Aren Calder Hill,Travis Michael Schuh,Nicholas J. Eyre
申请号：
US16588639
公开号：
US10779898B2
申请日:
2019.09.30
申请国别(地区):
US
年份:
2020
代理人:
摘要：
Systems, devices and methods are provided in which an instrument can translate along an insertion axis. Rather than relying primarily on a robotic arm for instrument insertion, the instruments described herein have novel instrument based insertion architectures that allow portions of the instruments themselves to translate along an insertion axis. For example, an instrument can comprise a shaft, an end effector on a distal end of the shaft, and a handle coupled to the shaft. The architecture of the instrument allows the shaft to translate relative to the handle along an axis of insertion. The translation of the shaft does not interfere with other functions of the instrument, such as end effector actuation.
