A robot includes: a first arm that has a first light guide path, a second arm that has a second light guide path, a joint portion that has a rotation axis and connects the first arm and the second arm to each other so as to be rotatable about the rotation axis and a light rotary joint that is provided between the first light guide path and the second light guide path inside the joint portion and that optically connects the first light guide path and the second light guide path to each other. In addition, the light rotary joint has a first light guide portion which is fixed to the first light guide path and has a tubular shape about the rotation axis and an end portion of the second light guide path on the light rotary joint side faces the first light guide portion.

An instrument holder generally includes a carriage rotatable with respect to a carriage support, a light pipe extending axially through the carriage, and an electrical conductor extending through the carriage radially outward of the light pipe. The light pipe can transmit light energy and the electrical conductor can transmit electricity between a proximal end portion and a distal end portion of the carriage to a medical instrument. The rotatable carriage may include a sterile adapter assembly positioned at the proximal and/or distal end portions of the rotatable carriage. The sterile adapter assembly may include a roll disk rotatable with respect to the outer frame, an inner disk rotatable with respect to the roll disk, and a light pipe to transmit light energy through the roll disk. The inner disk can transfer movement of an actuator between the rotatable carriage and the instrument.

A component of a system, including: processor circuitry; and a non-transitory computer-readable storage medium including instructions that, when executed by the processing circuitry, cause the processor circuitry to: receive image data of an object captured by a camera; analyze a visual feature of the object based on the received image data; generate illumination patterns based on the analyzed visual feature; and control arrays of light sources integrated into a plurality of fingers of a robotic gripper to project the illumination patterns within a grasp volume defined by the plurality of fingers during object manipulation to enhance detection of the visual feature of the object, wherein each light source in the arrays of light sources is individually controllable.

A sterile adapter for providing a sterile interface between an instrument and an instrument holder includes a fixed frame couplable to an instrument holder; a roll disk positioned within the frame and rotatable with respect to the frame; an inner disk positioned within the roll disk and rotatable with respect to the roll disk; and a light pipe positioned in the roll disk and configured to transmit light energy through the roll disk

An apparatus includes a drive; a movable arm connected to the drive, the movable arm comprising a first link connected to the drive at a shoulder, a second link connected to the first link at an elbow, a third link connected to the second link at a wrist, and a fourth link connected to the second link at the wrist; at least one first actuator located in the second link configured to cause a rotation of the third link about the wrist; and at least one second actuator located in the second link configured to cause a rotation of the fourth link about the wrist. One or more of a thermal management, a power distribution, or a communication is effected through the second link.

According to one embodiment, a robot includes a manipulator, a first end effector and first and second light-emitting parts. The first end effector is mounted to a distal part of the manipulator. The first light-emitting part is mounted to the distal part, the first light-emitting part irradiating a first line laser in a first direction. The second light-emitting part is mounted to the distal part, the second light-emitting part irradiating a second line laser in a second direction. The first direction is tilted with respect to an orientation of the first end effector in a first plane, the first plane being parallel to a direction from the distal part toward the first end effector. The second direction is tilted with respect to the orientation of the first end effector in a second plane, the second plane being parallel to the first direction and crossing the first plane.

A robot includes: links, connected in series to a base via joints; actuators, driving the joints to relatively displace a corresponding pair of links connected to each other; control devices, distributedly arranged in the base and the links and controlling the actuators; a communication cable, comprising an optical fiber connecting the control devices to each other and transmitting information; and light amount measurement devices, measuring the amount of light of an optical signal transmitted to the control devices via the communication cable. Each control device monitors the amount of light measured by the light amount measurement device corresponding thereto, and determines a state of the communication cable corresponding thereto based on the amount of light.

An apparatus includes a drive; a movable arm connected to the drive, the movable arm comprising a first link connected to the drive at a shoulder, a second link connected to the first link at an elbow, a third link connected to the second link at a wrist, and a fourth link connected to the second link at the wrist; at least one first actuator located in the second link configured to cause a rotation of the third link about the wrist; and at least one second actuator located in the second link configured to cause a rotation of the fourth link about the wrist. One or more of a thermal management, a power distribution, or a communication is effected through the second link.

A robot installation position measurement device includes a first position information acquisition unit that acquires first position information, which is a three-dimensional command position of a tool center point fixed with respect to a flange at a tip of a robot, in a state in which the robot is positioned in a desired pose, a second position information acquisition unit that acquires, by a three-dimensional measurement instrument installed with a predetermined measurement coordinate system, second position information, which is a three-dimensional actual position of the tool center point in the pose, and a coordinate system correction unit that corrects a robot coordinate system, with which the robot operates, such that a difference between pieces of the first position information and pieces of the second position information acquired in states in which the robot is positioned in multiple different poses becomes small.