Surgical robotic system
View Patent ↗In one embodiment, a surgical robotic system includes a main controller and a motor unit assembly that is associated with a robot and is in communication with the main controller. The motor unit assembly has a non-sterile motor unit and a sterile enclosure that surrounds and contains the motor unit. The motor unit includes at least one motor and a motor controller that is operatively connected to the motor unit, wherein the motor unit and the enclosure are configured to permit attachment between the motor unit and the controller.
1. A robotic assisted surgical system comprising:
a computer;
a robot;
a main controller in communication with the computer and the robot; and
a motor unit assembly that is associated with the robot and is in communication with the main controller, the motor unit assembly having:
a non-sterile motor unit that includes at least one motor and a motor controller that is operatively connected to the at least one motor, and
a sterile enclosure that surrounds and contains the non-sterile motor unit, the sterile enclosure including:
first and second parts that are detachable from one another in which each part includes a sterile outer surface, while an inner surface of each part is non-sterile due to the presence of the non-sterile motor unit, the first part being a hollow enclosure base that receives the non-sterile motor unit and includes a first seal member at one end thereof and the second part being an enclosure cover that mates with the enclosure base for capturing the non-sterile motor unit therebetween, the enclosure cover having a second seal member that mates with the first seal member for providing a seal,
wherein the non-sterile motor unit, enclosure base and enclosure cover have an asymmetrical feature that allows the non-sterile motor unit to be inserted into the enclosure base in only one unique direction and the enclosure cover to be assembled on the enclosure base in only one unique direction.
2. The system of claim 1 , wherein the non-sterile motor unit includes a pair of motors each of which has a drive shaft and the enclosure includes a pair of output shafts that are coupled to the drive shaft of the pair of motors when the non-sterile motor unit is in a fully assembled position within the enclosure.
3. The system of claim 2 , wherein the enclosure includes an interface for coupling the pair of motors to the output shafts of the enclosure, the interface permitting engagement of the respective drive shafts of the pair of motors regardless of an angular position of the drive shafts.
4. The system of claim 1 , wherein the non-sterile motor unit includes a first connector and the enclosure includes a second connector that mates with the first connector when the enclosure is sealed, wherein the second connector is attached to the main controller with a cable.
5. The system of claim 1 , wherein the non-sterile motor unit includes a battery and is in wireless communication with the robot.
6. A surgical robotic system comprising:
a motor unit assembly that is associated with a robot for use in a sterile surgical field, the motor unit assembly having:
a non-sterile motor unit that includes a pair of motors each of which has a drive shaft and a motor controller;
a sterile enclosure that surrounds and contains the non-sterile motor unit, the sterile enclosure including a pair of output shafts that are coupled to the drive shafts of the pair of motors when the non-sterile motor unit is in a fully assembled position within the enclosure; and
an interface for coupling the non-sterile motor unit to the output shafts of the enclosure, the interface including a plurality of teeth arranged radially for allowing engagement of the respective output shafts at any angle, and wherein the interface permits engagement of the respective drive shafts of the pair of motors regardless of an angular position of the drive shafts.
7. A surgical robotic system comprising:
a motor unit assembly that is associated with a robot for use in a sterile surgical field, the motor unit assembly including:
a non-sterile motor unit having at least one motor and a motor controller, and
a sterile enclosure that surrounds and contains the non-sterile motor unit, the sterile enclosure including:
first and second parts that are detachable from one another in which each part includes a sterile outer surface, while an inner surface of each part is non-sterile due to the presence of the non-sterile motor unit, the first part being a hollow enclosure base that receives the non-sterile motor unit and includes a first seal member at one end thereof and the second part being an enclosure cover that mates with the enclosure base for capturing the non-sterile motor unit therebetween, the enclosure cover having a second seal member that mates with the first seal member for providing a seal,
wherein the non-sterile motor unit, enclosure base and enclosure cover have an asymmetrical feature that allows the non-sterile motor unit to be inserted into the enclosure base in only one unique direction and the enclosure cover to be assembled on the enclosure base in only one unique direction.
8. A surgical robotic system comprising:
a motor unit assembly that is associated with a robot for use in a sterile surgical field, the motor unit assembly including:
a non-sterile motor unit having at least one motor and a motor controller, and
a sterile enclosure that surrounds and contains the non-sterile motor unit,
wherein the non-sterile motor unit includes gears and shafts that interface with the sterile enclosure and are supported by bearings, thereby providing smooth and accurate positioning qualities, and
wherein the non-sterile motor unit includes at least one accurately supported output shaft that is coupled with at least one floating enclosure output shaft, whereby after coupling the enclosure output shaft rotates about rotational axes of the accurately supported non-sterile motor unit output shaft.
