An insertion tool with a flexible spine and a method for forming thereof are provided. A method includes placing a plurality of links, a flexible spine, and a line assembly into a channel of a fixturing assembly, pulling, via the line assembly, the plurality of links into a tensioned state in the channel, and affixing the flexible spine to each of the plurality of links while in the tensioned state. An insertion tool comprising a plurality of links arranged in a sequence, a flexible spine affixed to three or more links of the plurality of links, and a line assembly inserted through line guides in each of the plurality of links, the line assembly being configured to actuate the plurality of links from a free state to a tensioned state.

An extension tool has a proximal end and a distal end and comprises a plurality of sequentially arranged links moveable relative to one another and a support member defining the distal end and including a first wheel disposed at the distal end and a second wheel spaced apart from the first wheel. Additionally, or alternatively, an extension tool may comprise a plurality of windows defined in the plurality of sequentially arranged links. The windows are defined periodically along the plurality of sequentially arranged links such that a periodicity of the widows corresponds to a periodicity of a plurality of features of the component.

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.

A mounting apparatus incorporates a dedicated physical feature configured for attachment of a tensioning tool, for tensioning of a drive belt having one of its belt pulleys carried by the mounting apparatus. In an example embodiment, the mounting apparatus comprises a body member, e.g., a mounting plate, for a pulley assembly. The body member incorporates a dedicated physical feature that is configured for engagement with a tensioning tool, for pulling the body member in a tensioning direction relative to the involved belt. The mounting apparatus comprises, for an example, an interior component of a robot, and is mounted within an interior volume of a segment of the robot, for tensioning of a drive belt carried within the interior volume.

A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.

Described herein relates to an apparatus and method of capturing a movement of a targeted muscle group of a user and transferring it to another muscle group of the user. The appendage work sharing device comprises a cable pulley system, creating an external mechanical pathway to transfer upper limb joint motion or force to the lower limb joints. Accordingly, by creating the external mechanical pathway, the appendage work sharing apparatus provides a self-regulated and self-powered means to assist lower limbs during ambulatory movements using upper limb muscles, reducing the lower limb muscle work (e.g., electromyography) during several ambulatory movements (e.g., sit to stand and step up) using upper limb muscles (e.g., shoulders, biceps, or triceps).

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.

Disclosed herein are multi-turn drive assemblies, systems and methods of use thereof. The multi-turn drive assemblies enable a robot link member to have a maximum rotation of at least 360 degrees about an axis. The multi-turn drive assemblies can be incorporated into a robot arm for enabling 360 degrees rotation of one or more link members about an axis. The robot arm may be located in a transfer chamber of an electronic device processing system. Also disclosed are methods of controlling the multi-turn drive assemblies and related robots.

A system and method for a planar positioning system for an output member, the system having a pair of x-coordinate linear carriages and a pair of y-coordinate linear carriages. The system has a guide mechanism for the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages. The system has a plurality of movement and constraining cables extending from the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages to the output member for driving the output, wherein the pair of x-coordinate linear carriages and the output member move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member move in sync in the y-direction. A restraint mechanism restrains the output member in an additional degree of freedom besides the x- and y-directions. The restraint can be a cable uptake and release device.

A transfer device is provided for shuttling an NMR sample container between at least two coaxially arranged NMR magnet systems of an NMR spectrometer comprising a guide tube positioned in a central bore of the magnet systems, a shuttle assembly arranged inside the guide tube for securely holding and shuttling the sample container and a drive system comprising a pulling drive and a winch cord attached to the drive system on one side and to the shuttle assembly on the other side, such that the shuttle assembly can travel inside the guide tube. The transfer device has a pneumatic pressurizing arrangement with an entry for pressurized gas arranged on a gas-tight body above the shuttle assembly that is adapted to maintain the winch cord under tension. The shuttle assembly comprises a piston design being moveable along the common axis of the coaxial magnet systems under the influence of the pressure.