Abstract: A robotic surgical system includes a robotic arm comprising a plurality of links and joints, an end effector, and a mounting assembly for coupling the end effector and the robotic arm. The mounting assembly includes a robot mount associated with the robotic arm and an end effector mount associated with the end effector. The mounting assembly also includes a sterile barrier assembly including a coupling and kinematic couplers. A first lock assembly releasably secures the coupling to the robot mount and a second lock assembly releasably secures the end effector mount to the coupling. A tensioner associated with either mount is movable between a first position and a second position such that the kinematic couplers engage with, and provide a kinematic coupling between, the mounts through the sterile barrier assembly to constrain six degrees of freedom of movement between the mounts.

Abstract: A mounting system for coupling first and second surgical components. The mounting system comprises a first mounting portion associated with the first surgical component, a second mounting portion associated with the second surgical component and comprising a tensioner movable between a first position and a second position, and a sterile barrier assembly. The sterile barrier assembly comprises a coupling configured to releasably secure to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position, and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.

Abstract: An assembly for a surgical arm includes a tool to position a prosthesis and an end effector. The tool has a tool shaft extending along a tool axis and a tool engagement surface. The end effector has a mount attachable to the surgical arm, a body portion extending from the mount, a distal end, and a guide portion is at the distal end of the body portion to receive the tool. The guide portion has a pair of arms, each arm extending to an arm end and the arm ends are spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms and extends along a guide axis. The arms define an arc-shaped guide engagement surface to enable contact with the tool engagement surface for facilitating alignment of the tool axis and the guide axis.

Abstract: A mounting system for coupling first and second surgical components. The mounting system comprises a first mounting portion associated with the first surgical component, a second mounting portion associated with the second surgical component and comprising a tensioner movable between a first position and a second position, and a sterile barrier assembly. The sterile barrier assembly comprises a coupling configured to releasably secure to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position, and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.

Abstract: A surgical instrument system for use in a surgical procedure is disclosed. The surgical instrument system may include an instrument configured to puncture the tissue of a patient and detect when the instrument has entered a lumen of the patient's body. The surgical instrument system may include one or more capacitive sensors near a tip of a needle and electrical circuitry to monitor the capacitance of the capacitive sensors. The capacitance of the capacitive sensors may change as the needle is inserted into different tissue of lumens of the patient's body, allowing for the position of the needle to be determined based on analysis of the capacitance of the capacitive sensors.