INSTRUMENT INTERFACE OF A ROBOTIC SURGICAL SYSTEM
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Abstract
An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
179 Citations
40 Claims
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1-20. -20. (canceled)
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21. An instrument interface of a telesurgical manipulator, comprising:
a instrument input including an input bar adapted to transfer an axial load and torque to a sterile adaptor configured to operably couple an instrument; a spring member adapted to provide the axial load to the input bar; and an output pulley adapted to provide the torque to the input bar. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A telerobotic surgical manipulator system, comprising:
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a manipulator assembly, including; a base link operably coupled to a distal end of a manipulator arm; and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface including; an instrument input including an input bar adapted to transfer an axial load and torque to a sterile adaptor configured to operably couple an instrument; a spring member adapted to provide the axial load to the input bar; and an output pulley adapted to provide the torque to the input bar. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40)
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Specification