Instrument interface of a robotic surgical system
First Claim
1. An instrument interface of a telesurgical manipulator, comprising:
- an instrument input includingan elongated input bar having a length dimension greater than a width dimension, the elongated input bar adapted to transfer an axial load and torque to a sterile adaptor configured to operably couple an instrument;
a spring member defining a load axis extending therethrough and adapted to provide the axial load to the elongated input bar along the load axis, wherein the load axis of the spring member is oriented orthogonally to the length dimension of the elongated input bar;
an output pulley adapted to provide the torque to the input bar;
a shaft, extending through the spring member, the shaft being rigidly coupled to the elongated input bar and movably coupled to the output pulley; and
a slide unit coupled between the shaft and the output pulley, the slide unit adapted to transfer the torque from the output pulley to the shaft and adapted to translate axially along the shaft.
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Abstract
An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including 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 integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
333 Citations
18 Claims
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1. An instrument interface of a telesurgical manipulator, comprising:
an instrument input including an elongated input bar having a length dimension greater than a width dimension, the elongated input bar adapted to transfer an axial load and torque to a sterile adaptor configured to operably couple an instrument; a spring member defining a load axis extending therethrough and adapted to provide the axial load to the elongated input bar along the load axis, wherein the load axis of the spring member is oriented orthogonally to the length dimension of the elongated input bar; an output pulley adapted to provide the torque to the input bar; a shaft, extending through the spring member, the shaft being rigidly coupled to the elongated input bar and movably coupled to the output pulley; and a slide unit coupled between the shaft and the output pulley, the slide unit adapted to transfer the torque from the output pulley to the shaft and adapted to translate axially along the shaft. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A telerobotic surgical manipulator system, comprising:
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a manipulator assembly, including; 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 including; an instrument input including an input bar adapted to transfer an axial load and torque to a sterile adaptor configured to operably couple an instrument; a spring member adapted to provide the axial load to the input bar; an output pulley adapted to provide the torque to the input bar; a shaft that extends through the spring member, the shaft being coupled to the input bar and the output pulley; and a slide unit coupled between the shaft and the output pulley and adapted to transfer the torque from the output pulley to the shaft. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. An instrument interface of a telesurgical manipulator, comprising:
an instrument input including an elongated input bar having a length dimension greater than a width dimension, the elongated input bar adapted to transfer an axial load and torque to a sterile adaptor configured to operably couple an instrument; a spring member defining a load axis extending therethrough and adapted to provide the axial load to the elongated input bar along the load axis, the spring member positioned on a first side of the elongated input bar; a first projection and a second projection protruding from a surface of a second side of the elongated input bar, the first side and the second side being opposite sides of elongated input bar, and wherein the first projection and the second projection are offset from the load axis by different lengths to facilitate rotational alignment with a disc disposed in between the instrument input and an instrument; and an output pulley adapted to provide the torque to the input bar. - View Dependent Claims (17, 18)
Specification