Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

Abstract: A temperature sensor assembly is disclosed, formed of flexible, resilient, and insulative material, so that a contact temperature sensor, situated in a housing and connected to an electrical meter, may be affixed temporarily or permanently to a (generally) cylindrical tube, pipe, or other “line,” the distal ends of the housing straps stretched and tensioned to press the housing and contact temperature sensor on to the exterior of such fluid line to keep the housing in the correct position on the fluid line, and the distal ends of the straps joined to secure the assembly to the fluid line, so that the temperature on the exterior of the fluid line, and the temperature of the fluid therewithin, may thereby be measured.

Abstract: A temperature sensor assembly is disclosed, formed of flexible, resilient, and insulative material, so that a contact temperature sensor, situated in a housing and connected to an electrical meter, may be affixed temporarily or permanently to a (generally) cylindrical tube, pipe, or other “line,” the distal ends of the housing straps stretched and tensioned to press the housing and contact temperature sensor on to the exterior of such fluid line to keep the housing in the correct position on the fluid line, and the distal ends of the straps joined to secure the assembly to the fluid line, so that the temperature on the exterior of the fluid line, and the temperature of the fluid therewithin, may thereby be measured.