Instrument interface of a robotic surgical system
An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
1. An integrated instrument interface of a robotic manipulator, comprising:
a spring-loaded input that provides axial load and torque to a sterile adaptor configured to operably couple an instrument;
a fixed mounting bracket that holds a first end of the sterile adaptor; and
a spring-loaded release lever that attaches or releases a second end of the sterile adaptor with a biased lever body.
2. The instrument interface of claim 1 , wherein the spring-loaded input includes an input bar coupled to a shaft operably coupled to an output pulley.
3. The instrument interface of claim 2 , wherein the input bar includes a boss for engaging the sterile adaptor.
4. The instrument interface of claim 1 , further comprising a plurality of spring-loaded inputs for operably engaging the sterile adaptor.
5. The instrument interface of claim 1 , wherein the release lever includes a torsion spring for biasing the lever body.
6. The instrument interface of claim 1 , further comprising a Hall-effect sensor for sensing presence of the instrument.
7. The instrument interface of claim 6 , wherein the Hall-effect sensor is capable of sensing a magnet mounted inside the instrument.
8. The instrument interface of claim 1 , further comprising a fiducial for fixing the position of the sterile adaptor relative to the robotic manipulator.
9. The instrument interface of claim 1 , further comprising a spring plunger for providing axial force against the sterile adaptor.
10. The instrument interface of claim 1 , further comprising an electrical interface for interfacing between the sterile adaptor and a printed circuit assembly.
11. The instrument interface of claim 10 , further comprising a protective shroud surrounding the electrical interface.
12. The instrument interface of claim 1 , further including an instrument, wherein the instrument is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.
13. A robotic surgical manipulator system, comprising:
a manipulator assembly, including:
a base link operably coupled to a distal end of a manipulator arm; and
a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface having:
a spring-loaded input that provides axial load and torque to a sterile adaptor configured to operably couple an instrument;
a fixed mounting bracket that holds a first end of the sterile adaptor; and
a spring-loaded release lever that attaches or releases a second end of the sterile adaptor with a biased lever body;
an instrument operably coupled to the carriage link via the instrument interface; and
a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
14. The system of claim 13 , wherein the spring-loaded input includes an input bar coupled to a shaft operably coupled to an output pulley.
15. The system of claim 13 , wherein the instrument interface further includes a plurality of spring-loaded inputs for operably engaging the sterile adaptor.
16. The system of claim 13 , wherein the instrument interface further includes a Hall-effect sensor for sensing presence of the instrument.
17. The system of claim 16 , wherein the Hall-effect sensor is capable of sensing a magnet mounted inside the instrument.
18. The system of claim 13 , wherein the instrument is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.
19. The system of claim 13 , wherein the sterile adaptor is integrated with a sterile drape for separating a part of the robotic surgical system from a surgical field.