Abstract: A tensioning rig for tensioning a plurality of tendons comprising: a plurality of weights; a plurality of primary pulleys spaced apart from one another along a first axis; a plurality of secondary pulleys spaced apart from one another; and a plurality of tensioning wires, each engageable with a respective primary and secondary pulley, and comprising a first end comprising a tendon portion and an opposite end comprising a weight portion, wherein the tendon portion is removably attachable to a respective tendon and extendable from the respective tendon to the respective primary pulley substantially along the first axis and the weight portion is attachable to a respective weight and extendable from the respective secondary pulley to the respective weight, each tensioning wire further comprising an intermediate portion extending from the respective primary pulley to the respective secondary pulley.

Abstract: An actuation mechanism including: first and second jaws rotatable about a jaw axis, having first and second slots, respectively; and a slider moveable along a slider axis. The slider includes first and second protrusions slidably receivable within the first and second slots, respectively, wherein each slot extends in a direction which is non-parallel to the slider axis when the respective protrusion is engaged with the slot. A return is attachable to the actuation mechanism and an actuation member is operably engageable with both the slider and the return. The actuation member includes first and second ends, a first portion that extends from the first end to the return, and a second portion that extends from the return to the second end. The first portion is fixable to the slider whereby individual movement of the first and second portions relative to the return causes the slider to move.

Abstract: An articulated member for a surgical instrument, the articulated member including: first proximal and distal joints, each rotatable about a respective axis that extends across a first rotation plane extending longitudinally through the articulated member; second proximal and distal joints, each rotatable about a respective axis that extends across a second rotation plane extending longitudinally through the articulated member perpendicularly to the first rotation plane so that the second proximal and distal joints are rotatable orthogonally relative to the first proximal and distal joints; and a plurality of coupling tendons extending through the articulated member via respective coupling tendon receiving portions. Each coupling tendon extends along the articulated member substantially spaced apart from both the first and second rotation planes so that rotation of one of the proximal and distal joints causes rotation of the other of the respective proximal and distal joints.

Abstract: An apparatus including computer program code configured to cause the apparatus to: receive a command defining a desired pose of an end effector of a robotic instrument; determine, based on the command, joint parameters for each joint of the robotic instrument using an inverse kinematics algorithm to enable the end effector to mimic the desired pose as closely as possible, wherein the algorithm is configured to reiteratively calculate a pose of the end effector and identify the calculated pose with the smallest tracking error as a global solution if the tracking error is smaller than that associated with a current pose of the end effector, otherwise identify the current pose as the global solution; and wherein the apparatus is configured to generate a motor command to reconfigure the joints according to the global solution if the calculated pose with the smallest tracking error is identified as the global solution.

Abstract: A barrier cartridge for providing a sterility barrier between movable interfaces comprising a barrier with first and second ends; a barrier receiving portion, adapted to receive the barrier, and comprising first second ends spaced apart from one another, first and second sides spaced apart from one another and extending between the first and second ends, wherein the barrier is attachable to the barrier receiving portion such that it extends between the first and second sides of the barrier receiving portion and is movable between the first and second ends of the barrier receiving portion; first and second flex cards each operatively connected to both the respective end of the barrier and the respective end of the barrier receiving portion and extendible between the first and second sides of the barrier receiving portion.

Abstract: A punching rig comprising: a base; an arm engageable with the base and movable relative to the base along a first axis, the arm comprising a chamber that extends along a chamber axis normal to the first axis; a punch slidably receivable within the chamber such that it extends along the chamber axis, which punch comprises a first end, a second end and a stop positioned between the first end and the second end; and a weight slidable along the punch between the first end and the stop.

Abstract: A driver module for actuating a tendon, the driver module comprising: a slider comprising a base portion, a tendon receiving portion and a body portion, the tendon receiving portion being spaced apart from the base portion and the body portion extends from the base portion to the tendon receiving portion, the module further comprising a slider receiving portion having a first end and a second end and engageable with the base portion of the slider such that the slider is moveably attachable to the slider receiving portion.

Abstract: An arm device comprising a universal joint, which universal joint comprises a first wrist joint, a second wrist joint and a first elbow joint wherein: each wrist joint comprises a first part, a second part and a slipring, which slipring comprises a rotor coupled to the first part and a stator coupled to the second part, which rotor is coaxially engageable with the stator and infinitely rotatable relative to the stator such that: the first part of the first wrist joint is infinitely rotatable relative to the second part of the first wrist joint about a first axis, and the first part of the second wrist joint is infinitely rotatable relative to the second part of the second wrist joint about a second axis; the first elbow joint comprises a first portion and a second portion, which first portion is rotatably engageable with the second portion about a third axis; the first wrist joint is coupled to the first elbow joint; and first elbow joint is coupled to the second wrist joint.

Abstract: A joint locking mechanism comprising a latch assembly and a gear movable relative to the latch assembly and comprising gear teeth. The latch assembly comprises an actuator moveable between a withdrawn position and a deployed position; first and second latches, each comprising an engagement element adapted to interlock with the gear teeth, each being moveable between an unlocked position and a locked position; a pivotable coupling comprising a first end coupled to the first latch, a second end coupled to the second latch, and a pivot positioned between the first and second ends which is rotatably coupled to the actuator. When the actuator is in the withdrawn position both the first and second latches are in the unlocked position. Movement of the actuator from the withdrawn position to the deployed position causes one, but not both, of the first and second latches to move to the locked position.

Abstract: A motor module comprising a primary pinion rotatably driveable by a primary motor, a first primary rack moveably engageable with the primary pinion and a second primary rack moveably engageable with the primary pinion. Rotation of the primary pinion causes movement of the first primary rack in a first direction, and movement of the second primary rack in a second direction, whereby the first and second primary racks and the primary pinion together form an antagonistic rack and pinion mechanism.

Abstract: An arm device comprising a universal joint, which universal joint comprises a first wrist joint, a second wrist joint and a first elbow joint wherein: each wrist joint comprises a first part, a second part and a slipring, which slipring comprises a rotor coupled to the first part and a stator coupled to the second part, which rotor is coaxially engageable with the stator and infinitely rotatable relative to the stator such that: the first part of the first wrist joint is infinitely rotatable relative to the second part of the first wrist joint about a first axis, and the first part of the second wrist joint is infinitely rotatable relative to the second part of the second wrist joint about a second axis; the first elbow joint comprises a first portion and a second portion, which first portion is rotatably engageable with the second portion about a third axis; the first wrist joint is coupled to the first elbow joint; and first elbow joint is coupled to the second wrist joint.