Load cells in an instrument drive
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United States of America Patent
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Jun 29, 2021
Grant Date -
Sep 10, 2020
app pub date -
Apr 14, 2020
filing date -
Oct 2, 2017
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 comprises a plurality of drive elements for engaging corresponding elements of the instrument, and a load cell structure. Each drive element is movable along a drive axis and the drive axes of each of the drive elements are substantially parallel to each other. The load cell structure includes 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. The frame includes an integral member supporting the deflectable bodies in such a way as to isolate each deflectable body from the load applied to the or each other deflectable body.
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