Ben Robert Chaplin,Keith Marshall,Nikki Priyam Su-Ling Phoolchund,Rebecca Anne Cuthbertson
申请号：
US15374150
公开号：
US20170165010A1
申请日:
2016.12.09
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A robotic surgical instrument comprising: a shaft； an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by a pair of driving elements； and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements； a tensioning mechanism configured to tension the pair of driving elements； and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.
