Patent ID: 9186220
Filing Date: 2015-11-17
Classification: A61B,B25J

Abstract:
1. A minimally invasive surgical system, comprising: a master assembly having a rearward drive system, a forward movable wrist, and a connector extending between the rearward drive system and the forward wrist such that movement of an input tool coupled to the forward wrist is transferred through the connector to cause corresponding movement of the rearward drive system; a slave assembly having a rearward drive system, a forward movable wrist, and a connector extending between the rearward drive system and the forward wrist such that movement of the rearward drive system is transferred through the connector to cause corresponding movement of an end effector coupled to the forward wrist; a mechanical assembly directly coupled between the master rearward drive system and the slave rearward drive system such that the mechanical assembly is configured to transfer motion between the master and slave rearward drive systems; and a stabilization member coupled between the master assembly and the slave assembly and configured to maintain the master assembly and the slave assembly in a substantially parallel orientation while allowing the master and slave assemblies to move towards and away from one another, wherein the mechanical assembly comprises a plurality of rotatable drive rods, each of the drive rods having a first end coupled to the master rearward drive system and a second end coupled to the slave rearward drive system.