US 11,969,227 B2
Systems and methods for positioning medical instruments
Matthew D. Rohr Daniel, San Francisco, CA (US); and David W. Bailey, Portola Valley, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 17/279,208
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Oct. 4, 2019, PCT No. PCT/US2019/054718
§ 371(c)(1), (2) Date Mar. 24, 2021,
PCT Pub. No. WO2020/072917, PCT Pub. Date Apr. 9, 2020.
Claims priority of provisional application 62/819,139, filed on Mar. 15, 2019.
Claims priority of provisional application 62/741,800, filed on Oct. 5, 2018.
Prior Publication US 2022/0008152 A1, Jan. 13, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61M 25/01 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 34/25 (2016.02); A61B 90/37 (2016.02); A61M 25/0113 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 34/35 (2016.02); A61B 2034/715 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A medical instrument system comprising an instrument manipulator configured to control a position of a medical instrument with respect to a base, the instrument manipulator comprising:
an instrument carriage comprising a medical instrument connector configured to engage the medical instrument, the instrument carriage configured to translate along a linear axis to advance or retract the medical instrument with respect to the base;
an insertion stage slideably engaged with the instrument carriage along the linear axis, the insertion stage having a drive assembly comprising a drive belt and a drive motor configured to drive the drive belt, wherein the base is fixedly coupled to the drive belt; and
a connecting element having a distal end fixedly coupled to the drive belt and a proximal end fixed to the instrument carriage.