Robotic surgical systems having a fixed roll insertion guide
A robotic surgical system includes a surgical tool including a drive housing having first and second ends, a carriage movably mounted to the drive housing, and an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end. An instrument driver is arranged at an end of a robotic arm and includes a body having proximal and distal ends and defining a central aperture extending between the proximal and distal ends, the shaft and the end effector penetrate the instrument driver by extending through the central aperture, an outer housing extending between the proximal and distal ends, a tool drive assembly provided at the proximal end and extending into the outer housing, and a drive motor operatively coupled to the tool drive assembly and operable to cause the tool drive assembly to rotate relative to the outer housing.
1. A robotic surgical system, comprising:
a surgical tool including:
a drive housing having a first end, a second end, and a carriage movably mounted to the drive housing between the first and second ends; and
an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof; and
an instrument driver arranged at an end of a robotic arm and including:
a body having a proximal end, a distal end, and defining a central aperture extending between the proximal and distal ends, wherein the shaft and the end effector penetrate the instrument driver by extending through the central aperture;
an outer housing extending at least partially between the proximal and distal ends;
a tool drive assembly provided at the proximal end and extending into the outer housing;
a drive motor operatively coupled to the tool drive assembly;
a stator gear arranged within the outer housing and fixed to the tool drive assembly; and
a rotor gear driven by the drive motor and matable with the stator gear,
wherein the drive motor is operable to drive the rotor gear against the stator gear and thereby cause tool drive assembly to rotate about a central axis relative to the outer housing, and
wherein the first end of the drive housing is operatively coupled to the tool drive assembly whereby rotation of the tool drive assembly correspondingly rotates the surgical tool about the central axis in the same angular direction.
2. The robotic surgical system of claim 1 , wherein the tool drive assembly provides one or more drive outputs matable with one or more drive inputs provided at the first end of the drive housing, and wherein rotating the tool drive assembly about the central axis correspondingly rotates the one or more drive outputs and the one or more drive inputs about the central axis.
3. The robotic surgical system of claim 2 , wherein each drive output is driven by a corresponding actuator mounted to the tool drive assembly and rotatable about the central axis as the tool drive assembly rotates.
4. The robotic surgical system of claim 2 , wherein the surgical tool further includes at least one spline extending between the first and second ends and the carriage is movably mounted to the at least one spline, and wherein the at least one spline is operatively coupled to at least one of the one or more drive inputs such that rotation of the at least one of the one or more drive inputs correspondingly rotates the at least one spline.
5. The robotic surgical system of claim 2 , wherein the surgical tool further includes a lead screw extending between the first and second ends and the carriage is movably mounted to the lead screw at a carriage nut secured to the carriage, and wherein the lead screw is operatively coupled to at least one of the one or more drive inputs such that rotation of the at least one of the one or more drive inputs correspondingly rotates the lead screw.
6. The robotic surgical system of claim 1 , wherein the instrument driver further includes a slip ring coupled to the outer housing to facilitate transfer of electrical power and signals from the robotic arm to the tool drive assembly to operate the surgical tool.
7. The robotic surgical system of claim 1 , wherein the tool drive assembly provides one or more interlocking features matable with one or more complementary-shaped pockets provided at the first end of the drive housing to operatively couple the surgical tool to the instrument driver.
8. The robotic surgical system of claim 1 , wherein the instrument driver further includes an inner conduit that defines the central aperture and is coupled to the tool drive assembly such that rotation of the tool drive assembly correspondingly rotates the inner conduit about the central axis.
9. The robotic surgical system of claim 1 , wherein the instrument driver further includes a plurality of bearings arranged between portions of the tool drive assembly and the outer housing to allow the tool drive assembly to rotate relative to the outer housing.
10. The robotic surgical system of claim 9 , wherein the instrument driver further includes:
one or more seals arranged at a corresponding one or more radial interfaces between the tool drive assembly and the outer housing; and
one or more gaskets arranged at a corresponding one or more axial interfaces between the tool drive assembly and the outer housing.
11. The robotic surgical system of claim 1 , wherein the end effector is selected from the group consisting of a surgical stapler, a tissue grasper, surgical scissors, an advanced energy vessel sealer, a clip applier, a needle driver, a babcock including a pair of opposed grasping jaws, bipolar jaws, a suction irrigator, an endoscope, a laparoscope, and any combination thereof.
12. A method of operating a robotic surgical system, comprising:
positioning an instrument driver adjacent a patient, the instrument driver including:
a body having a proximal end, a distal end, and defining a central aperture extending between the proximal and distal ends;
an outer housing extending at least partially between the proximal and distal ends;
a tool drive assembly provided at the proximal end and extending into the outer housing
a stator gear arranged within the outer housing and fixed to the tool drive assembly; and
a rotor gear engageable with the stator gear;
coupling a surgical tool to the instrument driver at the proximal end, the surgical tool including:
a drive housing having a first end, a second end, and a carriage movably mounted to the drive housing between the first and second ends, wherein the first end of the drive housing is releasably coupled to the tool drive assembly at the proximal end; and
an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof, wherein the shaft and the end effector penetrate the instrument driver by extending through the central aperture;
actuating a drive motor included in the instrument driver and operatively coupled to the tool drive assembly via the rotor gear and thereby rotating the tool drive assembly about the central axis relative to the outer housing; and
rotating the surgical tool about the central axis as coupled to the tool drive assembly.
13. The method of claim 12 , further comprising:
mating one or more drive outputs of the tool drive assembly with one or more drive inputs provided at the first end of the drive housing; and
rotating the one or more drive inputs about the central axis as the tool drive assembly and the one or more drive outputs are rotated about the central axis.
14. The method of claim 13 , wherein the instrument driver further includes an actuator mounted to the tool drive assembly and operatively coupled to one of the one or more drive outputs, the method further comprising:
operating the actuator to rotate the one of the one or more drive outputs and thereby drive a corresponding one of the one or more drive inputs; and
rotating the actuator about the central axis as the tool drive assembly rotates.
15. The method of claim 13 , wherein the surgical tool further includes at least one spline extending between the first and second ends and the carriage is movably mounted to the at least one spline, and wherein the at least one spline is operatively coupled to the corresponding one of the one or more drive inputs, the method further comprising rotating the corresponding one of the one or more drive inputs and thereby rotating the at least one spline.
16. The method of claim 13 , wherein the surgical tool further includes a lead screw extending between the first and second ends and the carriage is movably mounted to the lead screw at a carriage nut secured to the carriage, and wherein the lead screw is operatively coupled to the corresponding one of the one or more drive inputs, the method further comprising:
rotating the corresponding one of the one or more drive inputs and thereby rotating the lead screw; and
moving the carriage and the carriage nut axially between the first and second ends as the lead screw rotates and thereby moving the end effector distally or proximally.
17. The method of claim 12 , further comprising transferring electrical power and signals from the robotic arm to the tool drive assembly with a slip ring coupled to the outer housing.
18. The method of claim 12 , wherein coupling the surgical tool to the instrument driver further comprises mating one or more interlocking features provided on the tool drive assembly with one or more complementary-shaped pockets provided at the first end of the drive housing.
19. The method of claim 12 , wherein actuating the drive motor further comprises:
rotating the rotor gear; and
driving against the stator gear with the rotor gear and thereby rotating the tool drive assembly about the central axis relative to the outer housing.