CPC A61B 90/50 (2016.02) [A61B 1/0016 (2013.01); A61B 1/00149 (2013.01); A61B 34/00 (2016.02); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 46/00 (2016.02); A61B 46/10 (2016.02); H05K 999/99 (2013.01); A61B 1/3132 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02)] | 32 Claims |
1. A surgical tool holder assembly, comprising:
an outer housing;
a surgical tool holder positioned at least partially within the outer housing, the surgical tool holder having an attachment interface configured for attachment to a surgical tool;
a first actuator configured to drive rotation of the surgical tool holder with respect to the outer housing about a rotational axis that extends perpendicular to the attachment interface of the surgical tool holder;
a plurality of torque couplers on the attachment interface arranged about the rotational axis of the surgical tool holder; and
a plurality of second actuators configured to drive rotation of the plurality of torque couplers about axes parallel to the rotational axis of the surgical tool holder.
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