	US 11,850,016 B2
	Robotic surgical systems, instrument drive units, and drive assemblies
Brian Rockrohr, Guilford, CT (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jun. 17, 2021, as Appl. No. 17/350,023.
Application 17/350,023 is a continuation of application No. 16/931,564, filed on Jul. 17, 2020, granted, now 11,065,072.
Application 16/931,564 is a continuation of application No. 16/570,393, filed on Sep. 13, 2019, granted, now 10,743,955, issued on Aug. 18, 2020.
Application 16/570,393 is a continuation of application No. 15/549,005, granted, now 10,420,620, issued on Sep. 24, 2019, previously published as PCT/US2016/021432, filed on Mar. 9, 2016.
Claims priority of provisional application 62/130,669, filed on Mar. 10, 2015.
Prior Publication US 2021/0307853 A1, Oct. 7, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 17/29 (2006.01); F16C 1/12 (2006.01); F16H 25/20 (2006.01); A61B 17/00 (2006.01)

CPC A61B 34/71 (2016.02) [A61B 17/29 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); F16C 1/12 (2013.01); F16H 25/2015 (2013.01); A61B 17/00234 (2013.01); A61B 2017/00199 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/305 (2016.02); A61B 2034/715 (2016.02); F16H 2025/204 (2013.01); F16H 2025/2031 (2013.01); F16H 2025/2075 (2013.01)]

20 Claims

1. A drive assembly for use with a surgical instrument, the drive assembly comprising:

a drive screw defining a longitudinal axis;

a drive unit threadedly engaged with a portion of the drive screw and being longitudinally movable relative to the drive screw;

a follower disposed in mechanical cooperation with the drive screw and being longitudinally movable relative to the drive screw and relative to the drive unit; and

a biasing element disposed in mechanical cooperation with the follower,

wherein the follower includes a retention pocket configured to house a portion of the biasing element.