Robotically controlling surgical assemblies

Patent metadata

Field	Value
Publication number	US-11224491-B2
Application number	US-201916424946-A
Country	US
Kind code	B2
Filing date	May 29, 2019
Priority date	Sep 15, 2014
Publication date	Jan 18, 2022
Grant date	Jan 18, 2022

Abstract

A surgical system for selective connection to a robotic arm includes an instrument drive unit, an instrument support platform coupled to the instrument drive unit, an instrument carriage coupled to the instrument support platform, and a surgical instrument releasably coupled to the instrument carriage. The surgical instrument includes an end effector controllable to perform surgery in response to telemanipulation of actuators in the instrument drive unit.

First claim

What is claimed is:

1. A robotic surgical assembly, comprising:
a robotic arm including a ring gear;
an instrument drive unit secured to the ring gear and including an actuator, the ring gear configured to rotate the instrument drive unit relative to the robotic arm;
an instrument support platform releasably coupled to the instrument drive unit, the instrument support platform including a rotatable member operably associated with the actuator of the instrument drive unit, the rotatable member being rotatable in response to an actuation of the actuator of the instrument drive unit; and
an instrument carriage coupled to the rotatable member and including at least one drive member that that is movable in response to rotation of the rotatable member of the instrument support platform.

2. The robotic surgical assembly of claim 1 , wherein rotation of the rotatable member linearly translates a carriage body of the instrument carriage through a channel defined by the instrument support platform to move the instrument carriage relative to the instrument support platform.

3. The robotic surgical assembly of claim 2 , further comprising a barrier covering the channel.

4. The robotic surgical assembly of claim 2 , wherein the channel extends longitudinally along the instrument support platform.

5. The robotic surgical assembly of claim 1 , wherein the actuator of the instrument drive unit is controlled by telemanipulation.

6. The robotic surgical assembly of claim 1 , wherein the at least one drive member includes a rotary drive member and a linear drive member.

7. A surgical assembly for supporting a surgical instrument having an end effector, the surgical assembly comprising:
a robotic arm including a ring gear;
an instrument drive unit coupled to the ring gear to enable the ring gear to rotate the instrument drive unit relative to the robotic arm;
an instrument support platform coupled to the instrument drive unit, the instrument support platform including at least one rotatable member; and
an instrument carriage coupled to the at least one rotatable member and including a rotary drive member and a linear drive member, the rotary drive member configured to fire the end effector, the linear drive member configured to move the end effector relative to the support platform.

8. The surgical assembly of claim 7 , wherein a carriage body of the instrument carriage is configured to translate through a channel defined by the instrument support platform to move the instrument carriage relative to the instrument support platform.

9. The surgical assembly of claim 7 , wherein the instrument drive unit includes an actuator that is controlled by telemanipulation.

10. The surgical assembly of claim 7 , wherein the robotic arm includes an arm mount, and wherein the instrument support platform is configured to releasably couple to the instrument drive unit in the arm mount of the robotic arm, the arm mount supporting the ring gear.

11. A surgical system for selective connection to a robotic arm, the surgical system comprising:
an instrument drive unit coupled to a ring gear and including a plurality of actuators, the instrument drive unit rotatable relative to the robotic arm in response to rotation of the ring gear;
an instrument support platform coupled to the instrument drive unit, the instrument support platform including a plurality of rotatable members operably associated with the plurality of actuators of the instrument drive unit, each of the plurality of rotatable members being rotatable in response to actuation of at least one of the plurality of actuators;
an instrument carriage coupled to the plurality of rotatable members of the instrument support platform and including a plurality of drive members, at least one of the plurality of drive members being movable in response to rotation of at least one of the plurality of rotatable members; and
a surgical instrument coupled to the instrument carriage and supporting an end effector, the end effector being movable in response to movement of at least one of the plurality of drive members of the instrument carriage.

12. The surgical system of claim 11 , wherein at least one of the plurality of drive members rotates a first driven member of the surgical instrument and at least one of the plurality of drive members linearly translates a second driven member of the surgical instrument,
Wherein, in response to movement of a respective one of the first and second driven members, the respective one of the first and second driven members is configured to effectuate at least one of:
1) movement of the end effector relative to the instrument support platform, or
2) firing of the end effector.

13. The surgical system of claim 12 , wherein at least one of the plurality of drive members includes a drive gear that is configured to engage a driven gear of the first driven member.

14. The surgical system of claim 12 , wherein at least one of the first and second driven members includes a cable that operatively couples to the end effector.

15. The surgical system of claim 12 , wherein at least one of the first and second driven members includes a rod that operatively couples to the end effector.

16. The surgical system of claim 11 , wherein rotation of at least one of the plurality of rotatable members linearly translates a carriage body of the instrument carriage through at least one channel defined by the instrument support platform to move the instrument carriage relative to the instrument support platform.

17. The surgical system of claim 16 , further comprising a barrier covering the at least one channel.

18. The surgical system of claim 17 , wherein the at least one channel includes a plurality of spaced apart channels that extend longitudinally along the instrument support platform.

19. The surgical system of claim 11 , wherein the instrument drive unit includes a gear actuatable by one of the plurality of actuators, the instrument support platform and the surgical instrument being simultaneously rotatable about a longitudinal axis defined through the instrument support platform in response to actuation of the gear.

20. The surgical system of claim 11 , wherein the plurality of actuators of the instrument drive unit is controlled by telemanipulation.

Assignees

• Covidien Lp

Inventors

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

Classifications

• A61B2034/302

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

• A61B34/35 Primary

  for telesurgery · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• A61B2034/304

  including a freely orientable platform, e.g. so called 'Stewart platforms' · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title