Abstract: An instrument drive assembly for use with a surgical instrument includes a housing assembly supporting a drive assembly therein, a coupling tube supported at a distal end of the housing assembly and extending distally therefrom, a coupling assembly, and a retention mechanism. The coupling assembly is supported in the housing assembly and is configured to releasably couple to an instrument drive shaft of the surgical instrument, and the retention mechanism is configured to releasably couple to an instrument sleeve of the surgical instrument.

Abstract: A surgical mounting device may detachably couple to a patient access device to maintain alignment between a surgical instrument and the access device as instruments are interchangeably inserted and removed from the access device. The mounting device may include arms that pivot between a closed configuration in which the arms grip the access device inserted therebetween and an open configuration in which arm are spaced further apart from each other than in the closed configuration. A drive member may transition the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member.

Abstract: A surgical instrument holder includes a carriage, a housing, and a drive assembly. The carriage is configured for engagement to a surgical robotic arm and for supporting an instrument drive unit. The housing extends from the carriage and defines a channel. The drive assembly includes a pulley, a belt, and an annular member. The pulley is rotatably disposed within the housing and in operable engagement with a motor of the carriage such that actuation of the motor rotates the pulley. The belt is rotatably disposed within the housing and in operable engagement with the pulley such that rotation of the pulley effects rotation of the belt. The annular member is disposed within the channel of the housing and configured for non-rotatable receipt of an instrument drive unit. The annular member is in operable engagement with the belt such that rotation of the belt effects rotation of the annular member.

Abstract: A stabilization device including a hand support configured to be supported by human operation, an actuator connected to the hand support and a mounting assembly affixed to the actuator and configured to be attached to an external device capable of being supported under human operation. The actuator provides compensating planar motion to the hand support under control of a motion detection and compensation controller when the motion detection and compensation controller detects motion associated with the hand support being supported under human operation. The actuator includes a first rotatable shaft providing a first compensation motion to the hand support within the planar motion, and a second rotatable shaft providing a second compensation motion to the hand support within the planar motion under control of the motion detection and compensation controller, where the second compensation motion is orthogonal to the first compensation motion.

Abstract: A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.

Abstract: A surgical assembly for use with and for selective connection to a robotic arm includes an electromechanical instrument and an instrument drive unit. The instrument drive unit includes a motor and a feedback assembly. The motor is configured to effect rotation of the electromechanical instrument. The feedback assembly includes control circuitry and first and second annular members. The control circuitry is configured to sense a change in a condition of the motor. The first annular member has a surface feature projecting therefrom. The second annular member is disposed adjacent the first annular member and has a first surface feature projecting therefrom, circumferentially aligned with the surface feature of the first annular member. Upon a threshold amount of rotation of the first annular member, the surface feature of the first annular member abuts the first surface feature of the second annular member to change the condition of the motor.

Abstract: A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.

Abstract: A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.

Abstract: An instrument drive assembly for use with a surgical instrument includes a housing assembly supporting a drive assembly therein, a coupling tube supported at a distal end of the housing assembly and extending distally therefrom, a coupling assembly, and a retention mechanism. The coupling assembly is supported in the housing assembly and is configured to releasably couple to an instrument drive shaft of the surgical instrument, and the retention mechanism is configured to releasably couple to an instrument sleeve of the surgical instrument.

Abstract: A surgical mounting device may detachably couple to a patient access device to maintain alignment between a surgical instrument and the access device as instruments are interchangeably inserted and removed from the access device. The mounting device may include arms that pivot between a closed configuration in which the arms grip the access device inserted therebetween and an open configuration in which arm are spaced further apart from each other than in the closed configuration. A drive member may transition the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member.

Abstract: A pulley assembly of a robotic arm includes a first cable, a first pulley, and a second pulley. The first pulley has a first end of the first cable fixed thereto. The second pulley is operably coupled to the first pulley via the first cable. The second pulley includes a hub, a first semicircular body rotatably attached to the hub, and a first fastener movably coupled to the hub. The first semicircular body has a second end of the first cable fixed thereto. Movement of the first fastener rotates the first semicircular body relative to the hub to change a tension in the first cable.

