Abstract: A surgical robotic instrument comprising: a shaft; an end effector element; an articulation connecting the end effector element to the shaft, the articulation comprising: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft; a second joint driveable by a second pair of driving elements; a pulley arrangement around which the second pair of driving elements is constrained to move, the pulley arrangement comprising: a first set of pulleys rotatable about the first axis; and a second set of pulleys proximal to the first set of pulleys and comprising a first pulley rotatable about a second axis, and a second pulley rotatable about a third axis parallel to and offset from the second axis; and a clevis unit comprising two arms supporting the pulleys of the pulley arrangement, and a pulley guard extending from one of the arms for guarding one of the first and second pulleys.

Abstract: A three-dimensional printing system including at least one positioning mechanism, and at least one end effector movably connected to the at least one positioning mechanism. The at least one end effector includes at least one mixing head configured to dispense a material, and at least one subtractive tool configured to subtract at least a portion of the material such that a desired design is achieved.

Abstract: A robotic surgical instrument comprising: an end effector with opposing first and second end effector elements, each end effector element comprising a first portion for enabling rotation of that end effector element about a respective joint and a second portion with a surface configured to interface with a corresponding surface of the opposing end effector element; and an articulation comprising: a first joint permitting rotation of the first end effector element about a first axis; a second joint permitting rotation of the second end effector element about a second axis; and a supporting body comprising opposing first and second tines within which the first portions of the first and second end effector elements are permitted to rotate; wherein the first portion of the first end effector element is proximal to the first tine, and the second portion of the first end effector element is proximal to the second tine.

Abstract: A robotic surgical instrument comprising: a shaft; an end effector comprising a first end effector element with a first surface and a second end effector element with a second surface configured to interface with the first surface; and an articulation connecting the end effector to the shaft, the articulation permitting the first end effector element to rotate about a first axis and the second end effector element to rotate about a second axis, the first and second axes being transverse to the longitudinal axis of the shaft; wherein, when the end effector is aligned with the shaft and the first and second surfaces are interfaced, the orientation of the first surface, relative to the first axis, is greater than zero degrees.

Abstract: A method of calibrating an instrument interface of an instrument in a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to a drive assembly for engaging with the instrument interface to transfer drive to the instrument, the instrument interface being configured to drive joints of the instrument via driving elements, the method comprising: obtaining usage data indicative of usage of a joint of the instrument; comparing the usage data with one or both of a maximum range of joint movement of the joint and a model of expected joint movement of the joint; determining, from the comparison, a calibration offset to adjust a control relationship of a driving element arranged to drive the joint; and adjusting the control relationship of the driving element using the calibration offset so as to calibrate is the instrument interface.

Abstract: A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising a first joint permitting the end effector to adopt a range of configurations relative to the longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the securement of a first chassis portion to a second chassis portion, wherein the first pair of driving elements are secured relative to the chassis, the chassis portions being configured to be secured together by sliding the chassis portions relative to each other in a longitudinal direction parallel to the longitudinal axis of the shaft.

Abstract: A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising: a first and second joint permitting the end effector element to adopt a range of configurations relative to a longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements having a first positional accuracy requirement and the second joint being driveable by a second pair of driving elements having a second positional accuracy requirement lower than the positional accuracy requirement of the first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the attachment of a first chassis portion to a second chassis portion, the first chassis portion comprising a mounting surface to which the shaft is mounted; wherein the first pair of driving elements are secured relative to the first chassis portion.

Abstract: One general aspect includes a composite sprocket. The composite sprocket also includes a skeleton having a connection interface and an outer portion having a rough tooth structure. The composite sprocket also includes an overlay formed on and over the outer portion of the skeleton and may include of a precision material and forming a high precision tooth structure over the rough tooth structure.

Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.

Abstract: Synchronous belt systems include two or more sprockets, a first endless belt, and a second endless belt. The belts are connected together with belts attachment hardware through belt ports, and a belts gap is defined between the belts. Each of the sprockets includes sprocket teeth and sprocket tooth spaces between adjacent teeth of the sprocket teeth, and each of the sprockets has a sprocket center ridge. The belts each include a plurality of belt teeth which engage sprocket tooth spaces. The belts gap engages the sprocket center ridge of each of the sprockets. Each of the belts attachment hardware includes a connecting bar which renders a parallel and adjacent configuration of the first endless belt and the second endless belt.

Abstract: Synchronous belt systems include two or more sprockets, a first endless belt, and a second endless belt. The belts are connected together with belts attachment hardware through belt ports, and a belts gap is defined between the first endless belt and the second endless belt. Each of the sprockets includes sprocket teeth and sprocket tooth spaces between adjacent teeth of the sprocket teeth, and each of the sprockets has a sprocket center ridge. The belts each include a plurality of belt split teeth, and each split tooth of the plurality of belt split teeth has a first belt ridge, a second belt ridge and a belt split tooth space disposed between the belt ridges. The belts gap engages the sprocket center ridge of each of the sprockets, and each of the belts attachment hardware is disposed within the adjacent belt split tooth spaces of the belts.

Abstract: A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.

Abstract: A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.

Abstract: A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.

Abstract: A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.

Abstract: A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.

Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising a main body; and a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of the surgical robot arm and the second portion being releasably engageable with a portion of the surgical instrument; the drive transfer element being movable relative to the main body so as to enable transfer of drive between the surgical robot arm and the surgical instrument.

Abstract: A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism configured to tension the pair of driving elements; and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.

Abstract: A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.