Elastic surgical interface for robotic surgical systems

Patent metadata

Field	Value
Publication number	US-11045273-B2
Application number	US-201615763138-A
Country	US
Kind code	B2
Filing date	Sep 22, 2016
Priority date	Sep 25, 2015
Publication date	Jun 29, 2021
Grant date	Jun 29, 2021

Abstract

A sterile barrier assembly includes a linear drive section and a rotation drive section. The linear drive section includes a corrugated portion interfacing with an axial output of an instrument driving unit on a non-sterile side and an engaging portion interfacing with a tool assembly of a surgical instrument on a sterile side. The rotational drive section includes a first engaging portion interfacing with a rotational output of the instrument driving unit on the non-sterile side and a second engaging portion interfacing with the tool assembly of the surgical instrument on the sterile side.

First claim

What is claimed is:

1. A sterile barrier assembly comprising:
a linear drive section including:
a corrugated portion interfacing with an axial output of an instrument driving unit on a non-sterile side, the corrugated portion defining a longitudinal axis, the corrugated portion including ridges and grooves arranged along the longitudinal axis of the corrugated portion, the corrugated portion transitionable between an elongated state and a contracted state, with respect to the longitudinal axis of the corrugated portion, the corrugated portion separated into first and second parts along the longitudinal axis of the corrugated portion; and
an engaging portion disposed along the longitudinal axis and interposed between the first and second parts of the corrugated portion, the engaging portion transmitting axial movement along the longitudinal axis to a tool assembly of a surgical instrument on a sterile side; and

a rotational drive section including:
an engaging part interfacing with a rotational output of the instrument driving unit on the non-sterile side, the rotational drive section interfacing with the tool assembly of the surgical instrument on the sterile side.

2. The sterile barrier assembly according to claim 1 , wherein the corrugated portion is configured to transition between the elongated state and the contracted state, while providing a fluid tight seal between the instrument driving unit on the non-sterile side and the surgical instrument on the sterile side.

3. The sterile barrier assembly according to claim 2 , further comprising support walls formed of a relatively rigid material to facilitate linear transition of the corrugated portion between the contracted and elongated states.

4. The sterile barrier assembly according to claim 1 , wherein the corrugated portion includes a bellows.

5. The sterile barrier assembly according to claim 1 , wherein the corrugated portion defines a recess configured to interface with the axial output of the instrument driving unit.

6. The sterile barrier assembly according to claim 5 , wherein the engaging portion of the linear drive section is adjacent the recess of the corrugated portion.

7. The sterile barrier assembly according to claim 1 , wherein the corrugated portion has a varying thickness.

8. The sterile barrier assembly according to claim 1 , wherein the linear drive section is monolithically or integrally formed.

9. The sterile barrier assembly according to claim 1 , wherein the rotational drive section is monolithically or integrally formed.

10. The sterile barrier assembly according to claim 1 , wherein the sterile barrier assembly is formed of an elastic material.

11. The sterile barrier assembly according to claim 10 , wherein the corrugated portion includes slack that tautens as the engaging portion of the linear drive section moves in one direction.

12. The sterile barrier assembly according to claim 1 , wherein the corrugated portion includes the ridges and grooves in both the elongated and contracted states.

13. A robotic surgical system comprising:
a sterile instrument having a surgical tool manipulatable by a plurality of tool drivers in a plurality of directions;
a non-sterile drive unit including a plurality of driven outputs; and
a sterile barrier assembly partitioned into a sterile side coupled to the sterile instrument and a non-sterile side coupled to the non-sterile drive unit, the sterile barrier assembly including:
a linear drive section including:
a corrugated portion interfacing with one of the plurality of driven outputs of the non-sterile drive unit, the corrugated portion including ridges and grooves arranged along a longitudinal axis of the corrugated portion, the corrugated portion transitionable between an elongated state and a contracted state, with respect to the longitudinal axis of the corrugated portion, the corrugated portion separated into first and second parts along the longitudinal axis of the corrugated portion; and
an engaging portion interposed between the first and second parts of the corrugated portion and axially movable along the longitudinal axis of the corrugated portion, the engaging portion interfacing with one of the plurality of tool drivers of the sterile instrument; and

a rotational drive section including:
an engaging part interfacing with one of the plurality of driven outputs of the non-sterile drive unit, the rotational drive section interfacing with one of the plurality of tool drivers of the sterile instrument.

14. The surgical system according to claim 13 , wherein the corrugated portion has varying thickness.

15. The surgical system according to claim 13 , wherein the elongated state and the contracted state of the corrugated portion correspond to an axial displacement of one of the plurality of driven outputs of the non-sterile drive unit.

16. The surgical system according to claim 15 , wherein one of the plurality of driven outputs of the non-sterile drive unit imparts rotation to one of the plurality of tool drivers of the sterile instrument.

17. The surgical system according to claim 13 , wherein one of the plurality of driven outputs of the non-sterile drive unit imparts translational movement to one of the plurality of tool drivers of the sterile instrument.

18. The surgical system according to claim 13 , wherein the sterile barrier assembly is formed of at least one of silicone, nitrile rubber, neoprene, vinyl, latex, or EPDM.

19. The surgical system according to claim 13 , wherein the sterile barrier assembly is integrally formed.

20. The surgical system according to claim 13 , wherein the sterile barrier assembly provides a fluid tight seal between the sterile side and the non-sterile side.

21. The surgical system according to claim 13 , wherein the corrugated portion is a bellows.

Assignees

• Covidien Lp

Inventors

• Seow Chi Min
• Zemlok Michael
• Allen Robert

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B46/10 Primary

  specially adapted for instruments{, e.g. microscopes} · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B17/00234

  for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence) · CPC title

• A61B34/35

  for telesurgery · CPC title