Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: Device to be used, as the preferred embodiment, for dog feces retrieval and bagging. The simplicity of construction and operation allows use by persons of all ages without undue effort or bending. The retrieval and bagging and tying and containing of waste material in one operation has not heretofor been realised. The device consists of a hollow tube with eight flexible fingers on one end, a removable sleeve over the tube, and a lanyard and cap at the other end, and a plastic bag with rubber band. When the plastic bag is placed over the exposed fingers, the bag end folded back and fixed with a rubber band over the sleeve, the sleeve is then moved forward over the exposed and bagged fingers. Retracting the sleeve thus exposing the bagged fingers, the device is placed over the waste material to be retrieved. By moving the sleeve forward the fingers are caused to draw in the waste material, into the bag, and into the tube, the rubber band slipping over the fingers and tying the bag.