Patent ID: 9452019
Filing Date: 2016-09-27
CPC Classification: A61B

Claim Text:
1. A robotic assembly configured to support, insert, retract, and actuate a surgical instrument mounted to the robotic assembly, the robotic assembly comprising: an instrument holder base member; a motor housing moveably mounted to the instrument holder base member; a carriage drive mechanism operable to selectively translate the motor housing relative to the instrument holder base member along an insertion axis of the surgical instrument; a plurality of drive motors, each of the drive motors being mounted to the motor housing; and a plurality of output drive couplings, each of the output drive couplings being drivingly coupled with a corresponding one of the drive motors, each of the output drive couplings being configured to drivingly couple with a corresponding input drive coupling of the surgical instrument; wherein a first drive motor of the plurality of drive motors is elongated between a first end, and a second end, the first drive motor includes a first magnetic flux shield at the first end and a second magnetic flux shield at the second end, and the first magnetic flux shield is spatially separated from the second magnetic flux shield so that a portion of the first drive motor unshielded from magnetic flux exists between the first magnetic flux shield and the second magnetic flux shield.