# US 11,896,339 B2 · Robotic surgical systems having a fixed roll insertion guide

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- Number: US 11,896,339 B2
- Document ID: US11896339B2
- Status: Granted
- Kind: B2
- Application number: 16/946,369
- Filed: 2020-06-18
- Published: 2021-12-23
- Granted: 2024-02-13
- Earliest claimed: 2020-06-18
- Assignees: Cilag GmbH International
- Applicants: Cilag GmbH International
- Inventors: Andrew T. Beckman; Charles J. Scheib; Aren Calder Hill; Yanan Huang
- Web page: https://patentgrep.com/patent/US11896339B2

## CPC

- A61B 34/74: {Manipulators with manual electric input means}
- A61B 1/00006: {of control signals}
- A61B 1/00149: {using articulated arms}
- A61B 1/0016: {using motor drive units}
- A61B 17/07207: {the staples being applied sequentially}
- A61B 34/35: for telesurgery
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- B25J 9/04: by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J 9/1035: {Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base}
- B25J 9/108: {Bearings specially adapted therefor (bearings in general F16C)}
- B25J 18/007: {the end effector rotating around a fixed point}
- B25J 18/04: rotatable
- A61B 1/00009: {of image signals during a use of endoscope}
- A61B 1/05: characterised by the image sensor, e.g. camera, being in the distal end portion
- A61B 1/07: using light-conductive means, e.g. optical fibres
- A61B 1/2676: {Bronchoscopes}
- A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/07285: {characterised by its cutter}
- A61B 2017/2902: {characterized by features of the actuating rod}
- A61B 2017/2943: {Toothed members, e.g. rack and pinion}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2090/066: {for measuring torque}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A robotic surgical system includes a surgical tool including a drive housing having first and second ends, a carriage movably mounted to the drive housing, and an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end. An instrument driver is arranged at an end of a robotic arm and includes a body having proximal and distal ends and defining a central aperture extending between the proximal and distal ends, the shaft and the end effector penetrate the instrument driver by extending through the central aperture, an outer housing extending between the proximal and distal ends, a tool drive assembly provided at the proximal end and extending into the outer housing, and a drive motor operatively coupled to the tool drive assembly and operable to cause the tool drive assembly to rotate relative to the outer housing.

## Claims

### Claim 1

A robotic surgical system, comprising:
a surgical tool including:
a drive housing having a first end, a second end, and a carriage movably mounted to the drive housing between the first and second ends; and
an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof; and
an instrument driver arranged at an end of a robotic arm and including:
a body having a proximal end, a distal end, and defining a central aperture extending between the proximal and distal ends, wherein the shaft and the end effector penetrate the instrument driver by extending through the central aperture;
an outer housing extending at least partially between the proximal and distal ends;
a tool drive assembly provided at the proximal end and extending into the outer housing;
a drive motor operatively coupled to the tool drive assembly;
a stator gear arranged within the outer housing and fixed to the tool drive assembly; and
a rotor gear driven by the drive motor and matable with the stator gear,
wherein the drive motor is operable to drive the rotor gear against the stator gear and thereby cause tool drive assembly to rotate about a central axis relative to the outer housing, and
wherein the first end of the drive housing is operatively coupled to the tool drive assembly whereby rotation of the tool drive assembly correspondingly rotates the surgical tool about the central axis in the same angular direction.

### Claim 2 (depends on 1)

The robotic surgical system of claim 1, wherein the tool drive assembly provides one or more drive outputs matable with one or more drive inputs provided at the first end of the drive housing, and wherein rotating the tool drive assembly about the central axis correspondingly rotates the one or more drive outputs and the one or more drive inputs about the central axis.

### Claim 3 (depends on 2)

The robotic surgical system of claim 2, wherein each drive output is driven by a corresponding actuator mounted to the tool drive assembly and rotatable about the central axis as the tool drive assembly rotates.

### Claim 4 (depends on 2)

The robotic surgical system of claim 2, wherein the surgical tool further includes at least one spline extending between the first and second ends and the carriage is movably mounted to the at least one spline, and wherein the at least one spline is operatively coupled to at least one of the one or more drive inputs such that rotation of the at least one of the one or more drive inputs correspondingly rotates the at least one spline.

### Claim 5 (depends on 2)

The robotic surgical system of claim 2, wherein the surgical tool further includes a lead screw extending between the first and second ends and the carriage is movably mounted to the lead screw at a carriage nut secured to the carriage, and wherein the lead screw is operatively coupled to at least one of the one or more drive inputs such that rotation of the at least one of the one or more drive inputs correspondingly rotates the lead screw.

### Claim 6 (depends on 1)

The robotic surgical system of claim 1, wherein the instrument driver further includes a slip ring coupled to the outer housing to facilitate transfer of electrical power and signals from the robotic arm to the tool drive assembly to operate the surgical tool.

