Covidien LP

Mark H MacLeod

Chi Min Seow

Jaimeen Kapadia

Michael A Zemlok

Richard S Lech

Brock Kopp

Philip J Irka

Mike Zemlok

Josiah Rosmarin

Eric J Taylor

Brian A Rockrohr

Shane Reardon

Ranjan Mishra

Elizabeth Gayle Shields

Vipul Agarwal

Raymond P Pennoyer, Iv

A surgical robotic assembly includes an instrument drive unit including a housing defining a longitudinal channel, a plurality of motors for performing functions of a surgical instrument, and a designated motor for rotating the instrument drive unit and the surgical instrument when the surgical instrument is attached to the instrument drive unit. The instrument drive unit allows for a top-loading or a side-loading of the surgical instrument thereto.

Robotic surgical assemblies

An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.

A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Robotic surgical system torque transduction sensing

A method of calibrating a torque sensor for a motor with a controller includes determining a gain of the torque sensor, zeroing a torque reading of the torque sensor, accelerating the motor at a known rate, and determining an inertia of the motor in response to accelerating the motor. Zeroing the torque reading occurs when the motor is in an unloaded and unactivated condition and accelerating the motor occurs when the motor is in an unloaded condition.

Method of calibrating torque sensors of instrument drive units of a surgical robot

A drape management assembly for a robotic surgical system includes a clip having a base portion configured for selective connection to the robotic surgical system and a grasping portion extending from the base portion. The base portion and the grasping portion may define a cavity therebetween. The base portion and the grasping portion may be arranged to retain a quantity of a surgical drape in the cavity to minimize an excess quantity of a surgical drape sheathed over a robotic arm of the robotic surgical system.

Drape management assembly for robotic surgical systems

A robotic surgical system includes a slide rail, a surgical instrument, and a robotic surgical assembly. The robotic surgical assembly is coupled to the slide rail and translatable along the slide rail between a first position and a second position. The robotic surgical assembly is coupled to the surgical instrument. The robotic surgical assembly, or a portion thereof, is configured to automatically rotate to a predetermined orientation relative to the slide rail when the robotic surgical assembly is disposed at the first position to enable the surgical instrument to be selectively uncoupled from the robotic surgical assembly.

Robotic surgical instrument including instrument rotation based on translation position

A surgical instrument holder includes a carriage, a housing, and a drive assembly. The carriage is configured for engagement to a surgical robotic arm and for supporting an instrument drive unit. The housing extends from the carriage and defines a channel. The drive assembly includes a pulley, a belt, and an annular member. The pulley is rotatably disposed within the housing and in operable engagement with a motor of the carriage such that actuation of the motor rotates the pulley. The belt is rotatably disposed within the housing and in operable engagement with the pulley such that rotation of the pulley effects rotation of the belt. The annular member is disposed within the channel of the housing and configured for non-rotatable receipt of an instrument drive unit. The annular member is in operable engagement with the belt such that rotation of the belt effects rotation of the annular member.

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 torque transducer for mounting a motor includes a mounting flange, a motor flange, a body, and a strain gauge. The mounting flange is configured to secure the torque transducer to a fixed structure. The motor flange is configured to secure to a motor. The body interconnects the mounting and motor flanges. The body defines a channel about a longitudinal axis of the body and is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the motor. The strain gauge is positioned on the body to measure flexation of the body.

Robotic surgical assemblies and adapter assemblies thereof

A drape for covering a robotic surgical system includes a first end portion, a second end portion, and an intermediate portion extending between the first and second end portion. The first end portion defines a cavity therein and has an outer surface and an inner surface and defines an inlet through the outer and inner surfaces. The cavity is dimensioned for receipt of an instrument drive unit and is in fluid communication with the inlet. The second end portion has an outer surface and an inner surface and defines an outlet through the outer and inner surfaces. The second end portion defines a cavity therein that is in fluid communication with the outlet. The intermediate portion defines an elongated conduit therethrough dimensioned for receipt of a surgical robotic arm.

Robotic surgical systems and drapes for covering components of robotic surgical systems

A sterile interface module includes a body member that couples a surgical instrument to a robotic surgical assembly, a first drive transfer assembly supported by the body member, and a rotatable collar supported on the body member. The first drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler is engagable with the robotic surgical assembly and the transfer shaft is engagable with the surgical instrument. The drive coupler and the transfer assembly are robotically movable to operate an end effector of the surgical instrument. The rotatable collar is operably associated with the first drive transfer assembly and is manually movable relative to the body member to manually operate the end effector of the surgical instrument.

A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.

An instrument drive unit includes a housing configured to be coupled to a surgical robotic arm, a motor assembly, and a flex spool assembly. The motor assembly is rotatably disposed within the housing. The flex spool assembly includes a first printed circuit board mounted to the housing, a second printed circuit board configured to be non-rotatably coupled to and electrically connected to the motor assembly, and a first flex circuit. The first flex circuit has a first end portion connected to the first printed circuit board, a second end portion connected to the second printed circuit board, and an intermediate portion coiled about the second printed circuit board such that rotation of the motor assembly relative to the housing effects movement of the second end portion of the first flex circuit along an annular path.

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Brookfield, CT, United States of America

Mark H MacLeod