Robotic surgical systems and instrument drive units

Patent metadata

Field	Value
Publication number	US-10639113-B2
Application number	US-201515309833-A
Country	US
Kind code	B2
Filing date	Apr 28, 2015
Priority date	May 13, 2014
Publication date	May 5, 2020
Grant date	May 5, 2020

Abstract

An instrument control unit for use with a surgical instrument, is provided. The instrument control unit comprises first and second plates, first and second lead screws, first and second yokes, and first and second motors. The first and second plates define a sleeve therebetween. Each of the first and second lead screws is disposed between the first and second plates. Each of the first and second yokes is threadedly engaged with its respective lead screw. The motors are disposed in mechanical cooperation with respective lead screws. Actuation of the motors causes rotation of its respective lead screw, which results in movement of its respective yoke along the longitudinal axis, and which is configured to effect a first function of a surgical instrument engaged with the instrument control unit.

First claim

The invention claimed is:

1. An instrument control unit for use with a surgical instrument, the instrument control unit comprising:
a first plate;
a second plate disposed in spaced relation from the first plate, the first plate and the second plate defining a sleeve therebetween, the sleeve configured to accept a surgical instrument at least partially therein, the sleeve defining a longitudinal axis;
a first lead screw disposed between the first plate and the second plate;
a second lead screw disposed between the first plate and the second plate;
a first yoke threadedly engaged with the first lead screw;
a second yoke threadedly engaged with the second lead screw;
a first motor disposed in mechanical cooperation with the first lead screw such that actuation of the first motor causes rotation of the first lead screw, which results in movement of the first yoke along the longitudinal axis, and wherein movement of the first yoke along the longitudinal axis is configured to effect a first function of a surgical instrument engaged with the instrument control unit;
a second motor disposed in mechanical cooperation with the second lead screw such that actuation of the second motor causes rotation of the second lead screw, which results in movement of the second yoke along the longitudinal axis, and wherein movement of the second yoke along the longitudinal axis is configured to effect a second function of a surgical instrument engaged with the instrument control unit; and
a control device configured to remotely control actuation of the first motor and the second motor.

2. The instrument control unit according to claim 1 , wherein the first plate includes an arcuate portion and the second plate includes an arcuate portion, wherein the sleeve is defined between the arcuate portion of the first plate and the arcuate portion of the second plate.

3. The instrument control unit according to claim 1 , wherein each of the first yoke and the second yoke is arcuate.

4. The instrument control unit according to claim 1 , further comprising a third lead screw disposed between the first plate and the second plate, a third yoke threadedly engaged with the third lead screw, and a third motor disposed in mechanical cooperation with the third lead screw such that actuation of the third motor causes rotation of the third lead screw, which results in movement of the third yoke along the longitudinal axis, and wherein movement of the third yoke along the longitudinal axis is configured to effect a third function of a surgical instrument engaged with the instrument control unit.

5. The instrument control unit according to claim 4 , further comprising a fourth lead screw disposed between the first plate and the second plate, a fourth yoke threadedly engaged with the fourth lead screw, and a fourth motor disposed in mechanical cooperation with the fourth lead screw such that actuation of the fourth motor causes rotation of the fourth lead screw, which results in movement of the fourth yoke along the longitudinal axis, and wherein movement of the fourth yoke along the longitudinal axis is configured to effect a fourth function of a surgical instrument engaged with the instrument control unit.

6. The instrument control unit according to claim 5 , further comprising a first interface gear and a fifth motor disposed in mechanical communication with the first interface gear, wherein actuation of the fifth motor results in rotation of the first interface gear, which is configured to effect a fifth function of a surgical instrument engaged with the instrument control unit.

7. The instrument control unit according to claim 6 , further comprising a second interface gear and a sixth motor disposed in mechanical communication with the second interface gear, wherein actuation of the sixth motor results in rotation of the second interface gear, which is configured to effect a sixth function of a surgical instrument engaged with the instrument control unit.

8. The instrument control unit according to claim 5 , wherein at least a majority of each of the first motor, the second motor, the third motor, and the fourth motor is disposed between the first plate and the second plate.

9. The instrument control unit according to claim 5 , wherein each of the first motor, the second motor, the third motor, and the fourth motor includes a shaft that extends through at least one of the first plate and the second plate.

10. The instrument control unit according to claim 1 , wherein each of the first plate and the second plate includes two portions that are hingedly connected to each other, and wherein each of the first plate and the second plate is configured to move between an open position to accept a surgical instrument at least partially within the sleeve, and a closed position to surround a diameter of a surgical instrument.

11. The instrument control unit of claim 1 , further comprising a drape essentially enclosing the first plate, the second plate, the first lead screw, the second lead screw, the first motor and the second motor, while permitting longitudinal movement of the first yoke and the second yoke to be transferred to a portion of a surgical instrument engaged with the instrument control unit.

12. The instrument control unit of claim 11 , further comprising a first interface collar and a second interface collar, the first interface collar configured to mechanically engage the first yoke and a portion of a surgical instrument engaged with the instrument control unit, the second interface collar configured to mechanically engage the second yoke and a portion of a surgical instrument engaged with the instrument control unit, and wherein the drape is secured to the first interface collar and the second interface collar.

13. An instrument control unit for use with a surgical instrument, the instrument control unit comprising:
a first plate;
a second plate disposed in spaced relation from the first plate, the first plate and the second plate defining a sleeve therebetween, the sleeve configured to accept a surgical instrument at least partially therein, the sleeve defining a longitudinal axis;
a first lead screw disposed between the first plate and the second plate;
a second lead screw disposed between the first plate and the second plate;
a third lead screw disposed between the first plate and the second plate;
a first yoke threadedly engaged with the first lead screw;
a second yoke threadedly engaged with the second lead screw;
a third yoke threadedly engaged with the third lead screw;
a first motor disposed in mechanical cooperation with the first lead screw such that actuation of the first motor causes rotation of the first lead screw, which results in movement of the first yoke along the longitudinal axis, and wherein movement of the first yoke along the longitudinal axis is configured to effect a first function of a surgical instrument engaged with the instrument control unit;
a second motor disposed in mechanical cooperation with the second lead screw such that actuation of the second motor causes rotation of the second lead screw, which results in movement of the second yoke along the longitudinal axis, and wherein movement of the second yoke along the longitudinal axis is configured to effect a second function of a surgical instrument engaged with the instrument control unit; and
a third motor disposed in mechanical cooperation with the third lead screw such that actuation of the third motor causes rotation of the third lead screw, which results in movement of the third yoke along the longitudinal axis, and wherein movement of the third yoke along the longitudinal axis is configured to e

Assignees

• Covidien Lp

Inventors

• Grover Simon R
• Kilby Charles F
• Fuller Daniel L

Classifications

• A61B2017/00199

  with a console, e.g. a control panel with a display · CPC title

• A61B2017/2931

  with releasable head · CPC title

• A61B2034/742

  Joysticks · CPC title

• A61B34/35 Primary

  for telesurgery · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title