US 11,717,357 B2
Instrument carriage assembly for surgical system
Bruce Michael Schena, Menlo Park, CA (US); Gregory W. Dachs, II, San Francisco, CA (US); and Todd Solomon, San Jose, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Dec. 5, 2019, as Appl. No. 16/704,067.
Application 15/263,816 is a division of application No. 13/907,049, filed on May 31, 2013, granted, now 9,452,019, issued on Sep. 27, 2016.
Application 16/704,067 is a continuation of application No. 15/263,816, filed on Sep. 13, 2016, granted, now 10,555,783.
Claims priority of provisional application 61/654,391, filed on Jun. 1, 2012.
Prior Publication US 2020/0107893 A1, Apr. 9, 2020
Int. Cl. A61B 34/30 (2016.01); A61B 90/98 (2016.01); A61B 34/37 (2016.01); A61B 34/20 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 34/37 (2016.02); A61B 90/98 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/2059 (2016.02)] 12 Claims
OG exemplary drawing
 
1. A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument, the medical robotic assembly comprising:
a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage, the surgical instrument carriage comprising a motor housing,
a first output assembly in the motor housing, wherein the first output assembly comprises a first motor, a first gearbox coupled to the first motor, and a first output drive coupling, and wherein the first output drive coupling is drivingly coupled to an output shaft of the first gearbox, and wherein the first output drive coupling is spring-loaded and configured to drivingly couple with a first drive coupling of the surgical instrument when the surgical instrument is mounted to the surgical instrument carriage for rotating the first drive coupling of the surgical instrument via rotation of the output shaft of the first gearbox by the first motor,
a second output assembly in the motor housing, wherein the second output assembly comprises a second motor, a second gearbox coupled to the second motor, and a second output drive coupling, and wherein the second output drive coupling is drivingly coupled to an output shaft of the second gearbox, and wherein the second output drive coupling is spring-loaded and configured to drivingly couple with a second drive coupling of the surgical instrument when the surgical instrument is mounted to the surgical instrument carriage for rotating the second drive coupling of the surgical instrument via rotation of the output shaft of the second gearbox by the second motor,
a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and
a second sensor assembly configured to sense a rotational orientation of a second output drive coupling; and
an instrument holder assembly comprising a base member, a spar fitting, and a carriage drive mechanism, wherein the spar fitting is slidably mounted to the base member for translation of the spar fitting relative to the base member along an insertion axis of the surgical instrument, wherein the carriage drive mechanism is drivingly coupled with the spar fitting and operable to translate the spar fitting relative to the base member along the insertion axis of the surgical instrument, and wherein the surgical instrument carriage is coupled to the spar fitting to translate with the spar fitting along the insertion axis of the surgical instrument.