US 12,102,398 B2
Automated instrument preload engage/disengage mechanism
Robert E. Holop, Santa Clara, CA (US); and Todd R. Solomon, San Jose, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Mar. 5, 2021, as Appl. No. 17/193,403.
Application 17/193,403 is a continuation of application No. 16/317,484, granted, now 11,020,190, previously published as PCT/US2017/038455, filed on Jun. 21, 2017.
Claims priority of provisional application 62/362,176, filed on Jul. 14, 2016.
Prior Publication US 2021/0282873 A1, Sep. 16, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); G16H 40/63 (2018.01)
CPC A61B 34/30 (2016.02) [A61B 34/70 (2016.02); G16H 40/63 (2018.01); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2090/031 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A computer-assisted apparatus comprising:
an instrument manipulator assembly comprising a preload assembly; and
a controller coupled to the instrument manipulator assembly;
wherein the controller is configured to:
move the instrument manipulator assembly to a fully withdrawn position, wherein the fully withdrawn position is proximal to a home position of the instrument manipulator assembly; and
in response to moving the instrument manipulator assembly to the fully withdrawn position, command the preload assembly to engage a preload that applies one or more forces to a motor pack in a distal direction relative to the fully withdrawn position.