PRELOADED SURGICAL INSTRUMENT INTERFACE

摘要

A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

主权项

1. An apparatus comprising:
a surgical instrument manipulator assembly comprising:
a drive unit; anda drive output assembly coupled to the drive unit, the drive output assembly comprising:
a low backlash coupler coupled to the drive unit; anda drive output disk coupled to the low backlash coupler.