Coupler to transfer controller motion from a robotic manipulator to an attached instrument

• US 8,333,755 B2
• Filed: 03/31/2008
• Issued: 12/18/2012
• Est. Priority Date: 03/31/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Cooper, Thomas G., McGrogan, Anthony
• Primary Examiner(s): Farah, Ahmed M
• Assistant Examiner(s): LIPITZ, JEFFREY BRIAN
• Application Number:
  US12/060,104
• Publication Number:
  US 20090248040A1
• Time in Patent Office: 1,723 Days
• Field of Search: 606/1, 606/130, 744/900.4, 744/900.6
• US Class Current: 606/1
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: Y10T 74/20323 including flaccid drive element
• CPC Class Codes: Y10T 74/20335 Wrist

Abstract

A coupler to provide controller motion from a robotic manipulator includes a pin having a tip with a spherical bearing surface and a plate supported on the spherical bearing surface of the pin with two degrees of rotational freedom about the center of the spherical bearing surface. The plate has a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device. The plate includes a pin receiving portion that extends outwardly from the driving surface and away from the back surface. The pin receiving portion includes a spherical receiving surface to receive the spherical bearing surface of the pin. The spherical bearing surface is located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device.

Claims

1. A coupler to transfer controller motion from a robotic manipulator, the coupler comprising:

a pin having a tip with a spherical bearing surface; and

a plate supported on the spherical bearing surface of the pin with two degrees of freedom about the center of the spherical bearing surface, the plate having a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device, the plate including a pin receiving portion that extends outwardly from the driving surface and away from the back surface, the pin receiving portion including a spherical receiving surface to receive the spherical bearing surface of the pin, the spherical bearing surface being located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device.

2. The coupler of claim 1 wherein the pin receiving portion includes a conical surface that extends from the spherical bearing surface to the back surface.

3. The coupler of claim 1 further including a plurality of alignment features on the driving surface of the plate to mate with corresponding features on the first surface of the inner gimbal of the gimbal assembly of the driven device.

4. The coupler of claim 3 wherein the plurality of alignment features include a raised hemispherical surface.

5. The coupler of claim 3 wherein the plurality of alignment features include V-shaped groove.

6. The coupler of claim 1 further including an actuator mechanism to rotate the plate about the center of the spherical bearing surface in the two degrees of freedom.

7. The coupler of claim 6 further including an actuator arm connected to one side of the plate at a first end of the arm, wherein the actuator mechanism is coupled to the actuator arm adjacent a second end of the actuator arm opposite the first end.

8. A coupler system comprising:

a first housing;

an outer gimbal rotatably coupled to the first housing, the outer gimbal rotatable about a first axis;

an inner gimbal rotatably coupled to the outer gimbal, the inner gimbal rotatable about a second axis that intersects the first axis;

a second housing;

a pin connected to the second housing, the pin having a tip with a spherical bearing surface; and

a plate supported on the spherical bearing surface of the pin with two degrees of freedom about the center of the spherical bearing surface, the plate having a back surface and an opposing driving surface that bears against a first surface of the inner gimbal when the second housing is connected to the first housing, the plate including a pin receiving portion that extends outwardly from the driving surface and away from the back surface, the pin receiving portion including a spherical receiving surface to receive the spherical bearing surface of the pin, the spherical bearing surface being located at a distance above the driving surface such that the center of the spherical bearing surface coincides with the intersection of the first and second axes.

9. The coupler system of claim 8 wherein the pin receiving portion of the plate includes a conical surface that extends from the spherical bearing surface to the back surface.

10. The coupler system of claim 8 wherein of the plate further includes a plurality of alignment features on the driving surface to mate with corresponding features on the first surface of the inner gimbal.

11. The coupler system of claim 10 wherein the plurality of alignment features include a raised hemispherical surface.

12. The coupler system of claim 10 wherein the plurality of alignment features include a V-shaped groove.

13. The coupler system of claim 8 further including an actuator mechanism to rotate the plate about the center of the spherical bearing surface in the two degrees of freedom.

14. The coupler system of claim 13 wherein the plate further includes an actuator arm connected to one side of the plate at a first end of the arm, wherein the actuator mechanism is coupled to the actuator arm adjacent a second end of the actuator arm opposite the first end.

15. The robotic surgical system of claim 13 wherein the plate of the coupler further includes an actuator arm connected to one side of the plate at a first end of the arm, wherein the actuator mechanism is coupled to the actuator arm adjacent a second end of the actuator arm opposite the first end.

16. A robotic surgical system comprising:

a surgical instrument, the surgical instrument including a gimbal assembly at a first end operatively coupled to a surgical tool at a second end opposite the first end;

a robotic manipulator detachably connected to the surgical instrument, the robotic manipulator including a coupler to transfer controller motion from the robotic manipulator to the surgical instrument, the coupler including

a pin having a tip with a spherical bearing surface, and

a plate supported on the spherical bearing surface of the pin with two degrees of freedom about the center of the spherical bearing surface, the plate having a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of the gimbal assembly of the surgical instrument, the plate including a pin receiving portion that extends outwardly from the driving surface and away from the back surface, the pin receiving portion including a spherical receiving surface to receive the spherical bearing surface of the pin, the spherical bearing surface being located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the surgical instrument.

17. The robotic surgical system of claim 16 wherein the pin receiving portion of the coupler includes a conical surface that extends from the spherical bearing surface to the back surface.

18. The robotic surgical system of claim 16 wherein of the plate of the coupler further includes a plurality of alignment features on the driving surface to mate with corresponding features on the first surface of the inner gimbal of the gimbal assembly of the surgical instrument.

19. The robotic surgical system of claim 18 wherein the plurality of alignment features include a raised hemispherical surface.

20. The robotic surgical system of claim 18 wherein the plurality of alignment features include a V-shaped groove.

21. The robotic surgical system of claim 16 wherein the robotic manipulator further includes an actuator mechanism to rotate the plate about the center of the spherical bearing surface in the two degrees of freedom.

22. The coupler of claim 16 further including fourth means for aligning the first means with the gimbal assembly of the driven device.

23. The coupler of claim 16 further including fifth means for rotating the first means about the center of motion in the two degrees of freedom.

24. A coupler to provide controller motion from a robotic manipulator to a driven device, the coupler comprising:

first means for transferring controller motion from the robotic manipulator to a gimbal assembly of the driven device;

second means for supporting the first means; and

third means for providing two degrees of rotational freedom about a center of motion for the first means that coincides with an intersection of gimbal assembly axes of the driven device.