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: The first step of the method is providing a roofing laminate including an upper component of a reinforced single ply synthetic membrane. The roofing laminate includes a lower component of a reinforced single ply synthetic membrane. The roofing laminate includes an intermediate component of synthetic reinforcement material. The next step of the method is attaching the intermediate component intimately and entirely with the upper and lower components. The final step is coupling the laminate to a building.