US 11,446,101 B2 · Surgical robotic assemblies and instrument adapters thereof

Abstract

An instrument adapter includes a housing, a drive member, a nut, and a shaft assembly. The nut is threadedly coupled to the drive member and axially movable relative thereto. The shaft assembly includes a shaft and a link. The shaft extends distally from the housing and is configured to be operably coupled to an end effector. The link has a proximal end movably coupled to the nut and a distal end configured to selectively lock the end effector to the shaft assembly. The link is movable between a proximal non-locking position, and a distal locking position. The nut is movable between a first position along the drive member, in which the nut resists proximal movement of the link from the distal position to the proximal position, and a second position, in which the nut does not resist proximal movement of the link from the distal position to the proximal position.

Claims20

Dependent claims

An instrument adapter detachably couplable to an instrument drive unit and an end effector, the instrument adapter comprising:

a drive member coupled to an output of the instrument drive unit when the instrument adapter is coupled to the instrument drive unit;
a shaft having a coupling interface corresponding to that of the end effector;
a link movable between a block position in which the link prevents attaching or detaching of the end effector to the shaft through the coupling interface and an unblock position in which the link does not prevent said attaching or detaching;
and
a lock driven by the drive member and coupled to the link, the lock drivable to a plurality of states including:
a first state in which the link is driven to the unblock position;
a second state in which the lock is driven to a position in which the link is manually movable in at least one direction between the block and unblock positions;
and
a third state in which the link is driven to the block position.

6 more elements

Dependencies are inferred from the claim text.

Surgical robotic assemblies and instrument adapters thereof

Life of this patent

Surgical robotic assemblies and instrument adapters thereof

Life of this patent

Abstract

Claims20