Patent ID: 8945148
Filing Date: 2015-02-03
Classification: A61B,A61M,B25J,B32B,F16F,G03B,H01F,H04N,H05K,Y10T

Abstract:
1. An instrument manipulator, comprising: a frame of the instrument manipulator comprising an outer shell and an inner frame, the inner frame being attached to the outer shell to move proximally and distally while the outer shell remains stationary, the inner frame comprising a distal face, the distal face moving proximally and distally as the inner frame moves proximally and distally relative to the stationary outer shell; and a plurality of independent actuator drive modules coupled to the inner frame and housed within the outer shell, each of the plurality of independent actuator drive modules including an actuator output, wherein each one of the actuator outputs is configured to independently actuate a corresponding actuator input of a surgical instrument without force input from any other one of the actuator outputs, wherein each of the actuator outputs distally protrudes from the distal face, wherein each of the actuator outputs is configured to engage the corresponding actuator input of the surgical instrument, and wherein at least one actuator drive module of the plurality of independent actuator drive modules further comprises: