Instrument drive unit including lead screw rails

{
  "publication_number": "US10420618B2",
  "country": "US",
  "kind": "B2",
  "title": "Instrument drive unit including lead screw rails",
  "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.",
  "claims": [
    "1. A surgical system for selective connection to a robotic arm, the surgical system comprising: an 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 an interface 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 engaging the respective first and second translatable members, the first and second rotatable members rotatable in response to translation of the respective first and second translatable members, the first and second rotatable members being operatively independent of each other and rotatable about a common axis in superposed relation with the interface plane; an elongate member extending distally from the adapter portion; and an end effector mounted on a distal end of the elongate member, the end effector operatively coupled with the first rotatable member, wherein rotation of the first rotatable member effects a first function of the end effector.",
    "2. The surgical system of claim 1, 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.",
    "3. The surgical system of claim 2, 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 the end effector.",
    "4. The surgical system of claim 3, wherein the first rotatable member includes a reel portion configured to wind the first cable thereabout upon rotation of the first rotatable member.",
    "5. The surgical system of claim 4, 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.",
    "6. The surgical system of claim 4, further comprising a third actuator operatively associated with the elongate member of the surgical instrument such that actuation of the third actuator causes rotation of the elongate member, which in turn, causes rotation of the end effector.",
    "7. The surgical system of claim 6, wherein the third actuator is slidably disposed such that the third actuator is transitionable between a retracted position in which the third actuator is operatively disengaged from the elongate member and an extended position in which the third actuator is operatively engaged with the elongate member.",
    "8. The surgical system of claim 1, wherein the surgical instrument further includes a second cable having a first end coupled to the second rotatable member and a second end operatively associated with the end effector, wherein rotation of the first and second rotatable members effects the first function of the end effector.",
    "9. The surgical system of claim 1, further comprising a drape interposed between the instrument drive unit and the surgical instrument to provide a sterile barrier.",
    "10. The surgical system of claim 5, wherein the teeth of the gear portion of the first rotatable member engages the teeth of the first translatable member of the instrument drive through a sterile barrier.",
    "11. A robotic surgical assembly, comprising: a robotic arm; an instrument drive unit secured to the robotic arm, the instrument drive unit including a plurality of actuators and a plurality of translatable members, each translatable member operatively coupled with a respective one of the plurality of actuators; and a surgical instrument detachably coupled to 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 defining an interface plane, the rotatable members being operatively independent of each other and rotatable about a common axis in registration with the interface plane, each rotatable member of the plurality of rotatable members being rotatable in response to actuation of the respective one of the plurality of actuators; and an elongate member extending distally from the adapter portion, wherein rotation of one of the plurality of rotatable members causes a first function of an end effector.",
    "12. The robotic surgical assembly of claim 11, wherein actuation of a first actuator of the plurality of actuators causes translation of a first translatable member of the plurality of translatable members, which in turn, causes rotation of a first rotatable member of the plurality of rotatable members of the adapter portion of the surgical instrument.",
    "13. The robotic surgical assembly of claim 12, 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 the end effector.",
    "14. The robotic surgical assembly of claim 13, wherein the first rotatable member includes a reel portion configured to wind the first cable thereabout upon rotation of the first rotatable member.",
    "15. The robotic surgical assembly of claim 11, wherein the plurality of actuators are on a common plane.",
    "16. The robotic surgical assembly of claim 11, wherein the plurality of rotatable members are independently rotatable.",
    "17. The robotic surgical assembly of claim 11, wherein a second actuator of the plurality of actuators is slidably disposed such that the second actuator is transitionable between a retracted position in which the second actuator is operatively disengaged from the elongate member and an extended position in which the second actuator is operatively engaged with the elongate member.",
    "18. The robotic surgical assembly of claim 11, wherein the surgical instrument further includes a second cable having a first end coupled to a second rotatable member of the plurality of rotatable members and a second end operatively associated with the end effector, wherein rotation of the first and second rotatable members effects a first function of the end effector."
  ],
  "description_excerpt": "Robotic surgical systems used in minimally invasive medical procedures include a console or cart supporting a robot arm and a surgical instrument having an end effector that may include, for example, forceps, a stapler, or a grasping tool. The robot arm provides mechanical power to the surgical instrument for its operation and movement. Each robot arm may include an instrument drive unit that is operatively connected to the surgical instrument.\n\nPrior to or during use of the robotic system, surgical instruments are selected and connected to the instrument drive units of each robot arm. For proper installation to be completed, certain connecting features of the surgical instrument must be matingly engaged to corresponding connecting features of the instrument drive unit. Once these features are matingly engaged, the instrument drive unit can drive the actuation of the surgical instrument. However, connection and removal of surgical instruments to instrument drive units can be difficult.\n\nAccordingly, new robotic devices, systems, and methods that are reliable, precise, and that enable easy and efficient attachment and removal of surgical instruments would be desirable.\n\nThe present disclosure describes robotic devices, systems, and methods that demonstrate a practical approach to meeting the performance requirements and overcoming the usability challenges associated with instrument attachment and removal. In general, the present disclosure describes robotic surgical systems that include an instrument drive unit and a surgical instrument support coupled to the instrument drive unit.",
  "cpc": [
    "A61B 34/35",
    "A61B 17/00",
    "A61B 17/00234",
    "A61B 17/072",
    "A61B 2017/00199",
    "A61B 2017/00398",
    "A61B 2017/00477",
    "A61B 2017/00685",
    "A61B 2017/07278",
    "A61B 2034/302",
    "A61B 34/30",
    "A61B 34/71",
    "A61B 34/74",
    "A61B 46/10"
  ],
  "ipc": [
    "A61B 34/00",
    "A61B 34/35",
    "A61B 46/10",
    "A61B 34/30"
  ],
  "assignees": [
    "Covidien LP"
  ],
  "inventors": [
    "Simon R. Grover",
    "Charles F. Kilby",
    "Daniel L. Fuller",
    "Alistair Ward"
  ],
  "filing_date": "2016-01-21",
  "publication_date": "2019-09-24",
  "grant_date": "2019-09-24",
  "priority_date": "2015-02-26",
  "application_number": "US-201615554003-A",
  "family_id": "56789762",
  "cited_by_count": 7,
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}