### Claim 7 (depends on 1)

The robotic surgical system of claim 1, wherein the tool drive assembly provides one or more interlocking features matable with one or more complementary-shaped pockets provided at the first end of the drive housing to operatively couple the surgical tool to the instrument driver.

### Claim 8 (depends on 1)

The robotic surgical system of claim 1, wherein the instrument driver further includes an inner conduit that defines the central aperture and is coupled to the tool drive assembly such that rotation of the tool drive assembly correspondingly rotates the inner conduit about the central axis.

### Claim 9 (depends on 1)

The robotic surgical system of claim 1, wherein the instrument driver further includes a plurality of bearings arranged between portions of the tool drive assembly and the outer housing to allow the tool drive assembly to rotate relative to the outer housing.

### Claim 10 (depends on 9)

The robotic surgical system of claim 9, wherein the instrument driver further includes:
one or more seals arranged at a corresponding one or more radial interfaces between the tool drive assembly and the outer housing; and
one or more gaskets arranged at a corresponding one or more axial interfaces between the tool drive assembly and the outer housing.

### Claim 11 (depends on 1)

The robotic surgical system of claim 1, wherein the end effector is selected from the group consisting of a surgical stapler, a tissue grasper, surgical scissors, an advanced energy vessel sealer, a clip applier, a needle driver, a babcock including a pair of opposed grasping jaws, bipolar jaws, a suction irrigator, an endoscope, a laparoscope, and any combination thereof.

### Claim 12

A method of operating a robotic surgical system, comprising:
positioning an instrument driver adjacent a patient, the instrument driver including:
a body having a proximal end, a distal end, and defining a central aperture extending between the proximal and distal ends;
an outer housing extending at least partially between the proximal and distal ends;
a tool drive assembly provided at the proximal end and extending into the outer housing
a stator gear arranged within the outer housing and fixed to the tool drive assembly; and
a rotor gear engageable with the stator gear;
coupling a surgical tool to the instrument driver at the proximal end, the surgical tool including:
a drive housing having a first end, a second end, and a carriage movably mounted to the drive housing between the first and second ends, wherein the first end of the drive housing is releasably coupled to the tool drive assembly at the proximal end; and
an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof, wherein the shaft and the end effector penetrate the instrument driver by extending through the central aperture;
actuating a drive motor included in the instrument driver and operatively coupled to the tool drive assembly via the rotor gear and thereby rotating the tool drive assembly about the central axis relative to the outer housing; and
rotating the surgical tool about the central axis as coupled to the tool drive assembly.

### Claim 13 (depends on 12)

The method of claim 12, further comprising:
mating one or more drive outputs of the tool drive assembly with one or more drive inputs provided at the first end of the drive housing; and
rotating the one or more drive inputs about the central axis as the tool drive assembly and the one or more drive outputs are rotated about the central axis.

### Claim 14 (depends on 13)

The method of claim 13, wherein the instrument driver further includes an actuator mounted to the tool drive assembly and operatively coupled to one of the one or more drive outputs, the method further comprising:
operating the actuator to rotate the one of the one or more drive outputs and thereby drive a corresponding one of the one or more drive inputs; and
rotating the actuator about the central axis as the tool drive assembly rotates.

### Claim 15 (depends on 13)

The method of claim 13, wherein the surgical tool further includes at least one spline extending between the first and second ends and the carriage is movably mounted to the at least one spline, and wherein the at least one spline is operatively coupled to the corresponding one of the one or more drive inputs, the method further comprising rotating the corresponding one of the one or more drive inputs and thereby rotating the at least one spline.

### Claim 16 (depends on 13)

The method of claim 13, wherein the surgical tool further includes a lead screw extending between the first and second ends and the carriage is movably mounted to the lead screw at a carriage nut secured to the carriage, and wherein the lead screw is operatively coupled to the corresponding one of the one or more drive inputs, the method further comprising:
rotating the corresponding one of the one or more drive inputs and thereby rotating the lead screw; and
moving the carriage and the carriage nut axially between the first and second ends as the lead screw rotates and thereby moving the end effector distally or proximally.

### Claim 17 (depends on 12)

The method of claim 12, further comprising transferring electrical power and signals from the robotic arm to the tool drive assembly with a slip ring coupled to the outer housing.

### Claim 18 (depends on 12)

The method of claim 12, wherein coupling the surgical tool to the instrument driver further comprises mating one or more interlocking features provided on the tool drive assembly with one or more complementary-shaped pockets provided at the first end of the drive housing.

### Claim 19 (depends on 12)

The method of claim 12, wherein actuating the drive motor further comprises:
rotating the rotor gear; and
driving against the stator gear with the rotor gear and thereby rotating the tool drive assembly about the central axis relative to the outer housing.