INSTRUMENT DEVICE MANIPULATOR WITH BACK-MOUNTED TOOL ATTACHMENT MECHANISM

• US 20170367782A1
• Filed: 07/14/2017
• Published: 12/28/2017
• Est. Priority Date: 09/09/2015
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Schuh, Travis, Williams, Matthew Reagan, Bogusky, Joseph Daniel, Mintz, David S., Yu, Alan, Dan, Yoichiro
• Granted Patent: US 10,631,949 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 46/00 Surgical drapes
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of an elongated body of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the elongated body of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the elongated body of the tool and allows free rotation of the elongated body about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.

Claims

1-20. -20. (canceled)

21. A surgical tool holder assembly comprising:

a housing having a first side and a second side, the first side forming an attachment interface for attachment to a corresponding attachment interface of a surgical tool;

a first opening on the first side of the surgical tool holder

a second opening on the second side of the housing;

a passage extending along a passage axis between the first opening and the second opening such that an elongate body of a surgical tool can be inserted through the first opening, the passage, and the second opening; and

a plurality of torque couplers protruding outwards from the attachment interface and positioned about the first opening.

22. The surgical tool holder assembly of claim 21, wherein each torque coupler capable of transitioning between a first state of protruding outwards from the housing and a second state of retracting into the housing.

23. The surgical tool holder assembly of claim 22, further comprising an actuation mechanism configured to control a transition between the first state and the second state.

24. The surgical tool holder assembly of claim 21, further comprising a plurality of actuators, each of the plurality of actuators coupled to a respective one of the plurality of torque couplers and configured to drive rotation of the respective one of the plurality torque couplers in response to a control signal.

25. The surgical tool holder assembly of claim 21, further comprising a sterile adapter configured for attachment between the attachment interface of the housing and the corresponding attachment interface of the surgical tool.

26. The surgical tool holder assembly of claim 25, wherein the sterile adapter comprises a second plurality of torque couplers, a first side of each torque coupler configured to engage with a torque coupler of the attachment interface and a second side of each torque coupler configured to engage with a respective instrument input of the surgical tool.

27. The surgical tool holder assembly of claim 26, wherein each torque coupler of the second plurality of torque couplers is capable of transitioning between a first state of protruding outwards from the sterile adapter and a second state of retracting into the sterile adapter.

28. The surgical tool holder assembly of claim 21, wherein each of the plurality of torque couplers is coupled to one or more biasing members that are configured to bias each of the torque couplers into a first state of protruding outwards from the surgical tool holder assembly.

29. The surgical tool holder assembly of claim 21, wherein the housing of the surgical tool assembly is configured to rotate relative to the plurality of torque couplers.

30. The surgical tool holder assembly of claim 21, wherein each of the plurality of torque couplers is configured to rotate with the surgical tool holder in a clockwise or counter-clockwise direction around a rotational axis.

31. The surgical tool holder assembly of claim 21, wherein the rotational axis is coaxial with a longitudinal axis extending through the passage.

32. The surgical tool holder assembly of claim 21, wherein the surgical tool holder assembly comprises a stator gear that is structured as a ring including gear teeth along the inner circumference of the ring, wherein the stator gear is configured to remain stationary relative to the surgical tool holder,

33. The surgical tool holder assembly of claim 32, comprising a drive mechanism that coupled to a rotor gear that is configured to mate with the statorgear of the surgical tool holder assembly such that rotation of the rotor gear causes the surgical tool holder to rotate relative to the stator gear.

34. The surgical tool holder assembly of claim 21, comprising one or more slip rings configured to deliver electrical power and signals to the surgical tool holder.

35. The surgical tool holder assembly of claim 34, comprising a plurality of encoder boards that secured within the surgical tool holder.

36. The surgical tool holder assembly of claim 35, wherein each encoder board is configured to read and process signals relayed through the at least one slip ring.

37. A surgical tool holder assembly comprising:

a housing having a first side and a second side, the first side forming an attachment interface for attachment to a corresponding attachment interface of a surgical tool;

a first opening on the first side of the surgical tool holder

a second opening on the second side of the housing;

a passage extending along a passage axis between the first opening and the second opening such that an elongate body of a surgical tool can be inserted through the first opening, the passage, and the second opening;

a torque coupler protruding outwards from the attachment interface and positioned about the first opening, the torque coupler capable of transitioning between a first state of protruding outwards from the housing and a second state of retracting at least partially into the housing; and

an actuation mechanism configured to control a transition between the first state and the second state.

38. The surgical tool holder assembly of claim 37, further comprising an actuators to the torque coupler and configured to drive rotation the plurality torque coupler in response to a control signal.

39. The surgical tool holder assembly of claim 37, wherein the torque coupler is coupled to one or more biasing members that are configured to bias the torque coupler into a first state of protruding outwards from the surgical tool holder assembly.

40. The surgical tool holder assembly of claim 37, wherein the housing of the surgical tool assembly is configured to rotate relative to the torque coupler.

41. The surgical tool holder assembly of claim 37, wherein the torque coupler is configured to rotate with the surgical tool holder in a clockwise or counter-clockwise direction around a rotational axis.

42. The surgical tool holder assembly of claim 41, wherein the rotational axis is coaxial with a longitudinal axis extending through the passage.