Patent ID: 8720448
Filing Date: 2014-05-13
Classification: A61B

Abstract:
1. A robotic surgical system, comprising: a splayer assembly coupled to an instrument, wherein the splayer assembly comprises a spline pulley rotatable within the splayer assembly, the spline pulley having a plurality of spline teeth with spline receptacles formed between adjacent spline teeth; a sterile drive interface apparatus forming a sterile barrier between the splayer assembly and an instrument driver, the sterile drive interface apparatus comprising a drape and a spline shaft assembly having spline teeth, wherein a bottom portion of the spline shaft assembly is operatively coupled to the instrument driver and a top portion of the spline shaft assembly is operatively coupled to the spline pulley positioned in the splayer assembly such that the sterile drive interface apparatus can transfer motion from the instrument driver to the splayer assembly; and wherein the spline pulley has more receptacles than the spline shaft assembly has spline teeth to facilitate mating between the spline shaft assembly and spline pulley.