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 tool holder assembly comprising:
a surgical tool holder having a first side and a second side, the first side forming an attachment interface for attachment to a corresponding attachment interface of a surgical tool;
a first opening on the first side of the surgical tool holder;
a second opening on the second side of the surgical tool holder;
a passage extending along a passage axis between the first opening and the second opening such that an elongate body of a surgical tool can be inserted through the first opening, the passage, and the second opening; and
a plurality of torque couplers protruding outwards from the attachment interface along axes substantially parallel to the passage axis and positioned about the first opening.
2. The surgical tool holder assembly of claim 1 , wherein each torque coupler is capable of transitioning between a first state of protruding outwards from the surgical tool holder and a second state of retracting into the surgical tool holder.
3. The surgical tool holder assembly of claim 2 , further comprising an actuation mechanism configured to control a transition between the first state and the second state.
4. The surgical tool holder assembly of claim 1 , further comprising a plurality of actuators, each of the plurality of actuators coupled to a respective one of the plurality of torque couplers and configured to drive rotation of the respective one of the plurality torque couplers about an axis substantially parallel to the passage axis in response to a control signal.
5. The surgical tool holder assembly of claim 1 , further comprising a sterile adapter configured for attachment between the attachment interface of the surgical tool holder and the corresponding attachment interface of the surgical tool.
6. The surgical tool holder assembly of claim 5 , wherein the sterile adapter comprises a second plurality of torque couplers, a first side of each torque coupler of the second plurality of torque couplers configured to engage with a torque coupler of the attachment interface of the surgical tool holder and a second side of each torque coupler configured to engage with a respective instrument input of the surgical tool.
7. The surgical tool holder assembly of claim 6 , wherein each torque coupler of the second plurality of torque couplers is capable of transitioning between a first state of protruding outwards from the sterile adapter and a second state of retracting into the sterile adapter.
8. The surgical tool holder assembly of claim 1 , wherein each of the plurality of torque couplers is coupled to one or more biasing members that are configured to bias each of the torque couplers into a first state of protruding outwards from the surgical tool holder.
9. The surgical tool holder assembly of claim 1 , wherein the surgical tool holder is configured to rotate relative to a base that mounts the surgical tool holder to a robotic arm.
10. The surgical tool holder assembly of claim 1 , wherein the surgical tool holder is configured to rotate within an outer housing about a rotational axis coaxial with the passage axis, wherein each of the plurality of torque couplers is configured to rotate with the surgical tool holder about the rotational axis.
11. The surgical tool holder assembly of claim 10 , wherein the rotational axis is coaxial with a longitudinal axis of an elongated body of the surgical tool extending through the passage.
12. The surgical tool holder assembly of claim 1 , further comprising:
an outer housing circumscribing the surgical tool holder; and
a stator gear that is structured as a ring including gear teeth along the inner circumference of the ring, wherein the stator gear is configured to remain stationary relative to the outer housing.
13. The surgical tool holder assembly of claim 12 , comprising a drive mechanism coupled to a rotor gear that is configured to mate with the stator gear such that rotation of the rotor gear causes the surgical tool holder to rotate relative to the stator gear.
14. The surgical tool holder assembly of claim 1 , further comprising one or more slip rings configured to deliver electrical power and signals to the surgical tool holder.
15. The surgical tool holder assembly of claim 14 , further comprising a plurality of encoder boards secured within the surgical tool holder.
16. The surgical tool holder assembly of claim 15 , wherein each encoder board is configured to read and process signals relayed through the one or more slip rings.
17. A surgical tool holder assembly comprising:
a surgical tool holder having a first side and a second side, the first side forming an attachment interface for attachment to a corresponding attachment interface of a surgical tool;
a first opening on the first side of the surgical tool holder
a second opening on the second side of the surgical tool holder;
a passage extending along a passage axis between the first opening and the second opening such that an elongate body of a surgical tool can be inserted through the first opening, the passage, and the second opening;
a torque coupler protruding outwards from the attachment interface along an axis substantially parallel to the passage axis and positioned about the first opening, the torque coupler configured to transition between a first state of protruding outwards from the surgical tool holder and a second state of retracting at least partially into the surgical tool holder; and
an actuation mechanism configured to control a transition between the first state and the second state.
18. The surgical tool holder assembly of claim 17 , further comprising an actuator coupled to the torque coupler and configured to drive rotation of the torque coupler in response to a control signal.
19. The surgical tool holder assembly of claim 17 , wherein the torque coupler is coupled to one or more biasing members that are configured to bias the torque coupler into the first state of protruding outwards from the surgical tool holder.
20. The surgical tool holder assembly of claim 17 , wherein the surgical tool holder is configured to rotate relative to a base that mounts the surgical tool holder to a robotic arm.
21. The surgical tool holder assembly of claim 17 , wherein the surgical tool holder is configured to rotate within an outer housing about a rotational axis coaxial with the passage axis, wherein the torque coupler is configured to rotate with the surgical tool holder about the rotational axis.
22. The surgical tool holder assembly of claim 21 , wherein the rotational axis is coaxial with a longitudinal axis of an elongated body of the surgical tool extending through the passage.
23. A surgical tool holder assembly comprising:
a housing;
a stator gear structured as a ring including gear teeth along an inner circumference of the ring, the stator gear configured to remain stationary relative to the housing;
a surgical tool holder configured to rotate relative to the housing, the surgical tool holder having a first side and a second side, the first side forming an attachment interface for attachment to a corresponding attachment interface of a surgical tool;
a first opening on the first side of the surgical tool holder;
a second opening on the second side of the surgical tool holder;
a passage extending along a passage axis between the first opening and the second opening such that an elongate body of a surgical tool can be inserted through the first opening, the passage, and the second opening; and
a plurality of torque couplers protruding outwards from the attachment interface and positioned about the first opening.