Instrument Carriage Assembly for Surgical System

A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument, the medical robotic assembly comprising:

• a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage, the surgical instrument carriage comprising a motor housing,
• a first output assembly in the motor housing, wherein the first output assembly comprises a first motor, a first planetary gearbox coupled to the first motor, and a first output drive coupling, and wherein the first output drive coupling is drivingly coupled to an output shaft of the first planetary gearbox, and wherein the first output drive coupling is spring-loaded and configured to drivingly couple with a first drive coupling of the surgical instrument when the surgical instrument is mounted to the surgical instrument carriage for rotating the first drive coupling of the surgical instrument via rotation of the output shaft of the first planetary gearbox by the first motor,
• a second output assembly in the motor housing, wherein the second output assembly comprises a second motor, a second gearbox coupled to the second motor, and a second output drive coupling, and wherein the second output drive coupling is drivingly coupled to an output shaft of the second gearbox, and wherein the second output drive coupling is spring-loaded and configured to drivingly couple with a second drive coupling of the surgical instrument when the surgical instrument is mounted to the surgical instrument carriage for rotating the second drive coupling of the surgical instrument via rotation of the output shaft of the second gearbox by the second motor, and
• an instrument holder assembly comprising a base member, a spar fitting, and a carriage drive mechanism, wherein the spar fitting is slidably mounted to the base member for translation of the spar fitting relative to the base member along an insertion axis of the surgical instrument, wherein the carriage drive mechanism is drivingly coupled with the spar fitting and operable to translate the spar fitting relative to the base member along the insertion axis of the surgical instrument, and wherein the surgical instrument carriage is coupled to the spar fitting to translate with the spar fitting along the insertion axis of the surgical instrument.

A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument mounted to the medical robotic assembly, the medical robotic assembly comprising:

• an instrument holder base member;
• a motor housing moveably mounted to the instrument holder base member;
• a carriage drive mechanism operable to selectively translate the motor housing relative to the instrument holder base member along an insertion axis of the surgical instrument;
• a first drive motor mounted to the motor housing;
• a second drive motor mounted to the motor housing;
• a first gear box drivingly coupled with the first drive motor;
• a second gear box drivingly coupled with the second drive motor;
• a first output drive coupling drivingly coupled with the first gear box and configured to drivingly couple with a first input drive coupling of the surgical instrument;
• a second output drive coupling drivingly coupled with the second gear box and configured to drivingly couple with a second input drive coupling of the surgical instrument;
• and
• a first sensor assembly that includes a first orientation sensor and a first sensor target, wherein the first sensor target is drivingly coupled with the first drive motor.