Abstract: A manifold of a plurality of manifolds associated with an oral insert is selected. The manifold includes a set of nozzles. Each of the plurality of manifolds is associated with a same expected performance within a threshold tolerance. A performance of the manifold is tested in part by generating a pressure-flow curve for the manifold based on corresponding measurements performed at a plurality of different flow rates and determining that the manifold is defective in response to the generated pressure-flow curve for the manifold not being bounded by an upper limit curve and a lower limit curve. In response to determining that the generated pressure-flow curve for the manifold not being bounded by the upper limit curve and the lower limit curve, forgoing testing of one or more remaining manifolds associated with the oral insert is forgone and the oral insert is determined to be defected.

Abstract: An oral insert includes a plurality of bristles and a plurality of fluid nozzles. The plurality of bristles is located on an upper portion and a lower portion of a tray surface of the oral insert. The plurality of fluid nozzles is located at an inner portion and an outer portion of the tray surface. Fluid output by the plurality of fluid nozzles causes the plurality of bristles to contact surfaces of teeth associated with a user of the oral insert.

Abstract: An oral care system includes a fluid reservoir, a check intake valve, and a pump configured to cause fluid to be provided from fluid reservoir to an oral insert of the oral care system via the check intake valve. The fluid reservoir includes one or more fluid flow disrupters. The check intake valve is located at an offset from a center of the fluid reservoir.

Abstract: An oral insert includes a plurality of fluid nozzles, a plurality of manifolds, and an attachment mechanism configured to be releasably attach with a handle. Each of the manifolds is associated with a corresponding subset of the plurality of fluid nozzles. The attachment mechanism includes a manifold connector having a plurality of manifold openings arranged in a circle. Each of the plurality of manifold openings is associated with one of plurality of manifolds.

Abstract: An oral care system includes a fluid reservoir, a check intake valve, and a pump configured to cause fluid to be provided from fluid reservoir to an oral insert of the oral care system via the check intake valve. The fluid reservoir includes one or more fluid flow disrupters. The check intake valve is located at an offset from a center of the fluid reservoir.

Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

Abstract: An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument. A shaft receiving slot is positioned in the adapter control surface to receive an elongate tube of the surgical instrument when the adapter control surface receives the instrument control surface of the surgical instrument. The elongate tube may couple a proximal control mechanism of the surgical instrument to an end effector. The instrument sterile adapter may include a convex curved surface substantially perpendicular to and facing the adapter control surface to receive a corresponding concave curved surface on the instrument control surface. A bullet portion on the convex curved surface may engage a bullet receiving feature in the corresponding concave curved surface on the instrument control surface.

Abstract: Fluid is provided to a manifold selected among a plurality of manifolds associated with an oral insert. Each of the plurality of manifolds is associated with a same expected performance within a threshold tolerance. An actual performance of the manifold is determined based on a pressure and a flow rate associated with providing the fluid to the manifold. A performance of the oral insert is verified based on whether the actual performance of the manifold matches the same expected performance within a threshold tolerance.

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

Abstract: An oral insert includes a plurality of bristles and a plurality of fluid nozzles. The plurality of bristles is located on an upper portion and a lower portion of a tray surface of the oral insert. The plurality of fluid nozzles is located at an inner portion and an outer portion of the tray surface. Fluid output by the plurality of fluid nozzles causes the plurality of bristles to contact surfaces of teeth associated with a user of the oral insert.

Abstract: A method for attaching a surgical instrument to an instrument carriage includes engaging an instrument sterile adapter with an instrument carriage using a first latch mechanism of the instrument sterile adapter; and engaging a surgical instrument with the instrument sterile adapter using a second latch mechanism of the instrument sterile adapter. In an engaged state of the second latch mechanism with surgical instrument the first latch mechanism is not disengageable from the instrument carriage. The first latch mechanism and the second latch mechanism are coupled to a frame portion of the instrument sterile adapter via a connecting member.

Abstract: An oral health device includes an oral insert and a fluid delivery system. The oral insert includes a plurality of manifolds for conveying fluid to orifices in the oral insert. The fluid delivery system including a manifold switching mechanism that selectively delivers pressurized fluid to a manifold selected from the plurality of manifolds. The manifold switching mechanism selectively aligns a gateway with one of the manifolds.

Abstract: An instrument sterile adapter couples a surgical instrument and an instrument carriage. The instrument sterile adapter includes an instrument plate that provides a first surface to receive the surgical instrument and a latch plate joined to the instrument plate. The latch plate includes a second surface to receive the instrument carriage and latch structures. Each latch structure has a carriage latch arm that extends away from the second surface of the latch plate and an instrument latch arm joined to the carriage latch arm. The instrument latch arm extends through the instrument plate and away from the first surface of the instrument plate. A connecting member flexibly connects the carriage latch arm and the instrument latch arm to a remainder of the latch plate. The connecting member may be perpendicular to the latch arms. The latch arms may engage fixed locking surfaces in the instrument carriage and the surgical instrument.

Abstract: Robotic surgery systems include a floor supported surgical robot with offset links. A robotic surgery system includes a surgical robot and a control system. The surgical robot includes a manipulator and a floor/pedestal mount. The manipulator includes a mounting base, a yaw joint, an offset extension link, a parallelogram linkage assembly, and an instrument holder. The floor/pedestal mount is configured for supporting the mounting base in a fixed position and orientation relative to a patient and includes set-up joints operable to reposition and reorient the mounting base to reposition a remote center of manipulation relative to the patient prior to conducting surgery on the patient via the manipulator. The manipulator includes offset links. The control system is configured to electronically communicate with and control operation of the manipulator to articulate a surgical instrument during surgery.

Abstract: A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

Abstract: An oral insert includes a plurality of manifolds and a plurality of fluid nozzles. A manifold switch is coupled to the plurality of manifolds. The manifold switch is configured to select which of the plurality manifolds is to receive fluid from a fluid source.

Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.

Abstract: A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.