US 11,684,436 B2
Surgical robot driving mechanism
Keith Marshall, Cambridge (GB); and Steven James Randle, Stratford-upon-Avon (GB)
Assigned to CMR Surgical Limited, Cambridge (GB)
Filed by CMR Surgical Limited, Cambridge (GB)
Filed on Jun. 23, 2020, as Appl. No. 16/909,012.
Application 16/909,012 is a continuation of application No. 15/576,551, granted, now 10,722,312, previously published as PCT/GB2016/051469, filed on May 20, 2016.
Claims priority of application No. 1508813 (GB), filed on May 22, 2015.
Prior Publication US 2020/0315719 A1, Oct. 8, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/71 (2016.02); A61B 2034/305 (2016.02)] 12 Claims
OG exemplary drawing
 
1. A robotic surgical instrument comprising:
a shaft;
a first driving element and a second driving element;
an articulation attached to a distal end of the shaft, the articulation configured to articulate an end effector, the articulation drivable by at least the first driving element and the second driving element; and
a driving mechanism at a proximal end of the shaft, the driving mechanism comprising:
a first slidable unit to which the first driving element is secured, and a second slidable unit to which the second driving element is secured, wherein the first and second slidable units are permitted to slide linearly relative to each other; and
a first instrument interface element connected to the first slidable unit, and a second instrument interface element connected to the second slidable unit, both the first and second instrument interface elements being drivable in a same linear direction so as to drive both the first and second driving elements in the same direction, and the first and second instrument interface elements are drivable in opposing linear directions so as to drive the first and second driving elements in opposing directions.