Abstract: A surgical robotic assembly includes an instrument drive unit including a housing defining a longitudinal channel, a plurality of motors for performing functions of a surgical instrument, and a designated motor for rotating the instrument drive unit and the surgical instrument when the surgical instrument is attached to the instrument drive unit. The instrument drive unit allows for a top-loading or a side-loading of the surgical instrument thereto.

Abstract: The sterile interface module includes a body member for coupling a surgical instrument to a robotic surgical assembly, a decoupling collar supported on the body member and movable relative to the body member from a first position to a second position, and a drive transfer assembly supported by the body member. The drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler engages the robotic surgical assembly and the transfer shaft engages the surgical instrument. The drive coupler engages the robotic surgical assembly while the decoupling collar is in the first position to enable the robotic surgical assembly to robotically control the surgical instrument. The drive coupler is retracted within the body member while the decoupling collar is in the second position to prevent the drive coupler from engaging the robotic surgical assembly.

Abstract: A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Abstract: A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Abstract: A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Abstract: A robotic surgical system includes an instrument drive unit, a surgical instrument drivingly coupled to the instrument drive unit, and a carriage for supporting the instrument drive unit and the attached surgical instrument. The carriage includes a drive assembly that drives a rotation of the surgical instrument about a longitudinal axis defined by the surgical instrument. The carriage further includes a locking assembly configured to selectively fix the surgical instrument in a rotational orientation.

Abstract: A surgical robotic assembly includes an instrument drive unit including a housing defining a longitudinal channel, a plurality of motors for performing functions of a surgical instrument, and a designated motor for rotating the instrument drive unit and the surgical instrument when the surgical instrument is attached to the instrument drive unit. The instrument drive unit allows for a top-loading or a side-loading of the surgical instrument thereto.

Abstract: A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Abstract: An integrated circuit includes a nexus and a first, a second, a third, and a fourth circuit board. Each of the first and second circuit boards is coupled to opposing sides of the nexus, and each of the third and fourth circuit boards is coupled to opposing sides of the second circuit board. The integrated circuit is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the nexus are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the nexus are coupled to one another to define a cavity therein.

Abstract: An integrated circuit includes a nexus and a first, a second, a third, and a fourth circuit board. Each of the first and second circuit boards is coupled to opposing sides of the nexus, and each of the third and fourth circuit boards is coupled to opposing sides of the second circuit board. The integrated circuit is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the nexus are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the nexus are coupled to one another to define a cavity therein.

Abstract: An item handling system includes a transport system defining a transport plane, a printer assembly defining a printer plane, and a printer alignment system supporting the printer assembly. The printer alignment system includes a plurality of drive elements configured to move the printer assembly. A method of aligning a printer in the item handling system includes moving the printer assembly to a limit position of the printer alignment system distal from the transport system using the drive elements, moving the printer assembly to a limit position of the printer alignment system proximate to the transport system using the drive elements, and driving each of the drive elements at a respective predetermined level to place the printer plane in a substantially parallel orientation with respect to the transport plane.

Abstract: A printing assembly includes a transport system configured to transport items on a transport path and a printer rotatably disposed on a support. The printer includes a plurality of printing elements disposed sequentially along the transport path. A method of calibrating the printing assembly includes aligning a first reference associated with the printer with a second reference associated with the support, transporting an item on the transport path, printing a pattern on the item using a first printing element and a second printing element, determining a correction value from the pattern, and rotating the printer relative to the support in an amount corresponding to the correction value to substantially align the printing elements with the transport path.

Abstract: An item handling system includes a transport system defining a transport plane, a printer assembly defining a printer plane, and a printer alignment system supporting the printer assembly. The printer alignment system includes a plurality of drive elements configured to move the printer assembly. A method of aligning a printer in the item handling system includes moving the printer assembly to a limit position of the printer alignment system distal from the transport system using the drive elements, moving the printer assembly to a limit position of the printer alignment system proximate to the transport system using the drive elements, and driving each of the drive elements at a respective predetermined level to place the printer plane in a substantially parallel orientation with respect to the transport plane.

Abstract: A printing assembly includes a transport system configured to transport items on a transport path and a printer rotatably disposed on a support. The printer includes a plurality of printing elements disposed sequentially along the transport path. A method of calibrating the printing assembly includes aligning a first reference associated with the printer with a second reference associated with the support, transporting an item on the transport path, printing a pattern on the item using a first printing element and a second printing element, determining a correction value from the pattern, and rotating the printer relative to the support in an amount corresponding to the correction value to substantially align the printing elements with the transport path.