Abstract: Various exemplary devices, systems, and methods for robotic surgical instruments having onboard generators are provided. In general, a surgical instrument is configured to releasably and replaceably couple to a robotic surgical system. The surgical instrument is configured to receive an input from the robotic surgical system that causes the surgical instrument to generate electrical power.

Abstract: A surgical tool for a robotic surgical system includes a tool housing having a mounting portion for releasably securing the surgical tool to a carriage of the robotic surgical system, tool circuity included in the tool housing and configured to communicate with corresponding circuitry of the robotic surgical system, and an indicator provided on the tool housing and electrically connected to the tool circuitry. The indicator is activatable upon communicably coupling the tool circuitry with the corresponding circuitry of the robotic surgical system, and the indicator provides a visual indication of remaining useful life of the surgical tool.

Abstract: A suction and irrigation valve for a robotic surgical system includes a shaft assembly, a rotary drive, and a valve assembly. The valve assembly is operatively connected to the rotary drive member and includes a valve body and a valve plug. The valve body has a first fluid inlet, a second fluid inlet, and an outlet. The valve plug is received with the valve body and is configured to rotate about a plug axis relative to the valve body to a first position, a second position, and a third position. The valve plug has at least a first conduit configured to selectively fluidly communicate with each of the outlet and at least one of the first or second fluid inlets.

Abstract: A surgical tool harvests power from a robotic surgical system having one or more robotic manipulators when a housing of the surgical tool is installed within a carriage of one of the robotic manipulators. The surgical tool harvests power via inductive coupling between an inductor of the surgical tool and a corresponding inductor of the carriage. The surgical tool may include an indicator that provides a user with an indication of remaining life of the surgical tool. The indicator may be an LED indicator that is illuminated with power generated via the inductive coupling. The indicator may also be an electro-chromic indicator that changes color when exposed to power generated via the inductive coupling. The indicator may also be a photo-chromic indicator that changes color when exposed to light from a light source powered via the inductive coupling.

Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and including a jaw secured to a jaw holder, the jaw providing a contact plate and the jaw holder defining a cable passage. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing, through the wrist and the cable passage, and terminates at the contact plate to supply electrical energy to the jaw.

Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and having a jaw and a jaw holder that secures the jaw. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing and supplies electrical energy to the jaw via a supply conductor. At least one of the jaw holder and the axle is made of a non-conductive material that insulates the distal clevis from the electrical energy provided to the jaw.

Abstract: An exemplary system and method for homing a surgical tool are provided. In general, a surgical tool can include an end effector, an elongate shaft, and a wrist that couples the end effector to a distal end of the shaft can be configured to facilitate movement of the end effector relative to the shaft. The surgical tool can be coupled to a robotic surgical system featuring an imaging device and a processor. Through the use of closed-loop feedback and machine vision techniques, the end effector can be calibrated into a home position to ensure precise and accurate movement of the end effector when in use by a surgeon.

Abstract: A surgical tool harvests power from a robotic surgical system having one or more robotic manipulators when a housing of the surgical tool is installed within a carriage of one of the robotic manipulators. The surgical tool harvests power via inductive coupling between an inductor of the surgical tool and a corresponding inductor of the carriage. The surgical tool may include an indicator that provides a user with an indication of remaining life of the surgical tool. The indicator may be an LED indicator that is illuminated with power generated via the inductive coupling. The indicator may also be an electro-chromic indicator that changes color when exposed to power generated via the inductive coupling. The indicator may also be a photo-chromic indicator that changes color when exposed to light from a light source powered via the inductive coupling.

Abstract: An exemplary system and method for homing a surgical tool are provided. In general, a surgical tool can include an end effector, an elongate shaft, and a wrist that couples the end effector to a distal end of the shaft can be configured to facilitate movement of the end effector relative to the shaft. The surgical tool can be coupled to a robotic surgical system featuring an imaging device and a processor. Through the use of closed-loop feedback and machine vision techniques, the end effector can be calibrated into a home position to ensure precise and accurate movement of the end effector when in use by a surgeon.

Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and having a jaw and a jaw holder that secures the jaw. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing and supplies electrical energy to the jaw via a supply conductor. At least one of the jaw holder and the axle is made of a non-conductive material that insulates the distal clevis from the electrical energy provided to the jaw.

Abstract: An image-forming device includes a media path extending through the image-forming device, and at least one image transfer nip positioned along the media path. An electrode is positioned subsequent to the nip with respect to the media path and is coupled to a voltage source. An electric field produced by the electrode and voltage source limits the degree of post-nip toner scattering by applying an electrostatic force to toner particles on media sheets passing along the media path. The image-forming device further includes a processor for monitoring a plurality of ambient conditions, for adjusting the voltage applied to the electrode, and optionally, for repositioning the electrode with respect to the media path.

