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US 10,736,219 B2Granted
Instrument drive units
AssigneeCovidien LP
InventorsChi Min Seow, Jaimeen Kapadia, Richard Lech, Mark MacLeod, Michael Zemlok
Life of this patent
Estimating the term…
Abstract
An integrated circuit includes a nexus and a first, a second, a third, and a fourth circuit board. Each of the first and second circuit boards is coupled to opposing sides of the nexus, and each of the third and fourth circuit boards is coupled to opposing sides of the second circuit board. The integrated circuit is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the nexus are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the nexus are coupled to one another to define a cavity therein.
Claims20
An integrated circuit comprising:
- a nexus;
- a first circuit board and a second circuit board each of which are electrically and mechanically coupled to the nexus on opposing sides thereof;
- and
- a third circuit board and a fourth circuit board each of which are electrically and mechanically coupled to the second circuit board on opposing sides thereof,
- wherein the integrated circuit is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the nexus are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the nexus are coupled to one another to define a cavity therein, wherein at least one of the nexus, the first circuit board, the second circuit board, the third circuit board, or the fourth circuit board includes at least one electrical connector configured to electrically interconnect the nexus, the first circuit board, the second circuit board, the third circuit board, or the fourth circuit board with at least one electrical component of an instrument drive unit of a robotic arm.
2 more elements
A surgical assembly comprising:
- an instrument drive unit holder configured to be selectively coupled to a robotic arm;
- and
- an instrument drive unit selectively couplable to the instrument drive unit holder, the instrument drive unit including a housing cover selectively engagable with the instrument drive unit holder and a motor pack, the motor pack including:
- an integrated circuit including a first circuit board and a second circuit board each of which are electrically and mechanically coupled to opposing sides of a nexus, and a third circuit board and a fourth circuit board each of which are electrically and mechanically coupled to opposing sides of the second circuit board;
- and
- a motor assembly including a proximal mounting cap, a constrainer, a distal mounting flange, and at least one motor, the proximal mounting cap nestable upon the nexus of the integrated circuit, and the constrainer nestable upon the proximal mounting cap;
- wherein the integrated circuit is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the nexus are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the nexus are coupled to one another to define a cavity therein.
4 more elements
An instrument drive unit, comprising:
- a motor assembly;
- and
- an integrated circuit including:
- a nexus;
- first and second elongated circuit boards pivotably coupled to the nexus between a first configuration, in which the nexus and the first and second circuit boards are substantially coplanar, and a second configuration, in which the nexus and the first and second circuit boards cooperatively assume a three dimensional configuration to define a cavity configured for receipt of the motor assembly;
- and
- third and fourth elongate circuit boards electrically and mechanically coupled to the second circuit board and disposed in parallel relation with the second circuit board, and wherein in the first configuration, a proximal end of each of the third and fourth circuit boards is unconnected to the nexus, and in the second configuration, the proximal end of each of the third and fourth circuit boards is connected to the nexus.
4 more elements
An integrated circuit comprising:
- a nexus;
- a first circuit board and a second circuit board each of which are electrically and mechanically coupled to the nexus on opposing sides thereof;
- and
- a third circuit board and a fourth circuit board each of which are electrically and mechanically coupled to the second circuit board on opposing sides thereof,
- wherein the integrated circuit is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the nexus are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the nexus are coupled to one another to define a cavity therein, wherein a proximal end of the first circuit board and a proximal end of the second circuit board are each mechanically and electrically coupled with the nexus, and wherein a distal end of each of the first circuit board, the second circuit board, the third circuit board, and the fourth circuit board are configured to selectively mechanically and electrically engage a motor assembly of a motor pack of an instrument drive unit.
2 more elements
Dependencies are inferred from the claim text.