A self-clamping torque adapter comprises a tool base, a central hub, a plurality of clamps, and a cam actuator mechanism. The tool base has a central axis and the central hub is rotatably coupled to the tool base and configured to rotate relative to the tool base about the central axis. The central hub comprises a torque input member configured to receive a torque input. The plurality of clamps are slidably coupled to the tool base, and configured to displace bi-directionally along a radial axis. The cam actuator mechanism couples each of the plurality of clamps to the central hub. Rotation of the central hub relative to the tool base causes the cam actuator mechanism to move each of the plurality of clamps in a radial direction.

Among other things, a digitally controlled actuator has a connector for coupling to a drive mechanism of an existing hand-driven cartridge reloader, to actuate a series of processing cycles of the reloader in which supplies of components are subjected to successive mechanical processing steps to produce reloaded cartridges ready for use. There are sensors associated with the actuator and the reloader to (a) acquire digital information that is indicative of a state of progress of each of the processing cycles and of conditions of the reloader related to the production of the reloaded cartridges, and (b) deliver the digital information to a digital controller for controlling the processing cycles of the reloader. The digital controller is connected to receive the digital information from the sensors and to control automatic operation of the reloader in successive processing cycles to produce reloaded cartridges without requiring human intervention.

An end effector is disclosed for use with a surgical robotic manipulator and a cutting accessory. The end effector comprises a nose tube for receiving the cutting accessory and an actuator for driving the cutting accessory. The end effector may also comprise a mounting fixture for coupling the end effector to the surgical robotic manipulator and a handle for gripping by the user. The handle may be coupled to the nose tube and configured to rotate about the axis of the nose tube. The end effector may also comprise a lever coupled to the handle and moveable between depressed and released positions. The end effector may further comprise an activator coupled to the lever and configured to interact with a sensor for sensing the position of the lever.

Retainer rings for locking in an N-sided shaft to restrict axial movement of components sandwiched between them. The retainer rings have inner edges bounding a central bore. The inner edges are defined by a series of N arcs whose distance from the bore's center decreases gradually along the inner edge from a first end to a second end of each arc. The rings are slid on to the shaft with the corners of the shaft aligned with the first ends of the arcs. Then the rings are rotated on the shafts toward the second ends of the arcs until the corners of the shafts jam against the inner edges. A special spanner wrench can be used to tighten and loosen the rings on the shaft.

A self-clamping torque adapter comprises a tool base, a central hub, a plurality of clamps, and a cam actuator mechanism. The tool base has a central axis and the central hub is rotatably coupled to the tool base and configured to rotate relative to the tool base about the central axis. The central hub comprises a torque input member configured to receive a torque input. The plurality of clamps are slidably coupled to the tool base, and configured to displace bi-directionally along a radial axis. The cam actuator mechanism couples each of the plurality of clamps to the central hub. Rotation of the central hub relative to the tool base causes the cam actuator mechanism to move each of the plurality of clamps in a radial direction.

Retainer rings for locking in an N-sided shaft to restrict axial movement of components sandwiched between them. The retainer rings have inner edges bounding a central bore. The inner edges are defined by a series of N arcs whose distance from the bore's center decreases gradually along the inner edge from a first end to a second end of each arc. The rings are slid on to the shaft with the corners of the shaft aligned with the first ends of the arcs. Then the rings are rotated on the shafts toward the second ends of the arcs until the corners of the shafts jam against the inner edges. A special spanner wrench can be used to tighten and loosen the rings on the shaft.

An end effector is disclosed for use with a surgical robotic manipulator and a cutting accessory. The end effector comprises a nose tube for receiving the cutting accessory and an actuator for driving the cutting accessory. The end effector may also comprise a mounting fixture for coupling the end effector to the surgical robotic manipulator and a handle for gripping by the user. The handle may be coupled to the nose tube and configured to rotate about the axis of the nose tube. The end effector may also comprise a lever coupled to the handle and moveable between depressed and released positions. The end effector may further comprise an activator coupled to the lever and configured to interact with a sensor for sensing the position of the lever.

An end effector includes a drive system to rotatably drive a removeable cutting accessory. The cutting accessory defines a bore. The drive system includes a drive member that defines a lumen. A cartridge is provided to deliver liquid from a liquid source, through the lumen of the drive member, through the bore of the cutting accessory, and to a surgical site.

An end effector is disclosed for use with a surgical robotic manipulator and a cutting accessory. The end effector comprises a nose tube for receiving the cutting accessory and an actuator for driving the cutting accessory. The end effector may also comprise a mounting fixture for coupling the end effector to the surgical robotic manipulator and a handle for gripping by the user. The end effector may also comprise a guard releasably coupled to the cutting accessory for covering a portion of the cutting accessory. A first circuit may be mounted to one of the cutting accessory or the removable guard and a second circuit mounted to the nose tube such that the first circuit and the second circuit configured to communicate with each other when the cutting accessory is coupled to the end effector.

Among other things, a digitally controlled actuator has a connector for coupling to a drive mechanism of an existing hand-driven cartridge reloader, to actuate a series of processing cycles of the reloader in which supplies of components are subjected to successive mechanical processing steps to produce reloaded cartridges ready for use. There are sensors associated with the actuator and the reloader to (a) acquire digital information that is indicative of a state of progress of each of the processing cycles and of conditions of the reloader related to the production of the reloaded cartridges, and (b) deliver the digital information to a digital controller for controlling the processing cycles of the reloader. The digital controller is connected to receive the digital information from the sensors and to control automatic operation of the reloader in successive processing cycles to produce reloaded cartridges without requiring human intervention.