Drive unit and rack drape for robotic surgical instruments

Patent metadata

Field	Value
Publication number	US-11259885-B2
Application number	US-201916662328-A
Country	US
Kind code	B2
Filing date	Oct 24, 2019
Priority date	Oct 23, 2014
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

Abstract

A surgical instrument is configured for coupling with an instrument drive unit that drives an actuation of the surgical instrument and operatively supports the surgical instrument. The surgical instrument includes a housing, an elongate body extending distally from the housing, an end effector extending distally from the elongate body, and a plurality of driven members rotatably fixed and longitudinally moveable relative to the elongate body. The plurality of driven members are longitudinal moveable relative to one another. Each driven member of the plurality of drive members is coupled to a respective cable that is attached to the end effector. The plurality of driven members is configured for engagement with an instrument drive unit.

First claim

What is claimed is:

1. A surgical assembly, comprising:
a surgical instrument including:
an elongate body;
an end effector extending distally from the elongate body; and
first and second racks rotatably fixed and longitudinally movable relative to the elongate body, the first rack being slidably receivable within the second rack;
a first cable extending distally from the first rack; and
a second cable extending distally from the second rack, wherein each of the first cable and the second cable operably extends to the end effector of the surgical instrument.

2. The surgical assembly according to claim 1 , further comprising
an instrument drive unit configured to operatively and releasably support the surgical instrument, the instrument drive unit including:
a first drive motor operably connected to the first rack for longitudinally moving the first rack relative to the elongate body; and
a second drive motor operably connected to the second rack for longitudinally moving the second rack relative to the elongate body.

3. The surgical assembly according to claim 2 , wherein the first drive motor includes a first drive gear for engaging the first rack and the second drive motor includes a second drive gear for engaging the second rack.

4. The surgical assembly according to claim 3 , wherein the surgical assembly includes third and fourth racks, the fourth rack is slidably receivable within the third rack.

5. The surgical assembly according to claim 4 , wherein the instrument drive unit includes a third motor for operable connection to the third rack and a fourth motor for operable connection to the fourth rack.

6. The surgical assembly according to claim 5 , wherein the surgical assembly includes a third cable extending distally from the third rack and a fourth cable extending distally from the fourth rack.

7. The surgical assembly according to claim 2 , wherein the surgical instrument further includes a first rotation gear fixedly supported on the elongate body for facilitating rotation of the elongate body about a longitudinal axis of the elongate body.

8. The surgical assembly according to claim 7 , wherein the instrument drive unit includes a first rotation motor for operable connection to the first rotation gear for effecting rotation of the elongate body about the longitudinal axis of the elongate body.

9. The surgical assembly according to claim 8 , wherein the instrument drive unit includes a first rotation gear connected to the first rotation motor and operably connected to the first rotation gear of the surgical instrument for effecting rotation of the elongate body about the longitudinal axis of the elongate body.

10. The surgical assembly according to claim 9 , wherein the first rotation gear includes a plurality of openings for slidably receiving cables therethrough.

11. The surgical assembly according to claim 2 , wherein the instrument drive unit includes a housing and a pair of flanges extending outwardly from the housing of the instrument drive unit, each flange defining a recess for selectively receiving the surgical instrument such that the surgical instrument is offset from the housing of the instrument drive unit.

12. The surgical assembly according to claim 11 , wherein the instrument drive unit includes a pair of latches for selectively securing the surgical instrument within the recesses formed in the flanges of the instrument drive unit.

13. The surgical assembly according to claim 2 , further including a protective barrier operably received between the instrument drive unit and the surgical instrument.

14. The surgical assembly according to claim 13 , wherein the protective barrier includes a belt configured for alignment with the first and second racks of the surgical instrument when the surgical instrument is engaged with the instrument drive unit.

15. The surgical assembly according to claim 13 , wherein the protective barrier is dimensioned to cover at least the instrument drive unit.

16. A surgical assembly, comprising:
a surgical instrument including:
an elongate body; and
first and second racks rotatably fixed and longitudinally movable relative to the elongate body, wherein the first rack is slidably receivable within the second rack;

an instrument drive unit configured to operatively and releasably support the surgical instrument, the instrument drive unit including:
a first drive motor operably connected to the first rack for longitudinally moving the first rack relative to the elongate body; and
a second drive motor operably connected to the second rack for longitudinally moving the second rack relative to the elongate body; and

a protective barrier received between the surgical instrument and the instrument drive unit.

17. The surgical assembly according to claim 16 , wherein the protective barrier includes a belt configured for alignment with the first and second racks of the surgical instrument when the surgical instrument is engaged with the instrument drive unit.

18. The surgical assembly according to claim 17 , wherein the belt of the protective barrier includes a textured surface to facilitate engagement with the first and second racks of the surgical instrument.

19. The surgical assembly according to claim 16 , wherein the protective barrier is dimensioned to cover at least the instrument drive unit.

Assignees

• Covidien Lp

Inventors

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

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• F16H19/04

  comprising a rack · CPC title

• A61B34/35 Primary

  for telesurgery · CPC title

• A61B46/10

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

• A61B34/74

  Manipulators with manual electric input means · CPC title