Patent ID: 11896339
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 0:
1. A robotic surgical system, comprising:
a surgical tool including:
a drive housing having a first end, a second end, and a carriage movably mounted to the drive housing between the first and second ends; and
an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof; and

an instrument driver arranged at an end of a robotic arm and including:
a body having a proximal end, a distal end, and defining a central aperture extending between the proximal and distal ends, wherein the shaft and the end effector penetrate the instrument driver by extending through the central aperture;
an outer housing extending at least partially between the proximal and distal ends;
a tool drive assembly provided at the proximal end and extending into the outer housing;
a drive motor operatively coupled to the tool drive assembly;
a stator gear arranged within the outer housing and fixed to the tool drive assembly; and
a rotor gear driven by the drive motor and matable with the stator gear,

wherein the drive motor is operable to drive the rotor gear against the stator gear and thereby cause tool drive assembly to rotate about a central axis relative to the outer housing, and
wherein the first end of the drive housing is operatively coupled to the tool drive assembly whereby rotation of the tool drive assembly correspondingly rotates the surgical tool about the central axis in the same angular direction.