Abstract: A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.

Abstract: A hand held shower including a spray head operable to selectively discharge a continuous spray or a cyclically interrupted pulsating spray. The spray head contains two separate groups of discharge orifices, one group operable to discharge a continuous spray, and the second group operable to discharge a cyclically interrupted pulsating spray.

Abstract: A showerhead including an inlet end and an outlet end. The inlet end of the showerhead body forms a spiral chamber which produces a rotating current of water. An inner disc having a series of ports therethrough is positioned immediately adjacent to an outer disc which also has a series of ports therethrough. A spinner, on the inlet end of the inner disc, rotatably driven by the rotating current of water, has open and closed portions which pass in sequence across certain of inner disc ports producing a pulsating water stream therethrough. The outer disc is rotationally adjustable relative to the inner disc. The ports of both discs are arranged in concentric rings such that as the outer disc is rotated relative to the inner disc, varying throughpaths are achieved as the outer disc ports align with the inner disc ports. Four spray modes are achieved: (1) a variable regular spray, (2) combination pulsating and regular spray, (3) variable pulsating spray, and (4) variable pulsating misting spray.