Offset instrument drive unit

A robotic surgical assembly comprising:

• a robotic arm having a mount;
• an instrument drive unit mounted on the mount of the robotic arm, the instrument drive unit including:
• a plurality of actuators;
• a plurality of first elongate members, each first elongate member of the plurality of first elongate members defining a respective longitudinal axis and each being supported for rotation about the respective longitudinal axis thereof, each first elongate member including a first sleeve such that rotation of the first elongate member about the longitudinal axis thereof causes axial displacement of the first sleeve along the respective longitudinal axis and axially along the first elongate member;
• a plurality of second elongate members, each second elongate member of the plurality of second elongate members including a second sleeve slidably supported thereon;
• and
• a plurality of linkage members, each linkage member having opposing first and second portions and pivotally supported about a pivot disposed between the first and second portions that are axially aligned, the first portion operatively coupled to the corresponding first sleeve such that rotation of the corresponding first elongate member of the plurality of first elongate members moves the first portion in a first direction and the second portion in a second direction opposite of the first direction, the second portion operatively coupled to the second sleeve of a corresponding second elongate member of the plurality of second elongate members such that the first and second portions move along respective lengths of the corresponding first and second elongate members;
• and
• a surgical instrument detachably coupled to the instrument drive unit, the surgical instrument including a plurality of driven members, each driven member of the plurality of driven members operatively associated with the second portion of corresponding one of the plurality of linkage members of the instrument drive unit, wherein translation of at least one of the plurality of driven members effects a function of the surgical instrument.

A surgical system for selective connection to a robotic arm comprising:

• an instrument drive unit including:
• first elongate member defining a first longitudinal axis and being supported for rotation about the first longitudinal axis thereof;
• a first sleeve disposed about the first elongate member such that rotation of the first elongate member about the first longitudinal axis translates the first sleeve along the first longitudinal axis and along a length of the first elongate member;
• and
• a linkage member operatively coupled to the first sleeve such that rotation of the first elongate member pivots the linkage member;
• and
• a surgical instrument detachably coupled to the instrument drive unit, the surgical instrument including:
• a driven member operatively associated with the linkage member of the instrument drive unit;
• and
• an end effector operatively coupled with the driven member such that mechanical input from the driven member effects a function of the end effector.