Drive assembly interface
A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.
1. A surgical robot arm extending between a base and a terminal link, the terminal link being connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link and being configured to interface with a robotic surgical instrument such that a longitudinal axis of a shaft of the robotic surgical instrument is coincident with the longitudinal axis of the terminal link, wherein the terminal link comprises:
a drive assembly comprising a plurality of drive assembly interface elements configured to drive a plurality of instrument interface elements of the robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the drive assembly comprising:
a first drive assembly interface element being engageable with a first instrument interface element on the longitudinal axis of the terminal link and linearly displaceable along or parallel to the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link;
a second drive assembly interface element being engageable with a second instrument interface element along a second axis so as to drive the second instrument interface element along the second axis; and
a third drive assembly interface element being engageable with a third instrument interface element and linearly displaceable along a third axis so as to drive the third instrument interface element along the third axis,
wherein the first, second and third drive assembly interface elements are independently driveable to thereby independently drive the respective first, second and third instrument interface elements along their respective axes.
2. A surgical robot arm as claimed in claim 1 , wherein only the first drive assembly interface element is linearly displaceable along the longitudinal axis of the terminal link.
3. A surgical robot arm as claimed in claim 1 , further comprising a first guiderail constraining the displacement of the first drive assembly interface element.
4. A surgical robot arm as claimed in claim 3 , further comprising a second guiderail constraining the displacement of the second drive assembly interface element, wherein the first guiderail which constrains the displacement of the first drive assembly interface element is the same guiderail as the second guiderail.
5. A surgical robot arm as claimed in claim 4 , further comprising a third guiderail constraining the displacement of the third drive assembly interface element, wherein the third guiderail is a different guiderail to the guiderail which constrains the displacement of the first drive assembly interface element and the second drive assembly interface element.
6. A surgical robot arm as claimed in claim 3 , wherein the first drive assembly interface element is configured to slide along the first guiderail.
7. A surgical robot arm as claimed in claim 1 , wherein the second axis is parallel to the longitudinal axis of the terminal link.
8. A surgical robot arm as claimed in claim 1 , further comprising a second guiderail constraining the displacement of the second drive assembly interface element.
9. A surgical robot arm as claimed in claim 8 , wherein the second drive assembly interface element is configured to slide along the second guiderail.
10. A surgical robot arm as claimed in claim 1 , wherein the third axis is parallel to the longitudinal axis of the terminal link.
11. A surgical robot arm as claimed in claim 1 , further comprising a third guiderail constraining the displacement of the third drive assembly interface element.
12. A surgical robot arm as claimed in claim 1 , wherein in one configuration of the drive assembly, the first, second and third drive assembly interface elements are all centred on a first plane, the first plane being perpendicular to the longitudinal axis of the terminal link, and wherein a cross-section of the terminal link lies in the first plane.
13. A surgical robot arm as claimed in claim 12 , wherein the second and third drive assembly interface elements are both centred on a second plane, the second plane being perpendicular to the first plane, the second plane not intersecting the longitudinal axis of the terminal link.
14. A surgical robot arm as claimed in claim 1 , wherein in a primary configuration of the drive assembly, each of the first, second and third drive assembly interface elements are at the midpoint of their linear displacement.
15. A surgical robot arm as claimed in claim 1 , wherein the first drive assembly interface element is configured to drive an articulation of the robotic surgical instrument configured to articulate an end effector, the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the end effector to rotate about an end effector axis transverse to the longitudinal axis of the terminal link.
16. A surgical robot arm as claimed in claim 15 , wherein the second drive assembly interface element is configured to drive an articulation of the robotic surgical instrument configured to articulate an end effector element of the end effector, the second drive assembly interface element being linearly displaceable along the second axis so as to drive the end effector element to rotate about a further end effector axis transverse to the end effector axis.
17. A surgical robot arm as claimed in claim 16 , wherein the third drive assembly interface element is configured to drive an articulation of the robotic surgical instrument configured to articulate a further end effector element of the end effector, the third drive assembly interface element being linearly displaceable along the third axis so as to drive the further end effector element to rotate about the further end effector axis.
18. A surgical robot arm as claimed in claim 17 , wherein the first drive assembly interface element is linearly displaceable over a shorter distance than the second drive assembly interface element, and the first drive assembly interface element is linearly displaceable over a shorter distance than the third drive assembly interface element.
19. A surgical robot arm as claimed in claim 1 , wherein:
the second drive assembly interface element is configured to drive an articulation of the robotic surgical instrument configured to articulate an end effector, the second drive assembly interface element being linearly displaceable along the second axis so as to drive the end effector to rotate about an end effector axis transverse to the longitudinal axis of the terminal link;
the first drive assembly interface element is configured to drive an articulation of the robotic surgical instrument configured to articulate an end effector element of the end effector, the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the end effector element to rotate about a further end effector axis transverse to the end effector axis; and
the third drive assembly interface element is configured to drive an articulation of the robotic surgical instrument configured to articulate a further end effector element of the end effector, the third drive assembly interface element being linearly displaceable along the third axis so as to drive the further end effector element to rotate about the further end effector axis.
20. A surgical robot arm as claimed in claim 19 , wherein the second drive assembly interface element is linearly displaceable over a shorter distance than the first drive assembly interface element, and the second drive assembly interface element is linearly displaceable over a shorter distance than the third drive assembly interface element.