Abstract: An image-forming device includes a media path extending through the image-forming device, and at least one image transfer nip positioned along the media path. An electrode is positioned subsequent to the nip with respect to the media path and is coupled to a voltage source. An electric field produced by the electrode and voltage source limits the degree of post-nip toner scattering by applying an electrostatic force to toner particles on media sheets passing along the media path. The image-forming device further includes a processor for monitoring a plurality of ambient conditions, for adjusting the voltage applied to the electrode, and optionally, for repositioning the electrode with respect to the media path.

Abstract: The present application is directed to devices and methods for moving media sheets within an image forming device. In one embodiment, the device includes a support floor to support the media sheet. Wear members may be positioned across a width of the support floor and include a height to extend outward from the floor. Further, support members may be positioned across the floor and have a height to also extend outward from the floor. The wear members and the support members support the media sheet as it moves along the media path. The heights of the wear members and the support members are such to prevent the media sheet from buckling being a certain amount and preventing media jams.

Abstract: Methods and devices for moving media sheets through an image forming device. A sensor is positioned within an input area to determine a height of a media stack. When the media stack is full, a top-most sheet of the media stack is physically closer to the beginning point of the media path. When the media stack is depleted, the top-most sheet is positioned a further distance away from the beginning point. Movement of the media sheet is determined based on the height of the media stack. When the media stack is above a predetermined amount, the media sheet is moved according to a first algorithm. When the media stack is below the predetermined amount, the media sheet is moved according to a second algorithm.

Abstract: A breakaway device and method that may be used in conjunction with a door panel on an image forming device. The door panel may be a multipurpose feed door or otherwise provide access to the interior of the image forming device. The door panel may be movable between a closed position and an open position. The breakaway device may also permit door panel movement to a breakaway position that is beyond the open position. The breakaway device may include a resilient member and a deflectable stopper member. The stopper member may be biased by the resilient member into a first stopper position when the door panel is between the closed position and the open position. However, the stopper member may be displaced by the door panel against a bias force applied by the resilient member when the door panel is positioned between the open position and a breakaway position.

Abstract: Devices and methods for directing a media sheet along a media path within an image forming apparatus. The media path comprises rollers that form a media nip, one or more deflectors, and a transport belt. The media nip conveys the media sheet along the media path into one or more deflectors. The one or more deflectors are positioned between the nip and the transport belt. The one or more deflectors control the angle of the media sheet as it approaches the transport belt and facilitates attachment of the media sheet to the transport belt. The transport belt then moves the media sheet past one or more image forming units and receives a toner image.

Abstract: Methods for moving a media sheet through the media path of an image forming device. In one embodiment, the media sheet may be moved by a pick mechanism having a pick roll from an input tray. The pick roll in the input tray may maintain contact with the media sheet and drive the sheet at a first elevated speed as it moves towards the nip. The pick roll may then slow as it brings the leading edge into contact with the nip. This slower speed may reduce the amount of nip shock or compression that may cause reengagement of the pick mechanism and an unintentional double sheet feed. Moving the media sheet at the fast speed a majority of the distance along the media path between the input tray and nip may increase media throughput.

Abstract: An image forming device having a body that receives a removable media input tray. The media input tray comprises a manual feed section and an input tray section each for feeding a media sheet to an aligner nip. The manual feed section includes a channel through which a user slides a media sheet into a main media path. The input tray section includes a space for holding a stack of media sheets that are individually picked and moved into the main media path.

Abstract: Alignment nip regulation may be implemented by controlling the approach of media to an alignment nip. Where media is fed from a plurality of sources and from a plurality of approach angles through a common alignment nip, nip entry may be controlled by focusing the media through a diverter or a jog in an existing path to alter the course followed by the media sheets. The diverter may be configured to direct the media sheets to a contact point at or near the alignment nip, such as on a roller that forms the alignment nip. Alternatively, media sheets arriving at the nip from separate conduits may be separately directed to a common contact point near the alignment nip. In either case, one or more sensors may detect the approach of the media sheets at a time when the sheets are a common, predetermined distance away from the alignment nip.

Abstract: A clutch adapted for use to move media in an image forming apparatus having an independently rotatable first race, an independently rotatable second race, and an open central section within the interior of the first and second races. The clutch has a bearing movable between an engaged position in simultaneously contact with the first and second races to transmit a rotational torque from the first race to the second race and a second disengaged position moveable through the open central section. During torque transmission, the bearing simultaneously engages one of a plurality of spaced-apart fins disposed around the open central section on the first race and one of a plurality of spaced-apart catches on the second race disposed outside of the plurality of fins.