A robot driving device includes a base provided at a point spaced apart from a joint part of a robot, a driving part installed to be movable on the base, and for providing a driving force to the joint part, a wire connecting the driving part and the joint part to transfer the driving force of the driving part to the joint part, an adjustment part having an elastic part for elastically supporting the driving part with respect to the base, and allowing the driving part to move on the base in order to give tension to the wire, and a fixing part for fixing relative locations of the driving part to the base at a point at which the driving part has moved.

A robotic surgical system includes a surgical instrument and a robotic surgical assembly. The robotic surgical assembly defines an instrument opening and includes a floating plate and a drive assembly. The floating plate is movable between an extended position and a compressed position. The surgical instrument is laterally receivable in the instrument opening of the robotic surgical assembly while the floating plate is disposed in the compressed position. The floating plate is movable to the extended position to couple the surgical instrument to the robotic surgical assembly while the surgical instrument is received in the instrument opening of the robotic surgical assembly.

The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert an engagement force on a target structure. The actuation portion receives an actuation force. The flexure has a first end portion coupled to the ground portion of the shaft, and a second end portion coupled to the tool member. The flexure is configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft.

A medical instrument can include a wrist, an end effector, pull wires that extend through the wrist toward for controlling a motion of the end effector, and a conductive cable that extends through the wrist to the end effector. The wrist can have proximal and distal clevises and proximal and distal pulleys through which the conductive cable passes. The conductive cable can extend over one or more redirect surfaces of the distal and/or proximal clevises.

The invention relates to a method and to a device for implementing the method for tensioning an inextensible or substantially inextensible longitudinal strap (12) comprising a distal end portion (15) and a proximal end portion (11), each end portion being respectively fixed to a corresponding attachment point (13, 16). The method is characterized in that a cycle (2) of successive transverse pressure applications is exerted on the strap (12), comprising a first transverse pressure application (23) on a first portion (20) of die strap then a second (24) and a third (25) transverse pressure application on a second (21) and a third (22) portion of the strap, respectively.

In one variation, a pulley arrangement includes a base pulley portion rotatable within a driving plane, an adjustable pulley portion coupled to the base pulley portion wherein the adjustable pulley portion is rotatable relative to the base pulley portion within the driving plane, and a driving member including an end coupled to the adjustable pulley portion wherein at least a portion of the driving member is wrapped at least partially around the adjustable pulley portion. In another variation, a pulley arrangement includes a base pulley portion rotatable around an axis, an adjustable pulley portion coupled to the base pulley portion and movable in a first direction parallel to the axis, and a sliding block engaged with the adjustable pulley portion, wherein the sliding block moves in a second direction different from the first direction, in response to compression of the adjustable pulley portion against the base pulley portion.

An extensible mast allows a payload to be supported at a distance from a supporting device. The payload may be connected via a cable to one or more components in the supporting device. A cable rotation apparatus allows a cable to rotate during dispensation of the cable, such as during extension or retraction of the extensible mast, while minimizing strain on the cable. The apparatus comprises a stationary spool, a furling core, and a rotating spool. A beveled gear on each of the spools engages a pair of beveled gears in the furling core. As the rotating spool rotates with respect to the stationary spool, the furling core rotates at one-half the speed and the cable is dispensed from an opening in the rotating spool. The furling core incorporates a guide wheel that maintains an orderly transfer of the cable from one spool to another.

A gripper system having tentacles including a control system configured to receive operator data and sensor data. Compare stored object configurations associated with grips to identify a corresponding set of object configurations using a target object shape and a pose via sensor data and select an object configuration. Compare stored commands to identify sets of commands corresponding to the object configuration and select sets of commands. If a set of pickup actions are received, compare to the corresponding object configuration to identify a set of pickup actions using the received set of pickup actions, and select a set of pickup actions. Compare the sets of commands to identify a corresponding first set of commands corresponding to a set of pickup actions using the set of pickup actions and select the first set of commands. If the received set of pickup actions are absent, then select a second set of commands.

A muscle sleeve includes: a sleeve-formed fabric; a plurality of first actuating muscles disposed next to each other and in parallel with each other on a first side of the sleeve-formed fabric; a plurality of second actuating muscles disposed next to each other and in parallel with each other on a second side of the sleeve-formed fabric; a plurality of fasteners that secure ends of the first and second actuating muscles to the fabric; and a crimp secured to the fabric.

A biasing unit 2 comprises: a tension spring 22, one end of which is attached to the base member 20, another end of which is attached to the downward swing member 21, and which biases the downward swing member 21 rearward when the downward swing member 21 swings forward; an upward swing member 23 which is attached to an upper section in the base member 20 and swings back and forth with respect to the base member 20 integrally with an upper body support member 4; and a gas spring 24, one end of which is attached to the base member 20, another end of which is attached to the upward swing member 23, and which biases the upward swing member 23 rearward when the upward swing member 23 swings forward.