9. The surgical robotic system of claim 7 , wherein the motor unit assembly further includes an insertion guide having a central opening for receiving the non-sterile motor unit therethrough and mates with one of the first and second parts of the sterile enclosure.
10. The system of claim 1 , wherein the motor unit assembly further includes an insertion guide having a central opening for receiving the passage of the non-sterile motor unit therethrough and mates with a lip of the first part of the sterile enclosure.
11. The surgical robotic system of claim 6 , wherein the non-sterile motor unit includes a first connector and the sterile enclosure includes a second connector that mates with the first connector for operatively connecting the non-sterile motor unit to a main controller via a cable.
12. The surgical robotic system of claim 6 , wherein the non-sterile motor unit includes hall sensors for communication encoders for position measurement, the motor controller being connected to the at least one motor.
13. The surgical robotic system of claim 8 , wherein the non-sterile motor unit includes a pair of motors each of which has a drive shaft and the enclosure includes a pair of output shafts that are coupled to the drive shaft of each of the pair of motors when the non-sterile motor unit is in a fully assembled position within the enclosure.
14. The surgical robotic system of claim 13 , wherein the enclosure includes an interface for coupling the pair of motors to the output shafts of the enclosure, the interface permitting engagement of the respective drive shafts of the pair of motors regardless of an angular position of the drive shafts.
15. The surgical robotic system of claim 14 , wherein the interface comprises a plurality of teeth arranged radially for allowing engagement of the respective drive shafts at any angle.
16. The surgical robotic system of claim 8 , wherein the non-sterile motor unit includes a first connector and the sterile enclosure includes a second connector that mates with the first connector for operatively connecting the non-sterile motor unit to a main controller via a cable.
17. The surgical robotic system of claim 8 , wherein the non-sterile motor unit includes hall sensors for communication encoders for position measurement, the motor controller being connected to the at least one motor.
18. The surgical robotic system of claim 7 , wherein one of the first and second seal members is a flange or a lip and the other of the first and second seal members is an elastic member, gasket or O-ring.
19. The surgical robotic system of claim 7 , wherein each of the first and second seal members is a flange, a lip, an elastic member, a gasket or an O-ring.
20. The surgical robotic system of claim 7 , wherein the non-sterile motor unit includes a pair of motors each of which has a drive shaft and the enclosure includes a pair of output shafts that are coupled to the drive shaft of each of the pair of motors when the non-sterile motor unit is in a fully assembled position within the enclosure.
21. The surgical robotic system of claim 20 , wherein the enclosure includes an interface for coupling the the pair of motors to the output shafts of the enclosure, the interface permitting engagement of the respective drive shafts of the pair of motors regardless of an angular position of the drive shafts.
22. The surgical robotic system of claim 21 , wherein the interface comprises a plurality of teeth for allowing engagement of the respective drive shafts of the pair of motors at any angle.
23. The surgical robotic system of claim 7 , wherein the non-sterile motor unit includes a first connector and the enclosure cover includes a second connector that mates with the first connector for operatively connecting the non-sterile motor unit to a main controller via a cable.
24. The surgical robotic system of claim 7 , wherein the non-sterile motor unit includes hall sensors for communication encoders for position measurement, the motor controller being connected to the at least one motor.
25. The surgical robotic system of claim 23 , wherein a connection between the at least one motor and the respective motor controller is fully contained within the enclosure and is remote from the main controller.
26. The surgical robotic system of claim 7 , further comprising a computer assisted surgical system that includes a computer that is configured to send a positioning command from the computer to a main controller in communication with the motor unit assembly via a first cable and according to a first communication protocol, wherein the first communication protocol is converted into a first signal using a converter, the first signal being delivered to the motor controller that is located in the non-sterile motor unit via a second cable.
27. The surgical robotic system of claim 26 , wherein the motor controller in the non-sterile motor unit converts the signal to a low level second signal that commands the at least one motor to move to a desired position.
28. The surgical robotic system of claim 27 , wherein the first cable comprises a USB cable, the first communication protocol comprises USB protocol, the first signal comprises CAN bus signal, the converter comprises a USB-to-CAN converter, and the second signal comprises low level hall sensor communication pulses and motor phase signals.
29. The surgical robotic system of claim 7 , wherein the non-sterile motor unit contains gears and shafts contained within the non-sterile motor unit which interface with the enclosure and are supported by bearings, thereby providing smooth and accurate positioning qualities.
30. The surgical robotic system of claim 29 , wherein the non-sterile motor unit contains at least one accurately supported output shaft that is coupled to at least one floating enclosure output shaft, whereby after coupling the enclosure output shaft rotates about rotational axes of the accurately supported motor unit output shaft.