US 12,127,807 B2
Surgical system instrument mounting
Daniel H. Gomez, Los Gatos, CA (US); Jeffrey D. Brown, Palo Alto, CA (US); Thomas G. Cooper, Menlo Park, CA (US); Eugene F. Duval, Menlo Park, CA (US); Robert E. Holop, Santa Clara, CA (US); Anthony K. McGrogan, San Jose, CA (US); Craig R. Ramstad, Minden, NV (US); Theodore W. Rogers, Alameda, 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 Jun. 10, 2022, as Appl. No. 17/837,422.
Application 17/837,422 is a continuation of application No. 16/851,794, filed on Apr. 17, 2020, granted, now 11,596,488.
Application 16/851,794 is a continuation of application No. 15/718,963, filed on Sep. 28, 2017, granted, now 10,624,672, issued on Apr. 21, 2020.
Application 15/718,963 is a continuation of application No. 14/478,311, filed on Sep. 5, 2014, granted, now 9,801,654, issued on Oct. 31, 2017.
Application 14/478,311 is a continuation of application No. 12/855,452, filed on Aug. 12, 2010, granted, now 8,852,208, issued on Oct. 7, 2014.
Claims priority of provisional application 61/334,978, filed on May 14, 2010.
Prior Publication US 2022/0296322 A1, Sep. 22, 2022
Int. Cl. A61B 50/20 (2016.01); A61B 1/00 (2006.01); A61B 17/02 (2006.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 46/10 (2016.01); A61B 46/23 (2016.01); A61B 50/00 (2016.01); A61B 50/30 (2016.01); A61B 90/98 (2016.01); A61M 13/00 (2006.01); B25J 15/00 (2006.01); B25J 15/04 (2006.01); B32B 3/12 (2006.01); F16F 1/12 (2006.01); H01F 5/02 (2006.01); H01F 5/04 (2006.01); H01F 27/28 (2006.01); H04N 23/51 (2023.01); H04N 23/54 (2023.01); H04N 23/55 (2023.01); H04N 23/57 (2023.01); H04N 23/68 (2023.01); H05K 1/18 (2006.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 90/50 (2016.01); B25J 15/02 (2006.01); G03B 5/02 (2021.01)
CPC A61B 34/70 (2016.02) [A61B 1/00135 (2013.01); A61B 1/00142 (2013.01); A61B 17/0218 (2013.01); A61B 17/3421 (2013.01); A61B 17/3423 (2013.01); A61B 17/3474 (2013.01); A61B 34/00 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); A61B 46/10 (2016.02); A61B 46/23 (2016.02); A61B 50/00 (2016.02); A61B 50/20 (2016.02); A61B 50/30 (2016.02); A61B 90/98 (2016.02); A61M 13/003 (2013.01); B25J 15/0066 (2013.01); B25J 15/04 (2013.01); B32B 3/12 (2013.01); F16F 1/121 (2013.01); H01F 5/02 (2013.01); H01F 5/04 (2013.01); H01F 27/2823 (2013.01); H04N 23/51 (2023.01); H04N 23/54 (2023.01); H04N 23/55 (2023.01); H04N 23/57 (2023.01); H04N 23/687 (2023.01); H05K 1/18 (2013.01); A61B 2017/00477 (2013.01); A61B 17/29 (2013.01); A61B 2017/3445 (2013.01); A61B 2017/3447 (2013.01); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02); A61B 2050/3008 (2016.02); A61B 2090/5025 (2016.02); B25J 15/02 (2013.01); G03B 5/02 (2013.01); G03B 2205/0015 (2013.01); G03B 2205/0069 (2013.01); H01F 2005/027 (2013.01); Y10T 74/20305 (2015.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a base;
an arm assembly operably coupled to the base, the arm assembly comprising a plurality of links;
an instrument manipulator assembly coupled to a distal link of the plurality of links, the instrument manipulator assembly comprising an instrument manipulator interface configured to removably couple with a medical instrument to place the medical instrument in a mounted state at the instrument manipulator assembly and transfer actuation forces to the medical instrument in the mounted state; and
a sterile drape assembly comprising:
a first drape portion configured to drape the instrument manipulator interface,
a second drape portion configured to drape the arm assembly, and
a rotatable seal rotatably coupling the first drape portion to the second drape portion,
wherein the instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs configured to operably engage with respectively corresponding inputs of the medical instrument in the mounted state of the medical instrument at the instrument manipulator assembly, the plurality of actuator outputs extending from the mounting surface along directions substantially parallel to a shaft of the medical instrument in the mounted state of the medical instrument at the instrument manipulator assembly; and
wherein in the mounted state of the medical instrument at the manipulator assembly, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.