Robotically controlling surgical assemblies

• US 10,321,964 B2
• Filed: 07/23/2015
• Issued: 06/18/2019
• Est. Priority Date: 09/15/2014
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Grover, Simon R., Kilby, Charles F., Fuller, Daniel L., Ward, Alistair
• Primary Examiner(s): Philogene, Pedro
• Assistant Examiner(s): Comstock, David C
• Application Number:
  US15/510,799
• Publication Number:
  US 20170273749A1
• Time in Patent Office: 1,426 Days
• Field of Search: 606 1, 606130, 128903, 128904, 600204, 600228, 600229
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

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.

Claims

1. A surgical system for selective connection to a robotic arm, the surgical system comprising:

an instrument drive unit including a plurality of actuators;

an instrument support platform configured to be releasably coupled to the instrument drive unit in an arm mount of the robotic arm, the arm mount defining a central longitudinal axis and including a ring gear that encircles the central longitudinal axis of the arm mount, the ring gear configured to engage the instrument drive unit to rotate the instrument drive unit relative to the arm mount about the central longitudinal axis of the arm mount, 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 translatable in response to rotation of at least one of the plurality of rotatable members; and

a surgical instrument releasably coupled to the instrument carriage and supporting an end effector that extends distally from the instrument support platform, the end effector being movable in response to translation of at least one of the plurality of drive members of the instrument carriage.

2. The surgical system of claim 1, 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.

3. The surgical system of claim 2, 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.

4. The surgical system of claim 2, wherein at least one of the first and second driven members includes a cable that operatively couples to the end effector.

5. The surgical system of claim 2, wherein at least one of the first and second driven members includes a rod that operatively couples to the end effector.

6. The surgical system of claim 1, 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.

7. The surgical system of claim 6, wherein a barrier covers the at least one channel.

8. The surgical system of claim 7, wherein the at least one channel includes a plurality of spaced apart channels that extend longitudinally along the instrument support platform.

9. The surgical system of claim 1, 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.

10. The surgical system of claim 1, wherein the plurality of actuators of the instrument drive unit is controlled by telemanipulation.

11. A robotic surgical assembly, comprising:

a robotic arm including an arm mount having an annular configuration, the arm mount defining a central longitudinal axis and including a ring gear that encircles the central longitudinal axis of the arm mount;

an instrument drive unit secured to the arm mount and including a plurality of actuators, the ring gear configured to engage the instrument drive unit to rotate the instrument drive unit relative to the arm mount about the central longitudinal axis of the arm mount;

an instrument support platform defining a longitudinal axis and releasably coupled to the instrument drive unit in the arm mount, 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 an actuation of at least one of the plurality of actuators of the instrument drive unit; and

an instrument carriage coupled to the plurality of rotatable members and including at least one rotary drive member that rotates about the longitudinal axis of the instrument support platform and at least one linear drive member that linearly translates along the longitudinal axis of the instrument support platform, at least one of the linear or rotary drive members being movable in response to rotation of at least one of the plurality of rotatable members of the instrument support platform.

12. The robotic surgical assembly 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.

13. The robotic surgical assembly of claim 12, wherein a barrier covers the at least one channel.

14. The robotic surgical assembly of claim 11, wherein the at least one channel includes a plurality of spaced apart channels that extend longitudinally along the instrument support platform.

15. The robotic surgical assembly of claim 11, wherein the plurality of actuators of the instrument drive unit is controlled by telemanipulation.

16. The robotic surgical assembly of claim 11, wherein the instrument drive unit and the arm mount include gears that engage one another to enable an end face of the instrument drive unit to rotate about a longitudinal axis defined through the instrument drive unit, wherein the instrument support platform is connectable to the end face of the instrument drive unit so that that rotation of the end face imparts rotation on the instrument support platform.

17. The robotic surgical assembly of claim 11, wherein the arm mount is coupled to the robotic arm and positioned to rotate relative to the arm mount about an axis that extends transverse to the central longitudinal axis of the arm mount.

18. A surgical assembly for supporting a surgical instrument having an end effector, the surgical assembly comprising:

an instrument drive unit;

an instrument support platform defining a longitudinal axis and configured to releasably couple to the instrument drive unit in an arm mount of a robotic arm, the instrument support platform including a plurality of rotatable members, the arm mount defining a central longitudinal axis and including a ring gear that encircles the central longitudinal axis of the arm mount, the ring gear configured to engage the instrument drive unit to rotate the instrument drive unit relative to the arm mount about the central longitudinal axis of the arm mount;

an instrument carriage coupled to the plurality of rotatable members and including at a rotary drive member that rotates about the longitudinal axis of the instrument support platform and a plurality of linear drive members that linearly translates along the longitudinal axis of the instrument support platform, the rotary drive member configured to fire the end effector in response to rotation of a first one of the plurality of rotatable members of the instrument support platform, at least one of the plurality of linear drive members configured to move the end effector relative to the support platform in response to rotation of a second one of the plurality of rotatable members of the instrument support platform.

19. The surgical assembly of claim 18, wherein a third one of the plurality of rotatable members of the instrument support platform 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.

20. The surgical assembly of claim 18, wherein a first one of the plurality of rotatable members rotates independent of the second one of the plurality of rotatable members.

21. The surgical assembly of claim 18, wherein the instrument drive unit includes a plurality of actuators that are controlled by telemanipulation.