# US 10,117,715 B2 · Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,117,715 B2 - Document ID: US10117715B2 - Status: Granted - Kind: B2 - Application number: 14/579,465 - Filed: 2014-12-22 - Published: 2015-06-25 - Granted: 2018-11-06 - Earliest claimed: 2012-07-03 - Assignees: KUKA Deutschland GmbH - Applicants: KUKA Deutschland GmbH - Inventors: Sebastian Lohmeier; Wolfgang Schober - Web page: https://patentgrep.com/patent/US10117715B2 ## CPC - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 17/00: Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) - A61B 34/30: Surgical robots - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/0046: {with a releasable handle; with handle and operating part separable} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - F04C 2270/0421: Controlled or regulated - F16D 1/10: Quick-acting couplings in which the parts are connected by simply bringing them together axially - F16J 15/50: between relatively-movable members, by means of a sealing without relatively-moving surfaces, e.g. fluid-tight sealings for transmitting motion through a wall - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - F04C: ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS (engines F03C); ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS - F16D: COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES - F16J: PISTONS {(specially adapted for dampers F16F9/32)}; CYLINDERS; SEALINGS ## Abstract A surgical instrument arrangement has a modular motor drive unit which has a drive arrangement having at least one output element, an instrument shaft that can be detachably connected to the drive unit, and a drive arrangement having at least one input drive element. The output drive arrangement and the input drive arrangement can be coupled to each other by a mechanical interface that has at least one single-sided linkage, a pin, and a cut-out, wherein the pin can be radially expanded in the cut-out. Alternatively, a gap may be formed between the pin and the cut-out, which gap is wavy in the radial direction, and in which a radially displaceable, axially fixed intermediate element arrangement is arranged. The surgical instrument arrangement may also include a sterile barrier, which is provided to envelop the drive unit and to be arranged between the drive unit and the instrument shaft. ## Claims ### Claim 1 A surgical instrument, comprising: an instrument shaft with an input drive link assembly with at least one moveable input drive link for actuating a degree of freedom of the instrument shaft; and a drive unit that can be releasably connected to the instrument shaft; the drive unit comprising: a housing, and at least one input drive module with a drive motor and an output drive link assembly with at least one moveable output drive link for actuating a degree of freedom of an instrument shaft, wherein the input drive module is moveably mounted and biased in the housing in a coupling direction; and a retraction assembly for retracting the input drive module against the bias wherein the retraction assembly is actuated by the drive motor of the input drive module. ### Claim 2 (depends on 1) The surgical instrument according to claim 1, further comprising a drive unit locking assembly for locking the drive unit in place in an aperture of the instrument shaft. ### Claim 3 (depends on 1) The surgical instrument according to claim 1, further comprising an interface for the attachment thereof to a robot. ### Claim 4 (depends on 1) A surgical instrument according to claim 1, wherein the at least one moveable input drive link for actuating a degree of freedom of the instrument shaft projects perpendicular to a longitudinal axis of the instrument shaft, and extends into an aperture on the instrument shaft for a drive unit. ### Claim 5 (depends on 4) The surgical instrument according to claim 4, wherein the aperture has at least one of a guide or an insertion opening for inserting a drive unit in an insertion direction into the aperture. ### Claim 6 (depends on 5) The surgical instrument of claim 5, wherein the aperture has an insertion opening that is closable. ### Claim 7 (depends on 5) The surgical instrument of claim 5, wherein the insertion direction is one of perpendicular or parallel to the longitudinal axis of the instrument shaft. ### Claim 8 (depends on 4) The surgical instrument according to claim 4, wherein the aperture can be moved in relation to a longitudinal axis of the instrument shaft. ### Claim 9 (depends on 1) The surgical instrument according to claim 1, wherein the input drive link assembly is disposed in a recess. ### Claim 10 (depends on 1) The surgical instrument according to claim 1, wherein the coupling direction forms an angle with the longitudinal axis of the instrument shaft which is greater than 45 degrees. ### Claim 11 (depends on 1) The surgical instrument according to claim 1, wherein the coupling direction forms an angle with the longitudinal axis of the instrument shaft which is at least 90 degrees. ### Claim 12 (depends on 1) The surgical instrument of claim 1, wherein the drive unit further comprises at least one of: a magnet assembly for biasing the input drive module in the coupling direction; or an input drive module locking assembly for locking the retracted input drive module in place. ### Claim 13 A drive unit comprising: a housing; at least one input drive module with a drive motor and an output drive link assembly with at least one moveable output drive link for actuating a degree of freedom of an instrument shaft; wherein the input drive module is moveably mounted and biased in the housing in a coupling direction; a magnet assembly for biasing the input drive module in the coupling direction; and a retraction assembly for retracting the input drive module against the bias wherein the retraction assembly is actuated by the drive motor of the input drive module. ### Claim 14 (depends on 13) The drive unit according to claim 13, further comprising a displacement means for displacing an input drive link assembly of an instrument shaft when inserting the drive unit in an aperture of the instrument shaft. ### Claim 15 (depends on 14) The drive unit of claim 14, wherein the displacement means is at least one of in particular a convergent or moveable displacement means. ### Claim 16 (depends on 13) The drive unit according to claim 13, wherein the output drive link assembly is disposed in a recess. ### Claim 17 (depends on 13) The drive unit of claim 13, wherein the retraction assembly is at least one of a mechanical or magnetic retraction assembly. ### Claim 18 A drive unit, comprising: a housing; at least one input drive module with a drive motor and an output drive link assembly with at least one moveable output drive link for actuating a degree of freedom of an instrument shaft; wherein the input drive module is moveably mounted and biased in the housing in a coupling direction; a retraction assembly for retracting the input drive module against the bias; wherein the retraction assembly is actuated by the drive motor of the input drive module; and an input drive module locking assembly for locking the retracted input drive module in place. ### Claim 19 A drive unit, comprising: a housing; at least one input drive module with a drive motor and an output drive link assembly with at least one moveable output drive link for actuating a degree of freedom of an instrument shaft; wherein the input drive module is moveably mounted and biased in the housing in a coupling direction; and a retraction assembly for retracting the input drive module against the bias; wherein the retraction assembly is actuated by the drive motor of the input drive module.