Instrument device manipulator with back-mounted tool attachment mechanism
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.
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, 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.
2. The system of claim 1 , wherein the surgical arm is operable by a surgical robotics system.
3. The system of claim 1 , wherein the surgical tool holder assembly further comprises an outer housing having a disk-like geometry.
4. The system of claim 1 , wherein the surgical tool holder assembly comprises at least one motor configured to rotate the surgical tool holder relative to an outer housing.
5. The system of claim 4 , wherein the passage, the elongated body of the surgical tool, and a rotational axis of the surgical tool holder assembly are co-axially aligned.
6. The system of claim 5 , wherein the passage allows the elongated body of the surgical tool to continuously rotate about the rotational axis.
7. The system of claim 1 , wherein the attachment interface comprises a plurality of torque couplers that protrudes outward from a surface of the attachment interface.
8. The system of claim 7 , wherein the reciprocal attachment interface comprises a plurality of instrument inputs that are configured to reciprocally mate with the plurality of torque couplers.
9. The system of claim 8 , wherein the drive mechanism for each torque coupler is configured to cause the torque coupler to rotate and thereby rotate the respective instrument input.
10. The system of claim 9 , wherein the plurality of drive mechanisms are arranged in a ring formation around the passage.
11. The system of claim 7 , wherein each of the plurality of torque couplers is coupled to a drive mechanism.
12. The system of claim 1 , wherein the elongated body is one of the following: a steerable tool for endoscopic applications or a rigid tool for laparoscopic applications.
13. The system of claim 1 , further comprising a surgical drape configured to create a sterile boundary between the surgical tool holder assembly and the surgical tool.
14. The system of claim 13 , wherein the surgical drape comprises a sterile adapter that is positioned between the surgical tool holder and the surgical tool attached to the surgical tool holder via the attachment interface, the sterile adapter configured to rotatably secure to the surgical tool holder.
15. The system of claim 14 , wherein the sterile adapter is capable of transmitting data, power, and electrical signals between the surgical tool holder and the surgical tool.
16. A method for attaching a surgical tool to a surgical tool holder assembly, the method comprising:
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.
17. The method of claim 16 , wherein operating the surgical tool using the surgical tool holder assembly comprises rotating the surgical tool relative to an outer housing of the surgical tool holder assembly.
18. The method of claim 16 , wherein the surgical tool holder assembly comprises an attachment interface that mates with a reciprocal attachment interface on the surgical tool via the attachment mechanism.
19. The method of claim 18 , wherein the elongated body of the surgical tool extends from the reciprocal attachment interface of the surgical tool.