Abstract: Systems and methods for controlling cable driven surgical robot joints are provided. For example, a system can include a robotic joint of a robotic arm, a first motor, a second motor, a cable coupled to the first motor and the second motor and operationally coupled to the robotic joint to control a position of the robotic joint, a memory storing one or more instructions, and a processor configured to or programmed to read the one or more instructions stored in the memory. The processor can be configured to determine an unacceptable amount of slack or tension in the cable. The processor can be further configured to execute the one or more instructions in the memory to adjust the first motor and the second motor to remove the unacceptable amount of slack in the cable.

Abstract: Systems and methods are disclosed herein for determining an angular position of a rotary joint in a robotic system. The systems and methods use a coil coupled to a first portion of the rotary joint at a first location. A target having high permeability and low conductivity properties is coupled to a second portion of the rotary joint. An oscillator circuit is communicatively coupled to the coil and a computing unit is communicatively coupled to the oscillator circuit. The computing unit includes a processor configured to or programmed to determine a position of the rotary joint based at least in part on a frequency associated with a signal received from the oscillatory circuit. The frequency being based at least in part on a positional relationship between the target and the coil.

Abstract: Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may includes a magnetic sensing system as taught herein.

Abstract: A surgical robotic arm of a surgical robotic system comprising articulation segments that are mechanically and operatively coupled together to form one or more joints. The articulation segments include a rotary actuation mechanism having a male segment assembly having one or more structural components that are rotatable by one or more cables about a longitudinal axis thereof and are rotatable to an extent greater than 360 degrees, and a female segment assembly sized and configured for seating the male segment assembly and being operatively coupled thereto.

Abstract: A system and method for moving a robotic unit in vivo. The robotic unit can include a camera subassembly having a camera assembly coupled to a camera axially extending support member, a first robot arm subassembly having a first robot arm coupled to a first robot arm axially extending support member, and a second robot arm subassembly having a second robot arm axially extending support member, wherein when inserted in a cavity of a patient through an insertion point, the camera assembly and the first and second robot arms can be controlled for actuating at least one joint of each of the robot arms to reverse direction such that an end effector region of each of the first and second robot arms is facing towards the insertion point, and moving the camera assembly in a selected direction such that the camera elements are facing towards the insertion point.

Abstract: Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.

Abstract: Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.

Abstract: Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.