A robotic surgical instrument comprising a shaft, an articulation attached to a distal end of the shaft, the articulation configured to articulate an end effector, the articulation driveable by a distal driving element, a driving mechanism comprising an instrument interface element secured to an end of a proximal driving element and configured to engage a drive interface element of a drive assembly, wherein motion of the drive interface element results in a first displacement of the end of the proximal driving element and a gearing mechanism engaging the proximal driving element and the distal driving element and being configured to transfer the first displacement of the end of the proximal driving element to a different second displacement of an end of the distal driving element.
Calibrating an instrument interface
2021-04-14
Patent
Electronic Resource
English
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