Abstract: A surgical robotic arm includes an instrument having a plurality of cables that are movable longitudinally and an end effector movable by the cables. The surgical robotic arm also includes a drive unit having a plurality of motors each of which is configured to move one of the cables and a plurality of torque sensors, each of which is configured to measure torque output by one of the motors. The surgical robotic arm also includes a controller configured to receive a torque measurement from each of the torque sensors and control each of the motors to apply a minimum torque to maintain a minimum tension on each of the cables based on the torque measurement from each of the torque sensors.

Abstract: A surgical robotic arm includes an instrument having a coupler rotatable about a longitudinal axis, the coupler including: a drive screw; a drive nut threadably coupled to the drive screw, the drive nut movable along the longitudinal axis in response to rotation of the drive screw; and a drive member coupled to the drive nut and movable in response to movement of the drive nut. The surgical robotic arm also includes an instrument drive unit having: a motor configured to engage the coupler and rotate about the longitudinal axis to rotate the coupler and the drive screw; one or more sensors configured to measure one or more properties of the motor; and a controller coupled to the sensor(s) and the motor. The controller is configured to control the motor based on the property of the motor.

Abstract: A transapical introducer includes a housing near a proximal end of the introducer, a first valve in the housing, a proximal tube coupled to the housing, and a distal tube coupled to a distal end of the proximal tube.

Abstract: A transapical introducer (100) includes a housing (140) near a proximal end of the introducer, a first valve (160) in the housing, a proximal tube (130) coupled to the housing, and a distal tube (110) coupled to a distal end of the proximal tube.

Abstract: A transapical introducer (100) includes a housing (140) near a proximal end of the introducer, a first valve (160) in the housing, a proximal tube (130) coupled to the housing, and a distal tube (110) coupled to a distal end of the proximal tube.

Abstract: An adjustment assembly for an adjustable prosthetic valve device includes a gearbox housing formed from two gearbox shells coupled to one another and held together by two gearbox sleeves each having an internal cavity adapted to accommodate respective lateral portions of the gearbox shells when the gearbox shells are coupled to one another. A gear assembly, including a center gear and two driven gears, is supported within the gearbox housing. Gear teeth of each of the driven gears engage gear teeth of the center gear such that rotation of the center gear causes rotation of the driven gears. At least one of the driven gears is adapted to engage a transmission mechanism that transmits the rotation thereof to another part of the adjustable prosthetic valve device to accomplish an adjustment to the size and/or shape of the adjustable prosthetic valve device.

Abstract: An adjustment assembly for an adjustable prosthetic valve device includes a gearbox housing formed from two gearbox shells coupled to one another and held together by two gearbox sleeves each having an internal cavity adapted to accommodate respective lateral portions of the gearbox shells when the gearbox shells are coupled to one another. A gear assembly, including a center gear and two driven gears, is supported within the gearbox housing. Gear teeth of each of the driven gears engage gear teeth of the center gear such that rotation of the center gear causes rotation of the driven gears. At least one of the driven gears is adapted to engage a transmission mechanism that transmits the rotation thereof to another part of the adjustable prosthetic valve device to accomplish an adjustment to the size and/or shape of the adjustable prosthetic valve device.

Abstract: Trousers having a flexible upper part with two lower portions intending for covering the upper leg of the wearer. The trousers also include a pair of flexible lower parts each intended for encompassing a lower leg of the user. The pair of lower parts is detachably connected to the upper portion lower parts by the use of a pair of strips of pile fastening material connected to the inner surface of the lower portions of the flexible upper part, and a pair of hook fastening material strips connected to the outer surface of the pair of flexible lower parts.