Instrument device manipulator with back-mounted tool attachment mechanism
First Claim
1. A surgical instrument manipulation system comprising:
- a surgical arm configured to secure to a base;
a surgical tool holder assembly comprising;
a surgical tool holder having a first opening and a second opening, the first opening and second opening connected by a passage therethrough, andan attachment interface on a first end of the surgical tool holder; and
a surgical tool comprising;
a reciprocal attachment interface on a first face of the surgical tool,an attachment mechanism configured to releasably attach the reciprocal attachment interface to the attachment interface of the surgical tool holder, andan elongated body extending from the first face of the surgical tool, the elongated body capable of passing through the passage of the surgical tool holder and extending through the second opening when the surgical tool is attached to the surgical tool holder.
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Accused Products
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.
380 Citations
19 Claims
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1. A surgical instrument manipulation system comprising:
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a surgical arm configured to secure to a base; a surgical tool holder assembly comprising; a surgical tool holder having a first opening and a second opening, the first opening and second opening connected by a passage therethrough, and an attachment interface on a first end of the surgical tool holder; and a surgical tool comprising; a reciprocal attachment interface on a first face of the surgical tool, an attachment mechanism configured to releasably attach the reciprocal attachment interface to the attachment interface of the surgical tool holder, and an elongated body extending from the first face of the surgical tool, the elongated body capable of passing through the passage of the surgical tool holder and extending through the second opening when the surgical tool is attached to the surgical tool holder. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for attaching a surgical tool to a surgical tool holder assembly, the method comprising:
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passing an elongated body of the surgical tool through a passage of the surgical tool holder assembly, the surgical tool holder having a first opening and a second opening, the first opening and second opening connected by the passage therethrough; advancing the elongated body of the surgical tool through the passage of the surgical tool holder until an attachment mechanism of the surgical tool secures the surgical tool to the surgical tool holder assembly and a distal end of the elongated body extends through the second opening; operating the surgical tool using the surgical tool holder assembly; releasing the surgical tool from the surgical tool holder assembly; and removing the elongated body of the surgical tool from the passage. - View Dependent Claims (17, 18, 19)
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Specification