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Surgical manipulator for a telerobotic system

  • US 8,500,753 B2
  • Filed: 09/22/2011
  • Issued: 08/06/2013
  • Est. Priority Date: 06/07/1995
  • Status: Expired due to Fees
First Claim
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1. A surgical system comprising:

  • an instrument comprising a shaft having proximal and distal ends, an end effector coupled to the distal end, and an end effector actuator coupled to the proximal end for moving the end effector relative to the shaft in at least one degree of freedom;

    a drive assembly comprising at least two drives for producing motion; and

    an instrument holder configured to releasably hold the instrument, the instrument holder comprising an actuator driver for coupling motion from the drive assembly to the end effector actuator, the instrument holder further configured to be releasably coupled to the drive assembly.

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