US 12,324,638 B2
Drive transfer
Ben Robert Chaplin, Cambridge (GB); James Oliver Grant, Cambridge (GB); Keith Marshall, Cambridge (GB); Nikki Priyam Su-Ling Phoolchund, Cambridge (GB); and Thomas Bates Jackson, Cambridge (GB)
Assigned to CMR SURGICAL LIMITED, Cambridge (GB)
Filed by CMR SURGICAL LIMITED, Cambridge (GB)
Filed on May 24, 2022, as Appl. No. 17/664,706.
Application 17/664,706 is a continuation of application No. 16/321,750, granted, now 11,369,441, previously published as PCT/GB2017/052191, filed on Jul. 27, 2017.
Claims priority of application No. 1613094 (GB), filed on Jul. 29, 2016.
Prior Publication US 2022/0331021 A1, Oct. 20, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 46/10 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 46/10 (2016.02); A61B 2017/0023 (2013.01); A61B 2017/00477 (2013.01); A61B 17/29 (2013.01); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A drive assembly locatable at or towards a distal end of a surgical robot arm, the drive assembly comprising a drive assembly interface which is engageable with a surgical instrument comprising an end effector so as to transfer drive between the drive assembly and the instrument, the drive assembly interface comprising a drive assembly interface element movable relative to the drive assembly interface and engageable with a corresponding instrument interface element provided on the instrument; the drive assembly comprising a sensor for sensing the position of the drive assembly interface element; wherein the drive assembly is configured to drive the drive assembly interface element to an interfacing position for engaging with the instrument interface element prior to the surgical instrument being attached to the drive assembly interface, and the sensor is configured to determine whether the drive assembly interface element is in its interfacing position,
wherein the drive assembly is arranged so that when the drive assembly interface element is located in the interfacing position prior to the surgical instrument being attached to the drive assembly interface, the drive assembly interface element and the instrument interface element are correspondingly at cooperating positions within their respective travel.