Wrist and jaw assemblies for robotic surgical systems

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.

Gear train assemblies for robotic surgical systems

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes at least one gear train that transmits forces from the at least one motor of the control device to at least one of the proximal bracket of the wrist assembly, the distal bracket of the wrist assembly and the jaw assembly. The gear train enables at least one of a pivoting of the distal hub assembly relative to the proximal hub; a rotation of the distal bracket relative to the proximal bracket; and an opening/closing of the jaw assembly.

Ultrasonic surgical instrument with articulation joint having integral stiffening members

A surgical apparatus comprises a body, an ultrasonic transducer, a shaft, an acoustic waveguide, an articulation section, an end effector, and a rigidizing member. The ultrasonic transducer is operable to convert electrical power into ultrasonic vibrations. The shaft couples the end effector and the body together. The acoustic waveguide is coupled with the transducer. The articulation section is operable to flex to thereby deflect the end effector from a longitudinal axis defined by the shaft. The rigidizing member is operable to selectively rigidize the articulation section and thereby prevent deflection of the end effector by preventing flexibility of the articulation section. Such rigidization includes removing any “play” or other small movement that might otherwise be provided by the articulation section due to manufacturing tolerances and/or looseness between parts.

Ultrasonic surgical instrument with articulation joint having plurality of locking positions

An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, an articulation drive assembly, and a locking feature. The shaft extends distally from the body assembly. The waveguide comprises a flexible portion. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis of the shaft. The articulation drive assembly comprises an actuator. The actuator is movable relative to the body assembly to drive articulation of the articulation section. The locking feature is in communication with the actuator. The locking feature is movable between an unlocked state and a locked state. The locking feature is configured to permit movement of the actuator relative to the body assembly in the unlocked state. The locking feature is configured to prevent movement of the actuator relative to the body assembly in the locked state.

Surgical instrument with rotatable shaft having plurality of locking positions

An apparatus comprises a body assembly, a shaft, an end effector, a rotation input feature, and a locking feature. The shaft extends distally from the body assembly and defines a longitudinal axis. The end effector is positioned at the distal end of the shaft. The rotation input feature comprises a proximal end and a distal end. The rotation input feature is configured to rotate one or both of the shaft assembly or the end effector about the longitudinal axis. The locking feature is configured to transition between a locked state and an unlocked state. The locking feature is configured to prevent rotation of the one or both of the shaft assembly when the locking feature is in the locked state. The locking feature is configured to permit rotation of the one or both of the shaft assembly when the locking feature is in the unlocked state.

Discrete polymer in fan-out packages

A package includes a first molding material, a lower-level device die in the first molding material, a dielectric layer over the lower-level device die and the first molding material, and a plurality of redistribution lines extending into the first dielectric layer to electrically couple to the lower-level device die. The package further includes an upper-level device die over the dielectric layer, and a second molding material molding the upper-level device die therein. A bottom surface of a portion of the second molding material contacts a top surface of the first molding material.

Fan-out PoP structure with inconsecutive polymer layer

A package includes a device die, a molding material molding at least a portion of the device die therein, and a through-via substantially penetrating through the molding material. The package further includes a dielectric layer contacting the through-via and the molding material, and a die attach film attached to a backside of the device die. The die attach film includes a portion extending in the dielectric layer.

Ultrasonic surgical instrument with opposing thread drive for end effector articulation

An apparatus comprises a body assembly, a shaft assembly, an end effector, an articulation section, and an articulation control assembly. The end effector is located at a distal end of the shaft assembly and comprises an ultrasonic blade. The articulation section is coupled with the shaft assembly and is operable to articulate to thereby deflect the end effector from the longitudinal axis. The articulation control assembly comprises first and second threaded members and an articulation control. The first and second threaded members have respective first and second pitch orientations. The articulation control is rotatable to thereby drive articulation of the articulation section by causing translation of the first and second threaded members along a path that is parallel to the longitudinal axis of the shaft assembly. The axis of rotation of the articulation control is non-parallel with the longitudinal axis of the shaft assembly.

Vanadium-containing film forming compositions and vapor deposition of vanadium-containing films

Vanadium-containing film forming compositions are disclosed, along with methods of synthesizing the same, and methods of forming Vanadium-containing films on one or more substrates via vapor deposition processes using the Vanadium-containing film forming compositions.

Cyclic doped aluminum nitride deposition

A process for depositing doped aluminum nitride (doped AlN) is disclosed. The process comprises subjecting a substrate to temporally separated exposures to an aluminum precursor and a nitrogen precursor to form an aluminum and nitrogen-containing compound on the substrate. The aluminum and nitrogen-containing compound is subsequently exposed to a dopant precursor to form doped AlN. The temporally separated exposures to an aluminum precursor and a nitrogen precursor, and the subsequent exposure to a dopant precursor together constitute a doped AlN deposition cycle. A plurality of doped AlN deposition cycles may be performed to deposit a doped AlN film of a desired thickness. The dopant content of the doped AlN can be tuned by performing a particular ratio of 1) separated exposures to an aluminum precursor and a nitrogen precursor, to 2) subsequent exposures to the dopant. The deposition may be performed in a batch process chamber, which may accommodate batches of 25 or more substrates. The deposition may be performed without exposure to plasma.