Abstract: A surgical instrument holder includes a carriage, a housing, and a drive assembly. The carriage is configured for engagement to a surgical robotic arm and for supporting an instrument drive unit. The housing extends from the carriage and defines a channel. The drive assembly includes a pulley, a belt, and an annular member. The pulley is rotatably disposed within the housing and in operable engagement with a motor of the carriage such that actuation of the motor rotates the pulley. The belt is rotatably disposed within the housing and in operable engagement with the pulley such that rotation of the pulley effects rotation of the belt. The annular member is disposed within the channel of the housing and configured for non-rotatable receipt of an instrument drive unit. The annular member is in operable engagement with the belt such that rotation of the belt effects rotation of the annular member.

Abstract: A surgical mounting device may detachably couple to a patient access device to maintain alignment between a surgical instrument and the access device as instruments are interchangeably inserted and removed from the access device. The mounting device may include arms that pivot between a closed configuration in which the arms grip the access device inserted therebetween and an open configuration in which arm are spaced further apart from each other than in the closed configuration. A drive member may transition the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member.

Abstract: A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.

Abstract: A surgical assembly for use with and for selective connection to a robotic arm includes an electromechanical instrument and an instrument drive unit. The instrument drive unit includes a motor and a feedback assembly. The motor is configured to effect rotation of the electromechanical instrument. The feedback assembly includes control circuitry and first and second annular members. The control circuitry is configured to sense a change in a condition of the motor. The first annular member has a surface feature projecting therefrom. The second annular member is disposed adjacent the first annular member and has a first surface feature projecting therefrom, circumferentially aligned with the surface feature of the first annular member. Upon a threshold amount of rotation of the first annular member, the surface feature of the first annular member abuts the first surface feature of the second annular member to change the condition of the motor.

Abstract: A surgical assembly for use with and for selective connection to a robotic arm includes an electromechanical instrument and an instrument drive unit. The instrument drive unit includes a motor and a feedback assembly. The motor is configured to effect rotation of the electromechanical instrument. The feedback assembly includes control circuitry and first and second annular members. The control circuitry is configured to sense a change in a condition of the motor. The first annular member has a surface feature projecting therefrom. The second annular member is disposed adjacent the first annular member and has a first surface feature projecting therefrom, circumferentially aligned with the surface feature of the first annular member. Upon a threshold amount of rotation of the first annular member, the surface feature of the first annular member abuts the first surface feature of the second annular member to change the condition of the motor.

Abstract: A surgical mounting device may detachably couple to a patient access device to maintain alignment between a surgical instrument and the access device as instruments are interchangeably inserted and removed from the access device. The mounting device may include arms that pivot between a closed configuration in which the arms grip the access device inserted therebetween and an open configuration in which arm are spaced further apart from each other than in the closed configuration. A drive member may transition the arms to the closed configuration when the patient access device is inserted between the arms in the open configuration and pressed against the drive member.

Abstract: A surgical assembly for use with and for selective connection to a robotic arm includes an electromechanical instrument and an instrument drive unit. The instrument drive unit includes a motor and a feedback assembly. The motor is configured to effect rotation of the electromechanical instrument. The feedback assembly includes control circuitry and first and second annular members. The control circuitry is configured to sense a change in a condition of the motor. The first annular member has a surface feature projecting therefrom. The second annular member is disposed adjacent the first annular member and has a first surface feature projecting therefrom, circumferentially aligned with the surface feature of the first annular member. Upon a threshold amount of rotation of the first annular member, the surface feature of the first annular member abuts the first surface feature of the second annular member to change the condition of the motor.

Abstract: An arcuate metal element for detecting a rotary force and generating a deformation in response thereto.

Abstract: An arcuate metal element for detecting a rotary force and generating a deformation in response thereto.