Method and means for transferring controller motion from a robotic manipulator to an attached instrument

摘要

A coupler to transfer controller motion from a robotic manipulator to a surgical instrument includes a pin having a tip with a bearing surface and a plate having a driving surface that bears against a gimbal assembly in the surgical instrument. The plate has a surface supported on the bearing surface of the pin. The bearing surface has a center that coincides with an intersection of two rotational axes of the gimbal assembly. The plate is rotated about the center of the bearing surface to transfer controller motion to the surgical instrument. There may be alignment features on the driving surface of the plate to mate with corresponding features on an inner gimbal of the gimbal assembly. An actuator arm may be connected to one side of the plate. An actuator mechanism may be connected to the actuator arm to rotate the plate about the center of the bearing surface.

主权项

1. A coupler to transfer controller motion from a robotic manipulator to a surgical instrument, the coupler comprising:
a pin having a tip with a bearing surface; and a plate having a driving surface that bears against a gimbal assembly included in the surgical instrument, the plate including a pin receiving portion having a receiving surface supported on the bearing surface of the pin, the bearing surface having a center that coincides with an intersection of two rotational axes of the gimbal assembly, the plate being rotated about the center of the bearing surface.