Abstract: To substantially eliminate torsional freeplay in a robotic tool changer having a ball-lock coupling mechanism, scallop-like features in the form of cross-contact recesses are formed in at least one of, and preferably both of, a bearing race in a tool assembly at the points of contact of rolling members, and in the opposing inner surfaces of bores containing the rolling members in a master assembly. The cross-contact recesses are sized and shaped to receive a rolling member, but have a central void, or channel, perpendicular to the rolling member's motion in torsional freeplay, which does not contact the rolling member. The cross-contact recess contacts the rolling member at contact areas on either side of the central void.

Abstract: One or more camera lenses used for robotic surgery can be cleaned without the need to remove and reinsert one or more cameras. The approaches described herein facilitate cleaning the one or more lenses or one or more protective windows on demand and without the need to remove and reinsert the one or more cameras. Cleaning can include one or more of washing or wiping the one or more lenses or one or more protective windows.

Abstract: A motor brush quick change assembly that includes brush units and electrical spring contacts. The brush units include a carrier with a housing and a brush. The electrical spring contacts are connected to an electrical device. Each of the brush units is configured to be removably attached to the electrical device to contact one of the electrical spring contacts. The brush unit thus provide for both a mechanical and electrical connection to the electrical device. The brush units are configured to prevent the need for separate electrical leads that require separate attachment and detachment to the electrical device. This design provides for straight-forward removal and replacement that can be performed by a robotic device or an operator.

Abstract: To substantially eliminate torsional freeplay in a robotic tool changer having a ball-lock coupling mechanism, scallop-like features in the form of cross-contact recesses are formed in at least one of, and preferably both of, a bearing race in a tool assembly at the points of contact of rolling members, and in the opposing inner surfaces of bores containing the rolling members in a master assembly. The cross-contact recesses are sized and shaped to receive a rolling member, but have a central void, or channel, perpendicular to the rolling member's motion in torsional freeplay, which does not contact the rolling member. The cross-contact recess contacts the rolling member at contact areas on either side of the central void.

Abstract: A pin and socket that form a connector to pass high current from a robotic device to a tool. The pin includes a separate non-conductive cap section and a conductive contact section along the length. The socket includes a body with an interior space and a body opening that leads into the interior space. A toroidal spring is positioned in the interior space of the body and includes an annular shape with a toroidal spring opening that aligns with the body opening. When fully inserted, the contact section of the pin contacts against the toroidal spring and the cap section is positioned in the interior space away from the toroidal spring.

Abstract: A motor brush quick change assembly that includes brush units and electrical spring contacts. The brush units include a carrier with a housing and a brush. The electrical spring contacts are connected to an electrical device. Each of the brush units is configured to be removably attached to the electrical device to contact one of the electrical spring contacts. The brush unit thus provide for both a mechanical and electrical connection to the electrical device. The brush units are configured to prevent the need for separate electrical leads that require separate attachment and detachment to the electrical device. This design provides for straight-forward removal and replacement that can be performed by a robotic device or an operator.