A surgical instrument holder includes a carriage, a housing, and a drive assembly. The carriage is configured for engagement to a surgical robotic arm and for supporting an instrument drive unit. The housing extends from the carriage and defines a channel. The drive assembly includes a pulley, a belt, and an annular member. The pulley is rotatably disposed within the housing and in operable engagement with a motor of the carriage such that actuation of the motor rotates the pulley. The belt is rotatably disposed within the housing and in operable engagement with the pulley such that rotation of the pulley effects rotation of the belt. The annular member is disposed within the channel of the housing and configured for non-rotatable receipt of an instrument drive unit. The annular member is in operable engagement with the belt such that rotation of the belt effects rotation of the annular member.

Provided is a linear-object handling structure of a robot, in which a linear object for a motor that drives a second arm and a wrist and a linear object for a work tool that is attached to the wrist pass from a base part to the inside of a rotational drum in the vicinity of a first axis, are guided upward to the outside through a through-hole provided in the rotational drum, are respectively curved toward opposite lateral sides of the rotational drum in the substantially circumferential directions while each given a margin of length required for the motion of the rotational drum, are guided from the lateral sides of the rotational drum to the second arm in the longitudinal direction of the first arm while each being given a margin of length required for the motions of the first arm and the second arm.

A system for conveying an industrial robot includes: a control module, at least one automatic guided vehicle, and at least one electromagnetic base. An industrial robot is installed each electromagnetic base, which may attract a metallic plate fixed to the ground, thereby fixing the industrial robot installed on the electromagnetic base. An electromagnetic base is configured to, according to a first control instruction sent by the control module, stop attracting the metallic plate so that the industrial robot is movable. An automatic guided vehicle is configured to, according to a second control instruction sent by the control module, convey, to a target position, the industrial robot installed on the electromagnetic base that has stopped attracting the metallic plate. Finally, an electromagnetic base is further configured to, according to a third control instruction sent by the control module, attract the metallic plate fixed to the ground in the target position.

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.

A surgical instrument for coupling to a robotic surgical assembly configured to transfer rotational forces to the surgical instrument is provided. The surgical instrument includes an elongated shaft, an end effector coupled to a distal end of the elongated shaft, and a drive assembly operatively coupled to the end effector. The drive assembly includes one or more cables connected to the end effector. Movement of the one or more cables actuates a movement of the end effector. The one or more cables may be coated with parylene.

A robot includes a base plate rotatable around a rotation axis, a first arm connected to the base plate at a first axis which is perpendicular to the rotation axis and around which the first arm is rotatable, a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable, a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable, a turnable link connected to the third arm at a fourth axis which is perpendicular to the third axis and around which the turnable link is rotatable, a distal-end swingable portion connected to the turnable link at a fifth axis which is perpendicular to the fourth axis and around which the distal-end swingable portion is rotatable, a distal end connected to the distal-end swingable portion at a sixth axis which is perpendicular to the fifth axis and around which the distal end is rotatable, and a welder connected to the distal end.

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 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 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 manipulator system having a positioner having a primary rail, a first coupling linkage, and a second coupling linkage. The first coupling linkage couples the primary rail to a base and positions the primary rail along a first plane. The system has another positioner having a secondary rail, a third coupling linkage, and a fourth coupling linkage. The third coupling linkage couples the secondary rail to the base and positions the secondary rail along a second plane which is parallel to the first plane. A common link couples to the primary and secondary rails via linkages. Each of the second and fourth coupling linkages includes a joint for linear motion along the respective rail, and a revolute joint for relative pivoting between the respective rail and the common link. A position and orientation of the common link are adjustable by the joints and revolute joints.