A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

A seven-degrees of freedom modular robotic device is provided for controlling an instrument, e.g. a bone-drilling or milling device with a precision of about 50 μm and maximum force of 50 N. The robotic device is a serial kinematic chain of six rotational degrees of freedom and one translational degree of freedom.

A sterile interface module includes a body member that couples a surgical instrument to a robotic surgical assembly, a first drive transfer assembly supported by the body member, and a rotatable collar supported on the body member. The first drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler is engagable with the robotic surgical assembly and the transfer shaft is engagable with the surgical instrument. The drive coupler and the transfer assembly are robotically movable to operate an end effector of the surgical instrument. The rotatable collar is operably associated with the first drive transfer assembly and is manually movable relative to the body member to manually operate the end effector of the surgical instrument.

A rotatable cushioning pick-and-place device primarily comprises a motor, a body, a cushioning module and a pick-and-place module. The cushioning module is disposed in a first chamber of the body and comprises a rotary bearing which is connected to a drive shaft of the motor, and coupled to a driven shaft sleeve through a rotary follower. The rotary follower is driven by the rotary bearing to drive the driven shaft sleeve to rotate, thereby allowing the rotary bearing to displace relative to the driven shaft sleeve axially. The cushioning spring is arranged between the rotary bearing and the driven shaft sleeve. A first sealing ring and a second sealing ring of the pick-and-place module are fixed on the body to cooperatively and air-tightly seal the second chamber.

An articulated structure includes first and second members, and an actuator relatively rotating the first and second members about a first axis and including a motor fixed in the first member, a reducer transmitting rotation of the motor to the second member, and a mechanism transmitting power of the motor to the reducer, the reducer includes a hole extending therethrough along the first axis, and an input member supported rotatably about the first axis to receive the power. The mechanism includes a first section including an output member supported rotatably about a second axis parallel to the first axis to transmit power to the input member, a second section transmitting power between a shaft of the motor and the output member, and a housing that houses the second section to support the motor and being detachably attached to the first member at a position offset radially outward from the hole.

A driving mechanism according to an aspect includes a first pulley configured to rotate around a first axis, a motor configured to rotate the first pulley around the first axis, a second pulley disposed to be separated from the first pulley and configured to rotate around a second axis parallel to the first axis, a first belt laid around the first and second pulleys and configured to transmit power of the motor from the first pulley to the second pully, a third pulley disposed side by side with the second pulley in a direction along the second axis and configured to rotate around the second axis integrally with the second pulley, a fourth pulley disposed to be separated from the third pulley and configured to rotate around a third axis parallel to the second axis, a second belt laid around the third and fourth pulleys and configured to transmit the power of the motor from the third pulley to the fourth pulley, and a first bearing located between the second and third pulleys and configured to support the second and third pulleys.

In one embodiment, a gear system includes two cycloidal gears coupled to an eccentric drive shaft via a cartridge bearing. Each of the two cycloidal gears includes a number N of pockets on a surface of the gears to receive a ball bearing in the respective pocket. The N pockets on the surface of a first cycloidal gear of the two cycloidal gears are substantially aligned with the N pockets on the surface of a second cycloidal gear of the two cycloidal gears. Each of the two cycloidal gears further includes a lip coupled to the cartridge bearing. The gear system includes a number N of ball bearings disposed in the N pockets of the two cycloidal gears, where the ball bearings maintain a distance between the two cycloidal gears. The ball bearings cause the respective cycloidal gear to be flush with the cartridge bearing coupled to the eccentric shaft.

The screwdriving system for connection of components that require high contact pressures for their screw connection, having a screwdriving unit which is connected to an articulated robot, wherein the screwdriving unit contains a motor for the rotary drive, an actuator for the linear drive, a gear mechanism, a torque shaft, a tool holder for a screwdriving tool and a feed head which is supplied with screws, which are held in the feed head during the screwing-in operation, the tool holder, the screwdriving tool and the feed head being arranged on a common screw axis, includes an articulated bearing arrangement, the pivoting of which is able to compensate for a deflection of a robot axis of the articulated robot caused by contact pressures and for a tilted position of the screwdriving unit resulting therefrom.

An apparatus for supplying chemical liquid may include a gantry, a chemical liquid supply member providing a chemical liquid onto a substrate, and a moving device supporting the chemical liquid supply member and moving along the gantry. The moving device may include a moving member, load supporting members and absorbing members. The moving member may support one side of the chemical liquid supply member and may run over the gantry. The moving member may cover an upper face, a first side and a second side of the gantry. The load supporting members may support a load applied to the moving member and the gantry while maintaining a substantially constant distance between the moving member and the gantry. The absorbing members may absorb an impulsive load or an impulsive force applied to the moving member and/or the gantry when the moving member deviates from a moving path provided by the gantry.

A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.