Telescoping insertion axis of a robotic surgical system

摘要

A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes 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.

主权项

1. A link assembly comprising:
a base link operably coupled to a distal end of a manipulator arm; an idler link movably coupled to the base link along a lengthwise axis of the link assembly, the idler link having first and second opposite surfaces; a carriage link movably coupled to the idler link along the lengthwise axis, wherein the carriage link includes an instrument interface; a first linear bearing mounted to the first surface of the idler link; a second linear bearing mounted to the second surface of the idler link; and a first pressure plate mounted to the idler link, the first pressure plate clamping the first and second linear bearings to the first and second opposite surfaces of the idler link, respectively.