Covidien LP

Tyco Healthcare Group LP

Brian A Rockrohr

Jaroslaw T Malkowski

Elias Hartoumbekis

Jaimeen Kapadia

Paul D Richard

Gregory W Fischvogt

Gene A Stellon

Sally L Carter

Michael A Zemlok

Chi Min Seow

Robert C Smith

Michael J Bettuchi

Eric J Taylor

Stanislaw Z Marczyk

Russell Pribanic

Russell S Heinrich

Brian J Creston

Adam Ross

Dwight Meglan

Michael Lawrence Davis

Robert Pedros

Thomas A Zammataro

Mark H MacLeod

Christopher M Meehan

Christopher Switalski

Ernest A Addi

Michael K Davis

Jiqi Cheng

Matthew Hartzsch

Alok Agrawal

Colin Murphy

Brian K Wells

Farrukh Rahman

Adam J Ross

A surgical robotic arm includes an instrument having a plurality of cables that are movable longitudinally and an end effector movable by the cables. The surgical robotic arm also includes a drive unit having a plurality of motors each of which is configured to move one of the cables and a plurality of torque sensors, each of which is configured to measure torque output by one of the motors. The surgical robotic arm also includes a controller configured to receive a torque measurement from each of the torque sensors and control each of the motors to apply a minimum torque to maintain a minimum tension on each of the cables based on the torque measurement from each of the torque sensors.

Surgical robotic system for controlling wristed instruments

A surgical instrument for use with and for selective connection to an instrument drive unit includes an end effector, an instrument drive connector including a plurality of drive assemblies, and a plurality of drive members in mechanical cooperation with the instrument drive connector and the end effector. Each drive assembly of the plurality of drive assemblies includes a drive screw including an elongated threaded body and a drive nut threadedly engaged with the elongated threaded body of the drive screw such that rotation of the drive screw results in longitudinal movement of the drive nut. Each drive member of the plurality of drive members includes a proximal end portion secured to a respective drive nut of one of the plurality of drive assemblies such that longitudinal translation of the respective drive nut causes longitudinal translation of the drive member to drive a function of the end effector.

Robotic surgical assemblies

A robotic surgical system includes an electrosurgical energy source, an instrument drive unit, a sterile interface module coupled to the instrument drive unit, and a robotic surgical instrument selectively couplable to the sterile interface module. The robotic surgical instrument may be disposed in electrical communication with the electrosurgical energy source while the robotic surgical instrument is coupled to the sterile interface module. The robotic surgical instrument is configured to automatically electrically disconnect from the electrosurgical energy source when the robotic surgical instrument is uncoupled from the sterile interface module.

Energy disconnect for robotic surgical assemblies

A robotic surgical system and method of selectively binding articulation limits to a surgical instrument includes detecting a proximal or a distal linear movement of the surgical instrument, calculating a distance between a tool center point of the surgical instrument after the proximal or the distal linear movement and a remote center of motion, assigning and binding an articulation limit to the surgical instrument based on the calculated distance when the detected linear movement is distal linear movement, and assigning a non-binding articulation limit to the surgical instrument based on the calculated distance when the detected linear movement is proximal a linear movement.

Binding and non-binding articulation limits for robotic surgical systems

Port apparatus

A drive assembly of an instrument drive unit, is provided. The drive assembly includes a drive screw, a drive nut, a follower, a biasing element, and a drive element. The drive nut is threadedly engaged with a threaded portion of the drive screw such that rotation of the drive screw results in longitudinal movement of the drive nut. The follower is longitudinally slidable with respect to the drive screw. The biasing element is disposed in mechanical cooperation with the drive nut and the follower. The drive element is disposed in mechanical cooperation with the follower. Longitudinal translation of the drive element is configured to drive a function of the surgical instrument.

Robotic surgical systems, instrument drive units, and drive assemblies

A robotic system includes an electrosurgical generator; an electrosurgical instrument including an electrosurgical connector; and a robotic arm having an instrument drive unit coupled to the electrosurgical instrument. The instrument drive unit includes a drive unit housing having: an electrosurgical receptacle coupled to the electrosurgical generator and configured to engage the electrosurgical connector; an activation link configured to engage the electrosurgical connector; and a detection switch actuatable by the actuation link upon being engaged by the electrosurgical connector.

Electrosurgical robotic system having tool presence detection

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.

Wrist and jaw assemblies for robotic surgical systems

A robotic surgical system includes a controller, a surgical instrument supporting an end effector, and one or more connector members coupled to the end effector and movable to operate the end effector. Memory is operably coupled to the controller and is configured to maintain reference data of the one or more connector members. A sensor is secured to the one or more connector members and is disposed in electrical communication with the controller. The sensor is configured to register real-time data of the one or more connector members and communicate the real-time data to the controller. The controller is configured to compare the real-time data to the reference data and provide an output signal in response to a comparison of the real-time data to the reference data. A pair of connector members may be coupled to the end effector to impart three outputs.

Measuring health of a connector member of a robotic surgical system

A sterile interface module for coupling an electromechanical robotic surgical instrument to a robotic surgical assembly is provided. The surgical instrument includes an end effector and is configured to be actuated by the robotic surgical assembly. The sterile interface module includes a body member and a drive assembly. The body member is configured to selectively couple the surgical instrument to the robotic surgical assembly. The body member is formed of a dielectric material. The drive assembly is supported within the body member and is configured to transmit rotational forces from the robotic surgical assembly to the surgical instrument to actuate the surgical instrument to enable the surgical instrument to perform a function.

A surgical clip applier is provided including a channel assembly and overlying a clip carrier having a clip counter plate slidably supported in the channel assembly, wherein the clip counter plate is configured and adapted to display a change in status of the clip applier upon actuation of the handle.

Surgical clip applier with integrated clip counter

An instrument drive assembly includes a housing assembly and a coupling assembly. The housing assembly includes a drive assembly. The coupling assembly releasably couples an instrument drive shaft to a drive member of the drive assembly and an instrument sleeve of the surgical instrument to the housing assembly. Actuation of a retention mechanism of the coupling assembly between a locked and unlocked configuration couples and decouples the instrument sleeve of the surgical instrument therewith.

Robotic surgical systems and instrument drive assemblies

Growing community of inventors

Guilford, CT, United States of America

Brian A Rockrohr