US 12,285,227 B2
Drive assembly interface
Keith Marshall, Cambridge (GB); Luke David Ronald Hares, Cambridge (GB); Ben Robert Chaplin, Cambridge (GB); and Nikki Priyam Su-Ling Phoolchund, Cambridge (GB)
Assigned to CMR SURGICAL LIMITED, Cambridge (GB)
Filed by CMR SURGICAL LIMITED, Cambridge (GB)
Filed on Jul. 25, 2022, as Appl. No. 17/814,618.
Application 17/814,618 is a continuation of application No. 16/060,449, granted, now 11,432,887, previously published as PCT/GB2016/053890, filed on Dec. 9, 2016.
Claims priority of application No. 1521811 (GB), filed on Dec. 10, 2015.
Prior Publication US 2022/0354599 A1, Nov. 10, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/71 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical robot arm extending between a base and a terminal link, the terminal link being connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link and being configured to interface with a robotic surgical instrument such that a longitudinal axis of a shaft of the robotic surgical instrument is coincident with the longitudinal axis of the terminal link, wherein the terminal link comprises:
a drive assembly comprising a plurality of drive assembly interface elements configured to drive a plurality of instrument interface elements of the robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the drive assembly comprising:
a first drive assembly interface element being engageable with a first instrument interface element on the longitudinal axis of the terminal link and linearly displaceable along or parallel to the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link;
a second drive assembly interface element being engageable with a second instrument interface element along a second axis so as to drive the second instrument interface element along the second axis; and
a third drive assembly interface element being engageable with a third instrument interface element and linearly displaceable along a third axis so as to drive the third instrument interface element along the third axis,
wherein the first, second and third drive assembly interface elements are independently driveable to thereby independently drive the respective first, second and third instrument interface elements along their respective axes.