Telescoping Insertion Axis of a Robotic Surgical System

• US 20140163581A1
• Filed: 01/07/2014
• Published: 06/12/2014
• Est. Priority Date: 12/20/2005
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Devengenzo, Roman L., Cooper, Thomas G., Schena, Bruce
• Granted Patent: US 9,480,533 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 2017/00212 using remote controls
• 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 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2046/234 with means for retaining a catheter
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 15/04 with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface

Claims

1-52. -52. (canceled)

53. A link assembly comprising:

a base link operably coupled to a distal end of a manipulator arm;

an idler link movably coupled to the base link along a lengthwise axis of the link assembly, the idler link having first and second opposite surfaces;

a carriage link movably coupled to the idler link along the lengthwise axis, wherein the carriage link includes an instrument interface;

a first linear bearing mounted to the first surface of the idler link;

a second linear bearing mounted to the second surface of the idler link; and

a first pressure plate mounted to the idler link, the first pressure plate clamping the first and second linear bearings to the first and second opposite surfaces of the idler link, respectively.

54. The link assembly of claim 53 further comprising:

a pair of shoulder projections extending from each of the first and second opposite surfaces, respectively, wherein first and second linear bearings are each clamped between the first pressure plate and one of the pair of shoulder projections.

55. The link assembly of claim 53 wherein the first and second linear bearings each include a linear rail and a slide unit slidably mounted to the linear rail.

56. The link assembly of claim 55 wherein each linear rail is fixedly clamped between the idler link and the first pressure plate.

57. The link assembly of claim 55 wherein the slide unit of the first linear bearing is mounted to the base link such that the base link is translatable along the linear rail of the first linear bearing.

58. The link assembly of claim 55 wherein the slide unit of the second linear bearing is mounted to the carriage link such that the carriage link is translatable along the linear rail of the second linear bearing.

59. The link assembly of claim 53 wherein the first pressure plate provides a clamping force parallel to first and second opposite surfaces of the idler link.

60. The link assembly of claim 53 further comprising:

a third linear bearing mounted to the first surface of the idler link;

a fourth linear bearing mounted to the second surface of the idler link; and

a second pressure plate mounted to the idler link, the second pressure plate clamping the third and fourth linear bearings to first and second opposite surfaces of the idler link, respectively.

61. The link assembly of claim 60 wherein the third and fourth linear bearings each include linear rail and a slide unit slidably mounted to the linear rail.

62. The link assembly of claim 61 wherein the first linear bearing is parallel to the third linear bearing and the second linear bearing is parallel to the fourth linear bearing and wherein the distance between the first and third linear bearings is smaller than the distance between the second and fourth linear bearings.

63. A telesurgical manipulator system comprising:

a manipulator assembly including;

a base link operably coupled to a distal end of a manipulator arm;

an idler link movably coupled to the base link along a lengthwise axis of the link assembly, the idler link having first and second opposite surfaces;

a carriage link movably coupled to the idler link along the lengthwise axis, wherein the carriage link includes an instrument interface;

a first linear bearing mounted to the first surface of the idler link;

a second linear bearing mounted to the second surface of the idler link; and

a first pressure plate mounted to the idler link, the first pressure plate clamping the first and second linear bearings to the first and second opposite surfaces of the idler link, respectively;

an instrument coupled to the carriage link via the instrument interface; and

a processor operably coupled to the manipulator assembly and configured to move the base, idler, and carriage links relative to one another along the lengthwise axis.

64. The system of claim 63 further comprising:

a pair of shoulder projections extending from each of the first and second opposite surfaces of the idler link, respectively, wherein first and second linear bearings are each clamped between the first pressure plate and one of the pair of shoulder projections.

65. The system of claim 63 wherein the first and second linear bearings each include a linear rail and a slide unit slidably mounted to the linear rail.

66. The system of claim 65 wherein each linear rail is fixedly clamped between the idler link and the first pressure plate.

67. The system of claim 65 wherein the slide unit of the first linear bearing is mounted to the base link such that the base link is translatable along the linear rail of the first linear bearing.

68. The system of claim 65 wherein the slide unit of the second linear bearing is mounted to the carriage link such that the carriage link is translatable along the linear rail of the second linear bearing.

69. The system of claim 63 wherein the first pressure plate provides a clamping force parallel to first and second opposite surfaces of the idler link.

70. The system of claim 63 further comprising:

a third linear bearing mounted to the first surface of the idler link;

a fourth linear bearing mounted to the second surface of the idler link; and

a second pressure plate mounted to the idler link, the second pressure plate clamping the third and fourth linear bearings to first and second opposite surfaces of the idler link, respectively.

71. The system of claim 70 wherein the third and fourth linear bearings each include linear rail and a slide unit slidably mounted to the linear rail.

72. The system of claim 71 wherein the first linear bearing is parallel to the third linear bearing and the second linear bearing is parallel to the fourth linear bearing and wherein the distance between the first and third linear bearings is smaller than the distance between the second and fourth linear bearings.