Patent ID: 7819885

Claim:
A robotic surgical assembly for transferring from a surgical drive component to a surgical tool, the assembly comprising: a) a housing coupled to the surgical drive component; b) an adaptor for receiving the surgical tool; c) a carriage coupled with the housing and with the adaptor, the carriage adapted to transfer motion from the surgical drive component through a plurality of motion feedthroughs to the adaptor; and d) a sterile drape between the carriage and the adaptor, the drape having at least one hole to allow the carriage to be coupled with the adaptor; wherein the adaptor is configured to transfer motion from the plurality of motion feedthroughs to the surgical tool to move the surgical tool in a plurality of degrees of freedom; the housing having a longitudinal Z-axis, the carriage configured to move along the Z-axis of the housing; the housing further comprising at least one carriage cable drive coupled to at least one rotatable pulley, wherein the at least one carriage cable drive is configured to move the carriage along the Z-axis of the housing.