Instrument drive unit including lead screw rails

Patent metadata

Field	Value
Publication number	US-11045268-B2
Application number	US-201916570499-A
Country	US
Kind code	B2
Filing date	Sep 13, 2019
Priority date	Feb 26, 2015
Publication date	Jun 29, 2021
Grant date	Jun 29, 2021

Abstract

A surgical system for selective connection to a robotic arm includes an instrument drive unit and a surgical instrument detachably coupled to the instrument drive unit. The instrument drive unit includes first and second actuators and a first translatable member operatively coupled with the first actuator. The surgical instrument includes an adapter portion, an elongate member extending distally from the adapter portion, and an end effector mounted on a distal end of the elongate member. The adapter portion has a first rotatable member operatively associated with the first translatable member. The first rotatable member is rotatable in response to translation of the first translatable member. The end effector is operatively coupled with the first rotatable member, wherein rotation of the first rotatable member effects a first function of the end effector.

First claim

The invention claimed is:

1. A surgical system for selective connection to a robotic arm comprising:
an instrument drive unit including a plurality of actuators and a plurality of translatable members, each translatable member of the plurality of translatable members operatively coupled with a respective one of the plurality of actuators; and
a surgical instrument detachably associated with the instrument drive unit, the surgical instrument including:
an adapter portion having a plurality of rotatable members operatively associated with the plurality of translatable members of the instrument drive unit, each rotatable member of the plurality of rotatable members independently rotatable about a common axis in response to actuation of the respective one of the plurality of translatable members; and
an end effector operatively coupled with the plurality of rotatable members of the adapter portion.

2. The surgical system according to claim 1 , wherein rotation of a first actuator of the plurality of actuators of the instrument drive unit imparts rotation to a first rotatable member of the plurality of rotatable members of the adapter portion.

3. The surgical system according to claim 2 , wherein rotation of the first actuator causes translation of a first translatable member of the plurality of translatable members, which in turn, causes rotation of the first rotatable member of the adapter portion.

4. The surgical system according to claim 3 , wherein the first rotatable member includes a gear portion having teeth configured to mesh with teeth of the first translatable member of the instrument drive unit.

5. The surgical system according to claim 1 , wherein a second actuator of the plurality of actuators of the instrument drive unit is movable between a retracted position in which the second actuator is operatively disengaged from the end effector and an extended position in which the second actuator is operatively engaged with the end effector.

6. The surgical system according to claim 1 , wherein the end effector further includes an elongate member interconnecting the adapter portion and the end effector.

7. The surgical system according to claim 1 , wherein the surgical instrument further includes a plurality of cables, each cable operatively coupling a respective one of the plurality of rotatable members to the end effector.

8. The surgical system according to claim 7 , wherein a first rotatable member of the plurality of rotatable members includes a first reel configured to wind a first cable of the plurality of cables thereabout upon rotation of the first rotatable member.

9. The surgical system according to claim 1 , wherein the plurality of translatable members of the instrument drive unit is coplanar.

10. The surgical system according to claim 1 , wherein the common axis defined by the plurality of rotatable members of the adapter portion is in superposed relation with a plane defined by the plurality of translatable members of the instrument drive unit.

11. The surgical system according to claim 2 , wherein the end effector is operatively coupled with the first rotatable member such that rotation of the first rotatable member effects a first function of the end effector.

12. The surgical system according to claim 11 , wherein the end effector is operatively coupled with a third rotatable members of the plurality of the rotatable members such that rotation of the third rotatable member effects a second function of the end effector.

13. A robotic surgical assembly comprising:
a robotic arm;
an instrument drive unit secured to the robotic arm, the instrument drive unit including first and second actuators and first and second translatable members operatively coupled with the respective first and second actuators, the first and second translatable members defining a first common plane; and
a surgical instrument detachably coupled to the instrument drive unit, the surgical instrument including an adapter portion having first and second rotatable members operatively associated with the first and second translatable members, the first and second rotatable members being operatively independent of each other and rotatable about a common axis, the first and second rotatable members being rotatable in response to actuation of the respective first and second actuators.

14. The robotic surgical assembly according to claim 13 , wherein actuation of the first actuator causes translation of the first translatable member, which in turn, causes rotation of the first rotatable member of the adapter portion of the surgical instrument.

15. The robotic surgical assembly according to claim 14 , wherein the surgical instrument further includes a first cable having a first end coupled to the first rotatable member and a second end operatively associated with an end effector of the surgical instrument.

16. The robotic surgical assembly according to claim 15 , wherein rotation of one of the first and second rotatable members causes a first function of the end effector of the surgical instrument.

17. The robotic surgical assembly according to claim 16 , wherein the surgical instrument further includes a second cable having a third end coupled to the second rotatable member and a fourth end operatively associated with the end effector, wherein rotation of the first and second rotatable members effects a second function of the end effector.

18. The robotic surgical assembly according to claim 15 , wherein the first rotatable member includes a reel portion configured to wind the first cable thereabout upon rotation of the first rotatable member.

19. The robotic surgical assembly according to claim 14 , wherein the common axis is in registration with the first common plane.

20. The robotic surgical assembly according to claim 14 , wherein the plurality of actuators are on a second common plane.

Assignees

• Covidien Lp

Inventors

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

Classifications

• A61B2017/07278

  characterised by its sled or its staple holder · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B34/35 Primary

  for telesurgery · CPC title

• A61B2017/00685

  Archimedes screw · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title