Robotic surgical assemblies and surgical instrument holders thereof

A surgical assembly for use with a surgical robotic arm, comprising:

• a surgical instrument including:
• a housing;
• a shaft extending distally from the housing and defining a longitudinal axis;
• and
• an end effector coupled to a distal end portion of the shaft;
• an instrument drive unit configured for driving an actuation of the end effector of the surgical instrument;
• and
• a surgical instrument holder including:
• an outer member defining a lateral slot therein;
• a first annular member defining a lateral slot therein in alignment with the lateral slot of the outer member such that the shaft of the surgical instrument is receivable within the surgical instrument holder through the lateral slots of the outer member and the first annular member;
• a second annular member operably coupled with the first annular member;
• and
• an inner member including:
• an internal housing rotatably disposed within the outer member, the internal housing defining a lateral slot therein configured to be in alignment with the lateral slots of the outer member and the first annular member, wherein the second annular member is configured to be drivingly rotated by the instrument drive unit to effect rotation of the internal housing relative to the outer member, whereby at least the shaft and the end effector of the surgical instrument rotate about the longitudinal axis defined by the shaft;
• an upper plate fixed to a first side of the internal housing and supported on and extending over an upper surface of the outer member;
• and
• a lower plate fixed to a second side of the internal housing and supported on and extending over a lower surface of the outer member such that the outer member is captured between the upper and lower plates.

A surgical assembly for use with a surgical robotic arm, comprising:

• a surgical instrument including:
• a housing;
• a shaft extending distally from the housing and defining a longitudinal axis;
• and
• an end effector coupled to a distal end portion of the shaft;
• an instrument drive unit configured for driving an actuation of the end effector of the surgical instrument;
• and
• a surgical instrument holder including:
• an outer member defining a lateral slot therein;
• a first annular member defining a lateral slot therein in alignment with the lateral slot of the outer member such that the shaft of the surgical instrument is receivable within the surgical instrument holder through the lateral slots of the outer member and the first annular member;
• a second annular member operably coupled with the first annular member;
• and
• an inner member including:
• an internal housing rotatably disposed within the outer member, the internal housing defining:
• a lateral slot therein configured to be in alignment with the lateral slots of the outer member and the first annular member, wherein the second annular member is configured to be drivingly rotated by the instrument drive unit to effect rotation of the internal housing relative to the outer member, whereby at least the shaft and the end effector of the surgical instrument rotate about the longitudinal axis defined by the shaft;
• and
• a counterbore therein configured for receipt of the surgical instrument therein, the counterbore being in communication with the lateral slot of the first annular member.