Abstract: Described herein is a smart dose monitoring device. The dose monitoring device may include electronics such as motion sensors, orientation sensors, and timers related to monitoring the time of and amount of dose administered during an injection event.

Abstract: Apparatuses and methods described herein relate to arm carts for transporting and coupling a robotic arm to a surgical table. In some embodiments, an arm cart may include a damping mechanism (e.g., a spring, a dashpot) configured to damp an impact force imparted to the robotic arm due to the arm contacting another object, such as a surgical table. In other embodiments, an arm cart may include a backstop with an inclined surface configured to damp an impact force imparted to the robotic arm. In other embodiments, the arm cart may include a compliant arm support that is bendable to damp an impact force imparted to a robotic arm. In some embodiments, the arm cart may include a damping mechanism configured to move from an extended position to a retracted position to permit a robotic arm to couple to a surgical table.

Abstract: User interface devices are disclosed. The device can include a body that can be held in a user's hand. The body has an outer surface that can be gripped by fingers of the user's hand to facilitate translation and rotation of the body by the user's hand. The device can include one or snore sensors disposed within the body. In some embodiments, the one or more sensor can provide one or both of position and orientation information of the body to a control system. The body can provide feedback to the user via the exterior surface of the body that is gripped by the user's fingers and/or can receive control inputs from the user via one or more of translation of the body, rotation of the body, pressing of the outer surface with the user's fingers, and changing of the angular orientation of the longitudinal axis of the body. Methods of using a user interface device are also provided.

Abstract: An immersive display for use in a robotic surgical system includes a support arm, a housing mounted to the support arm and configured to engage with a face of the user, at least two eyepiece assemblies disposed in the housing and configured to provide a three-dimensional display, and at least one sensor, wherein the sensor enables operation of the robotic surgical system, and wherein the support arm is actuatable to move the housing for ergonomic positioning.

Abstract: A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.

Abstract: In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member pivotally coupled to the interface structure at a first joint, and coupled to a second link member of the adapter at a second joint. The second link member can also be coupleable to a robotic arm via a coupling. The first joint can allow the first link member to rotate about a first axis defined in a vertical direction relative to the table top, and the second joint can allow the second link member and a robotic arm coupled thereto to move in a vertical direction relative to the table top. The first link member and the second link member collectively provide for movement of the robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.

Abstract: In one variation, a pulley arrangement includes a base pulley portion rotatable within a driving plane, an adjustable pulley portion coupled to the base pulley portion wherein the adjustable pulley portion is rotatable relative to the base pulley portion within the driving plane, and a driving member including an end coupled to the adjustable pulley portion wherein at least a portion of the driving member is wrapped at least partially around the adjustable pulley portion. In another variation, a pulley arrangement includes a base pulley portion rotatable around an axis, an adjustable pulley portion coupled to the base pulley portion and movable in a first direction parallel to the axis, and a sliding block engaged with the adjustable pulley portion, wherein the sliding block moves in a second direction different from the first direction, in response to compression of the adjustable pulley portion against the base pulley portion.

Abstract: In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member coupled to a second link member, and a third link member coupled to a fourth link member. The first link member and the third link member are each pivotally coupled to the interface mechanism at a shared first pivot joint. The second link member and the fourth link member are each coupleable to a robotic arm. The first link member and the second link member collectively provide for movement of the first robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top. The third link member and the fourth link member collectively provide for movement of the second robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.

Abstract: A surgical tool includes a tool shaft, and end effector and a wrist that couples the end effector to the tool shaft. The tool includes a drive mechanism configured to effect movement of one or both of the wrist and the end effector in yaw and pitch via independent actuation of four independent cable ends of two or more independent cables that extend between the drive mechanism and the wrist.

Abstract: Systems and methods for embodiments of a hyperdexterous robotic system using groundless user input devices (UIDs). In some embodiments, the hyperdexterous system allows for the slave control to follow the master control even when the two are misaligned. The motion of the master control occurring in multiple degrees of freedom may be decoupled into its component parts and processed differently. Each degree of freedom may be processed independently and scaled differently. For example, in some embodiments, only the roll motion of the groundless user interface device is transferred, in some embodiments, the master slave control is only allowed when the master and slave are within a certain region of each other.

Abstract: An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist.

Abstract: A belt wave drive transmission system and method are shown involving a first rotor (10) having a first drum configured to rotate about its axis of rotation and a second rotor (20) having a second drum configured to rotate about its axis of rotation, where the first rotor (10) is constrained to orbit concentrically about the axis of rotation of the second drum. A belt (30) encircles the first and second drums to couple the first (10) and second (20) rotors such that the first rotor (10) moves concentrically around the second rotor (20) as the belt (30) advances about a circumference of the second drum. In further refinements, the system and method involve electrically controllably coupling at least one of the first and second rotors to the belt.

Abstract: A belt wave drive transmission system and method are shown involving a first rotor (10) having a first drum configured to rotate about its axis of rotation and a second rotor (20) having a second drum configured to rotate about its axis of rotation, where the first rotor (10) is constrained to orbit concentrically about the axis of rotation of the second drum. A belt (30) encircles the first and second drums to couple the first (10) and second (20) rotors such that the first rotor (10) moves concentrically around the second rotor (20) as the belt (30) advances about a circumference of the second drum. In further refinements, the system and method involve electrically controllably coupling at least one of the first and second rotors to the belt.

Abstract: A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.

Abstract: Described herein is a smart dose monitoring device. The dose monitoring device may include electronics such as motion sensors, orientation sensors, and timers related to monitoring the time of and amount of dose administered during an injection event.

Abstract: A belt wave drive transmission system and method are shown involving a first rotor (10) having a first drum configured to rotate about its axis of rotation and a second rotor (20) having a second drum configured to rotate about its axis of rotation, where the first rotor (10) is constrained to orbit concentrically about the axis of rotation of the second drum. A belt (30) encircles the first and second drums to couple the first (10) and second (20) rotors such that the first rotor (10) moves concentrically around the second rotor (20) as the belt (30) advances about a circumference of the second drum. In further refinements, the system and method involve electrically controllably coupling at least one of the first and second rotors to the belt.

Abstract: An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A surgical tool includes a tool shaft, and end effector and a wrist that couples the end effector to the tool shaft. The tool includes a drive mechanism configured to effect movement of one or both of the wrist and the end effector in yaw and pitch via independent actuation of four independent cable ends of two or more independent cables that extend between the drive mechanism and the wrist.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.