Abstract: A method of replacing a consumable of a surgical tool includes securing the surgical tool, which includes a drive housing, an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, a wrist interposing the shaft and the end effector, and a plurality of drive cables extending proximally from the end effector and through the wrist. The method further includes moving the shaft proximally away from the end effector and deeper into the drive housing, detaching the drive cables from the jaws, removing the end effector and the wrist from proximal portions of the surgical tool, replacing the consumable of the surgical tool, reconnecting the end effector and the wrist to the proximal portions of the surgical tool, reconnecting the drive cables to the jaws, and moving the elongate shaft distally toward the wrist and the end effector.

Abstract: A method of replacing a consumable of a surgical tool includes securing the surgical tool, which includes a drive housing, an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, a wrist interposing the shaft and the end effector, and a plurality of drive cables extending proximally from the end effector and through the wrist. The method further includes moving the shaft proximally away from the end effector and deeper into the drive housing, detaching the drive cables from the jaws, removing the end effector and the wrist from proximal portions of the surgical tool, replacing the consumable of the surgical tool, reconnecting the end effector and the wrist to the proximal portions of the surgical tool, reconnecting the drive cables to the jaws, and moving the elongate shaft distally toward the wrist and the end effector.

Abstract: A fluid valve includes a valve body and a plug. The body includes a chamber and ports that communicate with the chamber. The plug is rotatably disposed in the chamber, and includes a seal disposed in an annular groove provided on the plug surface. An elastic member is disposed in the groove, and biases the seal against an inner surface of the chamber. The seal includes a seal retaining feature that is configured to retain the seal within the groove.

Abstract: A fluid valve includes a valve body and a plug. The body includes a chamber and ports that communicate with the chamber. The plug rotates within the chamber, and includes a seal disposed in an annular groove provided on the plug surface. An elastic member is disposed in the groove, and biases the seal against an inner surface of the chamber. When the plug is oriented relative to the body so that the groove is aligned with a port, the seal segregates the chamber into a first chamber that borders an outer surface of the seal and a second chamber that borders an inner surface of the seal, and provides a fluid-tight seal between the first chamber and the second chamber. In addition, the seal inner and outer diameters vary based on a fluid pressure difference across the seal.

Abstract: A fluid valve includes a valve body, and a valve plug disposed in the valve body. The valve body includes a base and a cylindrical sidewall that together define a valve plug chamber. The valve body includes valve ports. The valve plug is rotatable relative to the valve body about a rotational axis. The valve plug supports an annular seal in such a way that, a) for certain orientations of the valve plug with respect to the valve body, the seal abuts and inner surface of the sidewall and provides a fluid-tight seal between the valve plug and the valve body, and b) during rotation of the valve plug relative to the valve body, the seal is moved relative to the valve body along a circular path. At least one of the valve ports includes a guiding feature that guides the seal along the circular path.

Abstract: A fluid valve includes a valve body and a plug. The body includes a chamber and ports that communicate with the chamber. The plug rotates within the chamber, and includes a seal disposed in an annular groove provided on the plug surface. An elastic member is disposed in the groove, and biases the seal against an inner surface of the chamber. When the plug is oriented relative to the body so that the groove is aligned with a port, the seal segregates the chamber into a first chamber that borders an outer surface of the seal and a second chamber that borders an inner surface of the seal, and provides a fluid-tight seal between the first chamber and the second chamber. In addition, the seal inner and outer diameters vary based on a fluid pressure difference across the seal.

Abstract: A fluid valve includes a valve body and a plug. The body includes a chamber and ports that communicate with the chamber. The plug is rotatably disposed in the chamber, and includes a seal disposed in an annular groove provided on the plug surface. An elastic member is disposed in the groove, and biases the seal against an inner surface of the chamber. The seal includes a seal retaining feature that is configured to retain the seal within the groove.

Abstract: A fluid valve includes a valve body, and a valve plug disposed in the valve body. The valve body includes a base and a cylindrical sidewall that together define a valve plug chamber. The valve body includes valve ports. The valve plug is rotatable relative to the valve body about a rotational axis. The valve plug supports an annular seal in such a way that, a) for certain orientations of the valve plug with respect to the valve body, the seal abuts and inner surface of the sidewall and provides a fluid-tight seal between the valve plug and the valve body, and b) during rotation of the valve plug relative to the valve body, the seal is moved relative to the valve body along a circular path. At least one of the valve ports includes a guiding feature that guides the seal along the circular path.