A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non-uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift-robots through a network of tracks comprising intersecting vertically and horizontally oriented tracks. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.

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.

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.

A sterile interface module for coupling an electromechanical robotic surgical instrument to a robotic surgical assembly is provided. The surgical instrument includes an end effector and is configured to be actuated by the robotic surgical assembly. The sterile interface module includes a body member and a drive assembly. The body member is configured to selectively couple the surgical instrument to the robotic surgical assembly. The body member is formed of a dielectric material. The drive assembly is supported within the body member and is configured to transmit rotational forces from the robotic surgical assembly to the surgical instrument to actuate the surgical instrument to enable the surgical instrument to perform a function.

An automated order fulfillment system and mobile robot are disclosed, where the mobile robot includes a compliant drive for moving between levels of a multilevel storage structure.

An instrument drive unit for use in a robotic surgical system includes a carriage configured to be coupled to a robotic arm, a hub rotationally coupled to the carriage and configured to be non-rotatably coupled to an electromechanical surgical instrument, a plurality of motors, a plurality of motor gears, a plurality of drive shafts, and a plurality of drive gears. Each motor gear is operably coupled to a corresponding motor, and each drive gear is fixed to a corresponding drive shaft. The drive shafts are rotationally supported in the hub and configured for interfacing with a corresponding driven member of the electromechanical surgical instrument. Each motor gear is configured to rotate a corresponding drive gear in response to an activation of a respective motor to actuate a function of the electromechanical surgical instrument.

Provided is a robot. The robot includes a main body provided with a traveling wheel, a seat base coupled to an upper portion of the main body, a seat pad configured to cover the seat base at an upper side of the seat base, a pair of arm supporters connected to both sides of the seat base, respectively, and a pair of moving mechanisms disposed between the seat base and the seat pad, the pair of moving mechanisms being configured to allow the pair of arm supporters to move forward and backward.

A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.

This application is directed to a medical instrument with a hollow shaft, an actuating unit at the proximal end and an instrument tip with an instrument at the distal end, wherein the instrument can be actuated via an actuating element in the shaft, the element being in an connection with the actuating unit and the instrument tip being pivotable via a joint mechanism, the joint mechanism having pivoting members connected with a proximal-side drive via steering wires running in the direction of the shaft in such a way that movement of the proximal-side drive causes a corresponding movement of the distal-side pivoting members and a pivoting of the instrument tip and wherein the proximal-side drive includes a spatially adjustable disk on which the steering wires are mounted. In order that the steering wires may be controlled precisely and reproducibly, the drive for the spatially adjustable disk is a motorized drive.

Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. A drive device configured to facilitate axial motion of an elongated shaft of a medical instrument can include a body comprising a channel configured to receive the elongated shaft of the medical instrument, a roller configured to engage with the elongated shaft such that, when rotated, the roller drives axial motion of the elongated shaft received in the channel, a first drive input coupled to the body, wherein the first drive input is operable by a robotic system to rotate the roller, a cover configured to selectively open or close the channel, and a second drive input coupled to the body, wherein the second drive input is operable to actuate the cover.