Patent ID: 9314306
Filing Date: 2016-04-19
CPC Classification: A61B,G06T

Claim Text:
1. A robotic surgical system, comprising: a controller including a master input device; an instrument driver in communication with the controller; and an elongate member manipulator coupled to the instrument driver, the elongate member manipulator comprising: wherein the drive assembly is responsive to control signals generated, at least in part, by the master input device of the controller, wherein the insert motor of the drive assembly is configured to actuate the drive belt assembly and the idler belt assembly in opposite rotational directions to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member, and wherein the roll motor of the drive assembly is configured to move the slide assembly to actuate the drive belt assembly and the idler belt assembly in opposite linear directions to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member.