotally couple to the ends of the linkage arms. The hinges and the linkage arms are configured such that a longitudinal trajectory defined by the surgical tool is maintained as the tool holder translates upwardly and downwardly relative to the surgical robot arm.

A robotic system includes a support structure, a platform, a center serial chain, outer serial chains, motors, a sensor, and a control module. The center serial chain connects a center of the platform to the support structure and includes first joints connected to a linear sliding shaft. The outer serial chains are disposed radially outward of the center serial chain. Each of the outer serial chains includes second joints connecting a bar to the platform and the supporting structure. The motors are connected to the outer serial chains. The sensor is connected to the platform and detects at least one of force or torque applied by a human operator on the platform and generates a signal indicative thereof. The control module controls the motors based on the signal to assist the human operator in at least one of moving or rotating the platform.

A robot includes elbows connecting forearms rotatably to upper arms with two rotational degrees of freedom. The elbow includes: an elbow joint connecting the forearm and the upper arm with two rotational degrees of freedom; an elbow drive main link; an elbow drive auxiliary link; a forearm-side main link attaching unit attached with one end of the elbow drive main link with two rotational degrees of freedom, and provided in the forearm; an elbow-drive-main-link-side auxiliary link attaching unit attached with one end of the elbow drive auxiliary link with two rotational degrees of freedom, and provided on the elbow drive main link; and two linear actuators for moving two upper-arm-side link attaching units each attached with the other end of either the elbow drive main link or the elbow drive auxiliary link with two rotational degrees of freedom, and provided so as to be movable along the upper arm.

A cooling medium flow path structure according to the present disclosure is for use at a joint of a robot. The joint of the robot (101) includes an N-th link and an N+1-th link. A tubular projection (31c) extends from a first wall (31a) constituting the N-th link, and a motor (50) is located on the first wall (31a). The cooling medium flow path structure is annularly or tubularly shaped such that an inner peripheral surface (7b) of the cooling medium flow path structure is located outside an outer peripheral surface (5) of the motor (50). The cooling medium flow path structure includes an internal cooling medium flow path (71a) through which a cooling medium flows.