Patent ID: 11969227
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A medical instrument system comprising an instrument manipulator configured to control a position of a medical instrument with respect to a base, the instrument manipulator comprising:
an instrument carriage comprising a medical instrument connector configured to engage the medical instrument, the instrument carriage configured to translate along a linear axis to advance or retract the medical instrument with respect to the base;
an insertion stage slideably engaged with the instrument carriage along the linear axis, the insertion stage having a drive assembly comprising a drive belt and a drive motor configured to drive the drive belt, wherein the base is fixedly coupled to the drive belt; and
a connecting element having a distal end fixedly coupled to the drive belt and a proximal end fixed to the instrument carriage.