ROBOTICALLY CONTROLLING SURGICAL ASSEMBLIES
First Claim
Patent Images
1. A robotic surgical assembly, comprising:
- a robotic arm including a ring gear;
an instrument drive unit secured to the ring gear and including an actuator, the ring gear configured to rotate the instrument drive unit relative to the robotic arm;
an instrument support platform releasably coupled to the instrument drive unit, the instrument support platform including a rotatable member operably associated with the actuator of the instrument drive unit, the rotatable member being rotatable in response to an actuation of the actuator of the instrument drive unit; and
an instrument carriage coupled to the rotatable member and including at least one drive member that that is movable in response to rotation of the rotatable member of the instrument support platform.
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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.
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Citations
20 Claims
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1. A robotic surgical assembly, comprising:
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a robotic arm including a ring gear; an instrument drive unit secured to the ring gear and including an actuator, the ring gear configured to rotate the instrument drive unit relative to the robotic arm; an instrument support platform releasably coupled to the instrument drive unit, the instrument support platform including a rotatable member operably associated with the actuator of the instrument drive unit, the rotatable member being rotatable in response to an actuation of the actuator of the instrument drive unit; and an instrument carriage coupled to the rotatable member and including at least one drive member that that is movable in response to rotation of the rotatable member of the instrument support platform. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A surgical assembly for supporting a surgical instrument having an end effector, the surgical assembly comprising:
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a robotic arm including a ring gear; an instrument drive unit coupled to the ring gear to enable the ring gear to rotate the instrument drive unit relative to the robotic arm; an instrument support platform coupled to the instrument drive unit, the instrument support platform including at least one rotatable member; and an instrument carriage coupled to the at least one rotatable member and including a rotary drive member and a linear drive member, the rotary drive member configured to fire the end effector, the linear drive member configured to move the end effector relative to the support platform. - View Dependent Claims (8, 9, 10)
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11. A surgical system for selective connection to a robotic arm, the surgical system comprising:
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an instrument drive unit coupled to a ring gear and including a plurality of actuators, the instrument drive unit rotatable relative to the robotic arm in response to rotation of the ring gear; an instrument support platform coupled to the instrument drive unit, 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 movable in response to rotation of at least one of the plurality of rotatable members; and a surgical instrument coupled to the instrument carriage and supporting an end effector, the end effector being movable in response to movement of at least one of the plurality of drive members of the instrument carriage. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification