Bruce Michael Schena,Gregory W. Dachs, II,Todd Solomon
申请号：
US16704067
公开号：
US20200107893A1
申请日:
2019.12.05
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.
