US 12,076,102 B2
Connector device for a controllable instrument
Christopher A. Julian, Los Gatos, CA (US); Amir Belson, Los Altos, CA (US); Aaron W. Brown, San Jose, CA (US); Mark Harasym, San Jose, CA (US); Marc S. Kreidler, Sunnyvale, CA (US); Robert M. Ohline, Redwood City, CA (US); Scott J. Reiner, San Jose, CA (US); Enrique Romo, Fresno, CA (US); Charles E. Swinehart, San Jose, CA (US); and Katherine Whitin, Redwood City, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jul. 14, 2020, as Appl. No. 16/928,173.
Application 16/928,173 is a continuation of application No. 16/123,309, filed on Sep. 6, 2018, granted, now 10,736,490.
Application 16/123,309 is a continuation of application No. 14/537,127, filed on Nov. 10, 2014, granted, now 10,105,036, issued on Oct. 23, 2018.
Application 14/537,127 is a continuation of application No. 10/988,212, filed on Nov. 12, 2004, granted, now 8,888,688, issued on Nov. 18, 2014.
Prior Publication US 2021/0030260 A1, Feb. 4, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/008 (2006.01); A61B 1/31 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 1/00128 (2013.01); A61B 1/0016 (2013.01); A61B 1/0053 (2013.01); A61B 1/0055 (2013.01); A61B 1/0057 (2013.01); A61B 1/008 (2013.01); A61B 1/31 (2013.01); A61B 2017/003 (2013.01); A61B 2017/00477 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A medical system comprising:
a drive interface, a medical instrument, a first pair of complementary engagement features, and a second pair of complementary engagement features;
wherein the drive interface comprises a first drive element and a second drive element;
wherein the medical instrument comprises a force transmission interface removably engageable with the drive interface, and the force transmission interface comprises a first force transmission element and a second force transmission element;
wherein the first pair of complementary engagement features has an engaged state in which the first drive element is coupled to the first force transmission element and in which the first force transmission element is moveable in linear translation in a first direction in response to a drive force exerted by the first drive element;
wherein the second pair of complementary engagement features has an engaged state in which the second drive element is coupled to the second force transmission element and in which the second force transmission element is moveable in linear translation in the first direction in response to a drive force exerted by the second drive element; and
wherein the first pair of complementary engagement features is placed in the engaged state by relative movement of the first pair of complementary engagement features in a second direction perpendicular to the first direction, and the second pair of complementary engagement features is placed in the engaged state by relative movement of the second pair of complementary engagement features in the second direction.