Load cells in an instrument drive
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United States of America Patent
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May 19, 2020
Grant Date -
Mar 15, 2018
app pub date -
Apr 20, 2016
filing date -
Apr 21, 2015
priority date (Note) -
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status (Latency Note)
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Abstract
A drive unit for providing drive from a robot arm to an instrument, the drive unit comprising: a plurality of drive elements for engaging corresponding elements of the instrument, each drive element being movable along a drive axis and the drive axes of each of the drive elements being substantially parallel to each other; and a load cell structure comprising a plurality of deflectable bodies coupled to the drive elements for sensing load on the drive elements parallel to their drive axes, and a frame comprising an integral member supporting the deflectable bodies in such a way as to isolate each deflectable body from load applied to the or each other deflectable body.
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