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: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.

Abstract: This invention relates generally to hydraulic and electrical systems for aircraft belt loaders and more particularly to such systems with interlocks to facilitate efficient and safe operation. The present invention provides a hydraulic and electrical system for battery powered aircraft belt loaders which precludes actuation of the electric traction drive motors when the brake is applied or set, or without the operator seat being occupied, which precludes actuation of the belt conveyor if the brake is not set, which controls conveyor run time and requires that the conveyor be reset to neutral before being actuated the hydraulic pump to permit power steering when the operator seat is occupied, and which requires that the directional control lever for traction drive be reset to neutral after demounting the seat before the electric traction drive motors can be energized.