Abstract: A tool for use with a surgical robotic manipulator that comprises an energy applicator including a shaft extending along an axis between a proximal end and a distal end. The shaft has an axial-force receiving surface. A tool assembly comprises a support structure to support the energy applicator, an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state, a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about the axis, a collet assembly cooperating with the axial connector assembly and configured to apply a force to the axial-force receiving surface of the energy applicator in the locked state, and a reference surface. The force includes an axial component directing the energy applicator proximally into continuous contact with the reference surface in the locked state.

Abstract: A sterile barrier assembly, mounting system, and method for kinematically coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.

Abstract: Provided is an actuator characterized by the use of a shuttle that shifts in response to an overload. The shuttle is movable axially relative to a rotary input member by continued rotation of the rotary input member so that a stop on the shuttle moves from an ambush position allowing free rotation of the rotary input member to a blocking position preventing further rotation of the rotary input member. In this way, the shuttle prevents rotation of a rotary input member during an overload of a control surface.

Abstract: In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; constructing the coupling/uncoupling mechanism to be reversible, and hence testable; and controlling the connection/disconnection via decision making electronics which will detect any system failure by monitoring, at a minimum: actuator main motor load and speed, and actuator output load. Also set forth are specific embodiments of pivotable rotary geared actuators as well as linear ball screw type actuators embodying the coupling/uncoupling mechanisms of this invention.

Abstract: In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; constructing the coupling/uncoupling mechanism to be reversible, and hence testable; and controlling the connection/disconnection via decision making electronics which will detect any system failure by monitoring, at a minimum: actuator main motor load and speed, and actuator output load. Also set forth are specific embodiments of pivotable rotary geared actuators as well as linear ball screw type actuators embodying the coupling/uncoupling mechanisms of this invention.

Abstract: An electromechanical actuating assembly can have a redundant design with a first electric motor providing actuator-moving power via a first drive train and a second electric motor providing actuator-moving power via a second drive train. A first decoupling train can transmit decoupling power to decouple the first drive train from the actuator and a second decoupling train for transmit decoupling power to decouple the second drive train from the actuator. The assembly is operable in a fault-tolerant mode wherein actuator-moving power is transferred only through one drive train and the other drive train is decoupled from the actuator.

Abstract: An electromechanical actuating assembly (100), operable in a plurality of fault-tolerant modes to accommodate at least the most probable fault situations. In the M1D1-only mode, actuator-moving power is transferred only through the first drivetrain (400A) and decoupling power transmitted through the second decoupling train (600B) decouples the second drivetrain (400B) from the actuator (200). In the M2D2-only mode, actuator-moving power is transferred only through the second drivetrain (400B) and decoupling power transmitted through the first decoupling train (600A) decouples the first drivetrain (400A) from the actuator (200).

Abstract: An electromechanical actuating assembly (100) can have a redundant design with a first electric motor (300A) providing actuator-moving power via a first drive train (400A) and a second electric motor (300B) providing actuator-moving power via a second drive train (400B). A first decoupling train (600A) can transmit decoupling power to decouple the first drive train (400A) from the actuator (200) and a second decoupling train (600B) for transmit decoupling power to decouple the second drive train (400B) from the actuator (200). The assembly (100) is operable in a fault-tolerant mode wherein actuator-moving power is transferred only through one drive train (400A/400B) and the other drive train (400B/400A) is decoupled from the actuator (200).

Abstract: The present invention provides an actuator characterized by the use of a shuttle that shifts in response to an overload. The shuttle is movable axially relative to a rotary input member by continued rotation of the rotary input member so that a stop on the shuttle moves from an ambush position allowing free rotation of the rotary input member to a blocking position preventing further rotation of the rotary input member. In this way, the shuttle can be used to prevent rotation of a rotary input member during an overload of a control surface, thereby preventing damage to the actuator.

Abstract: An electromechanical actuating assembly (100), operable in a plurality of fault-tolerant modes to accommodate at least the most probable fault situations. In the M1D1-only mode, actuator-moving power is transferred only through the first drivetrain (400A) and decoupling power transmitted through the second decoupling train (600B) decouples the second drivetrain (400B) from the actuator (200). In the M2D2-only mode, actuator-moving power is transferred only through the second drivetrain (400B) and decoupling power transmitted through the first decoupling train (600A) decouples the first drivetrain (400A) from the actuator (200).

Abstract: In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; constructing the coupling/uncoupling mechanism to be reversible, and hence testable; and controlling the connection/disconnection via decision making electronics which will detect any system failure by monitoring, at a minimum: actuator main motor load and speed, and actuator output load. Also set forth are specific embodiments of pivotable rotary geared actuators as well as linear ball screw type actuators embodying the coupling/uncoupling mechanisms of this invention.

Abstract: In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; constructing the coupling/uncoupling mechanism to be reversible, and hence testable; and controlling the connection/disconnection via decision making electronics which will detect any system failure by monitoring, at a minimum: actuator main motor load and speed, and actuator output load. Also set forth are specific embodiments of pivotable rotary geared actuators as well as linear ball screw type actuators embodying the coupling/uncoupling mechanisms of this invention.

Abstract: In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; constructing the coupling/uncoupling mechanism to be reversible, and hence testable; and controlling the connection/disconnection via decision making electronics which will detect any system failure by monitoring, at a minimum: actuator main motor load and speed, and actuator output load. Also set forth are specific embodiments of pivotable rotary geared actuators as well as linear ball screw type actuators embodying the coupling/uncoupling mechanisms of this invention.

Abstract: In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; constructing the coupling/uncoupling mechanism to be reversible, and hence testable; and controlling the connection/disconnection via decision making electronics which will detect any system failure by monitoring, at a minimum: actuator main motor load and speed, and actuator output load. Also set forth are specific embodiments of pivotable rotary geared actuators as well as linear ball screw type actuators embodying the coupling/uncoupling mechanisms of this invention.

Abstract: In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; constructing the coupling/uncoupling mechanism to be reversible, and hence testable; and controlling the connection/disconnection via decision making electronics which will detect any system failure by monitoring, at a minimum: actuator main motor load and speed, and actuator output load. Also set forth are specific embodiments of pivotable rotary geared actuators as well as linear ball screw type actuators embodying the coupling/uncoupling mechanisms of this invention.