US 12,220,190 B2
Preloaded surgical instrument interface
Thomas G. Cooper, Menlo Park, CA (US); Anthony K. McGrogan, San Jose, CA (US); Robert E. Holop, Santa Clara, CA (US); Todd R. Solomon, San Jose, CA (US); Eugene F. Duval, Menlo Park, CA (US); and Kent M. Anderson, Mountain View, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Sep. 7, 2023, as Appl. No. 18/243,311.
Application 18/243,311 is a continuation of application No. 18/091,941, filed on Dec. 30, 2022, granted, now 11,793,587.
Application 18/091,941 is a continuation of application No. 16/831,312, filed on Mar. 26, 2020, granted, now 11,564,758, issued on Jan. 31, 2023.
Application 16/831,312 is a continuation of application No. 14/911,529, granted, now 10,799,303, issued on Oct. 13, 2020, previously published as PCT/US2014/050838, filed on Aug. 13, 2014.
Claims priority of provisional application 61/866,115, filed on Aug. 15, 2013.
Prior Publication US 2024/0090958 A1, Mar. 21, 2024
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/70 (2016.02); A61B 2017/00477 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An apparatus comprising:
an instrument manipulator comprising a housing and a motor pack movably mounted in the housing, the motor pack comprising a drive unit and a drive output disk, the drive output disk configured to be coupled to one of an instrument or a sterile adapter assembly;
an insertion assembly coupled to the instrument manipulator and configured to move the instrument manipulator a first distance in a distal direction along an insertion axis, the insertion assembly comprising a preload track; and
a preload assembly comprising a cam follower assembly coupled to the motor pack via an arm, the cam follower assembly being positioned to move on the preload track from a first location on the preload track to a second location on the preload track in response to the instrument manipulator moving the first distance;
wherein:
the preload assembly moves the motor pack within the housing a second distance along the insertion axis in response to the cam follower assembly moving from the first location to the second location.