Instrument device manipulator with roll 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 a proximal extension of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the proximal extension 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 proximal extension of the tool and allows free rotation of the proximal extension 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 device manipulator comprising:
a surgical arm operable by a surgical robotics system;
a base fixedly connected to the surgical arm;
a surgical tool holder assembly comprising:
a housing attached to the base;
a surgical tool holder that is rotatably mounted to the housing, the surgical tool holder configured to removably attach to a surgical tool such that the surgical tool is fixed to the surgical tool holder when the surgical tool is attached; and
at least one drive mechanism configured to rotate the surgical tool holder and the surgical tool relative to the housing about a rotational axis that is coaxially aligned with an elongated body of the surgical tool when the surgical tool holder is removably attached to the surgical tool.
2. The surgical instrument device manipulator of claim 1 , wherein the surgical tool holder comprises a passage extending therethrough that is co-axially aligned with the rotational axis.
3. The surgical instrument device manipulator of claim 1 , further comprising a slip ring configured to deliver electrical power and signals from the housing to the surgical tool holder.
4. The surgical instrument device manipulator of claim 1 , wherein the surgical tool holder assembly comprises a stator gear that is structured as a ring including gear teeth along the inner circumference of the ring, where the stator gear is fixedly attached to the housing.
5. The surgical instrument device manipulator of claim 4 , wherein the at least one drive mechanism is coupled to a rotor gear that is configured to mate with the stator gear of the surgical tool holder assembly such that rotation of the rotor gear causes the surgical tool holder to rotate relative to the stator gear and the housing.
6. The surgical instrument device manipulator of claim 1 , wherein the surgical tool holder comprises a plurality of encoder boards, each encoder board is configured to read and process signals relayed through a slip ring configured to deliver electrical power and signals from the base to the surgical tool holder.
7. The surgical instrument device manipulator of claim 1 , further comprising at least one bearing configured to facilitate rotation of the surgical tool holder about the rotational axis.
8. The surgical instrument device manipulator of claim 1 , further comprising a power transmitter and wherein the surgical tool comprises a power receiver configured to receive power inductively from the power transmitter.
9. The surgical instrument device manipulator of claim 1 , further comprising a plurality of optical transmitters and a plurality of optical receivers, and wherein the surgical tool comprises a plurality of respective optical transmitters and a plurality of respective optical receivers.
10. The surgical instrument device manipulator of claim 9 , wherein at least one pair of an optical transmitter and an optical receiver is configured to transfer data from the surgical tool to the surgical instrument device manipulator.
11. The surgical instrument device manipulator of claim 9 , wherein at least one pair of an optical transmitter and an optical receiver is configured to transfer data from the manipulator to the surgical tool.
12. The surgical instrument device manipulator of claim 1 , wherein a wireless point-to-point data connection is used for high bandwidth communication from the surgical instrument device manipulator to the surgical robotic system.
13. The surgical instrument device manipulator of claim 1 , wherein an optical transmitter of the surgical tool may be configured to transmit a signal to an optical receiver of the surgical tool holder, wherein the signal is used to determine the orientation of the surgical tool with respect to the surgical tool holder.
14. The surgical instrument device manipulator of claim 1 , wherein a surgical drape for the surgical instrument device manipulator comprises a sterile adapter that is positioned between the surgical tool holder and the surgical tool attached to the surgical tool holder such that the sterile adapter configured to rotate with the surgical tool holder and the surgical tool.
15. The surgical instrument device manipulator 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. The surgical instrument device manipulator of claim 1 , wherein the surgical tool holder is configured for continuous roll relative to the housing.
17. The surgical instrument device manipulator of claim 1 , wherein the housing fully circumscribes the surgical tool holder.
18. The surgical instrument device manipulator of claim 1 , wherein the surgical tool holder comprises at least one torque coupler that is configured to engage with a respective instrument input on the surgical tool.
19. The surgical instrument device manipulator of claim 18 , further comprising the surgical tool and wherein rotation of the at least one torque coupler causes rotation of a respective instrument input of the surgical tool to control an end-effector of the surgical tool.
20. The surgical instrument device manipulator of claim 18 , wherein an outer surface of the at least one torque coupler includes a spline interface.