US 11,986,262 B2
Controller controlled instrument preload mechanism
Robert E. Holop, Santa Clara, CA (US); Anthony K. McGrogan, San Jose, CA (US); Jeffrey R. Roeder, Mountain View, CA (US); Daniel H. Gomez, Los Gatos, CA (US); Arjang M. Hourtash, San Francisco, CA (US); Thomas Brennan-Marquez, Palo Alto, CA (US); and Probal Mitra, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Dec. 16, 2022, as Appl. No. 18/083,248.
Application 18/083,248 is a continuation of application No. 16/317,440, granted, now 11,559,363, previously published as PCT/US2017/038457, filed on Jun. 21, 2017.
Claims priority of provisional application 62/362,178, filed on Jul. 14, 2016.
Prior Publication US 2023/0117645 A1, Apr. 20, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 17/34 (2006.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 46/10 (2016.01); B25J 9/12 (2006.01); B25J 9/16 (2006.01); B25J 13/06 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 17/3476 (2013.01); A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 46/10 (2016.02); B25J 9/126 (2013.01); B25J 9/1689 (2013.01); B25J 13/06 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00473 (2013.01); G05B 2219/45117 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted system comprising:
an instrument manipulator assembly including a preload assembly and a motor;
an insertion assembly configured to control a position of the instrument manipulator assembly; and
a motor controller coupled to the preload assembly;
wherein the motor controller is configured to:
actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor, wherein the instrument manipulator assembly is at a particular position when the preload assembly applies no preload, and
actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly, wherein the instrument manipulator assembly is at the particular position when the preload assembly applies the low preload.