Low friction instrument driver interface for robotic systems

Abstract

A medical robotic system includes a base having a first opening, and a first protrusion next to the first opening, a first rotary member configured for detachably coupling to a component of the medical robotic system in a manner such that the first rotary member is rotatable relative to the base and at least a part of the first rotary member is located in the first opening of the base when the first rotary member is coupled to the system component, and a cover coupled to the base, wherein the first rotary member comprises a first end, a second end, a body extending between the first and second ends, and a flange disposed circumferentially around a part of the body, the flange having a first circumferential slot for receiving the first protrusion.

1 - 16 . (canceled) 
     
     
         17 . A method of steering a distal end of an elongate member, comprising:
 determining a desired bending to be achieved by the distal end of the elongate member;   determining an amount of tension to be applied to a steering wire located within the elongate member based on the desired bending to be achieved;   using an actuatable element to apply a torque to turn a rotary member that is detachably coupled to the actuatable element, the steering wire having one end is secured to the rotary member and another end secured to the elongate member, wherein the application of the torque by the actuatable element causes tension to be applied to the steering wire; and   using a sensor coupled to the actuatable element to sense a characteristic that corresponds with an amount of force or torque being applied by the actuatable element to turn the rotary member.   
     
     
         18 . The method of  claim 17 , wherein the act of using the actuatable element to apply the torque comprises increasing the amount of force or torque being applied by the actuatable element until the sensed characteristic indicates that the amount of tension at the steering wire has been achieved. 
     
     
         19 . The method of  claim 17 , wherein the sensor is coupled indirectly to the actuatable element through a mechanical component.