Surgical robotic systems

An instrument drive unit for use in a robotic surgical system, the instrument drive unit comprising:

• a carriage configured to be coupled to a robotic arm;
• a hub rotationally coupled to the carriage and configured to be non-rotatably coupled to an electromechanical surgical instrument;
• a plurality of electric motors disposed within the carriage, each electric motor of the plurality of electric motors including a stator and a rotor disposed within the stator;
• a plurality of drive shafts rotationally supported in the hub;
• a plurality of drive gears, each drive gear of the plurality of drive gears fixed to a corresponding drive shaft of the plurality of drive shafts and configured for interfacing with a corresponding driven member of the electromechanical surgical instrument, wherein each rotor is configured to rotate a corresponding drive gear of the plurality of drive gears in response to an activation of a respective electric motor of the plurality of electric motors to actuate a function of the electromechanical surgical instrument;
• and
• a drive motor including:
• a stator fixed within the carriage;
• and
• a rotor disposed within the stator of the drive motor and non-rotatably coupled to the hub, wherein the rotor of the drive motor is configured to rotate the hub about a central longitudinal axis defined by the hub.

An instrument drive unit for use in a robotic surgical system, the instrument drive unit comprising:

• a carriage configured to be coupled to a robotic arm;
• a hub rotationally coupled to the carriage and configured to be non-rotatably coupled to an electromechanical surgical instrument;
• a plurality of electric motors disposed within the carriage, each electric motor of the plurality of electric motors including a stator and a rotor disposed within the stator;
• a plurality of drive shafts rotationally supported in the hub;
• a plurality of drive gears, each drive gear of the plurality of drive gears fixed to a corresponding drive shaft of the plurality of drive shafts and configured for interfacing with a corresponding driven member of the electromechanical surgical instrument, wherein each rotor is configured to rotate a corresponding drive gear of the plurality of drive gears in response to an activation of a respective electric motor of the plurality of electric motors to actuate a function of the electromechanical surgical instrument;
• and
• a plurality of ring gears, each ring gear of the plurality of ring gears fixed to a corresponding rotor and operably coupled to a corresponding drive gear of the plurality of drive gears, wherein the plurality of ring gears are independently rotatable relative to one another.

An instrument drive unit for use in a robotic surgical system, the instrument drive unit comprising:

• a carriage configured to be coupled to a robotic arm;
• a plurality of electric motors supported in the carriage, each electric motor of the plurality of electric motors including a stator and a rotor disposed within the stator;
• a plurality of drive shafts circumferentially spaced from one another and configured for interfacing with a corresponding driven member of an electromechanical surgical instrument, each drive shaft of the plurality of drive shafts having a drive gear fixed thereabout, each drive gear being disposed at a discrete vertical location relative to one another, wherein each rotor is configured to rotate a corresponding drive gear in response to an activation of a respective electric motor of the plurality of electric motors to actuate a function of the electromechanical surgical instrument;
• a hub rotationally coupled to the carriage and configured to be non-rotatably coupled to the electromechanical surgical instrument, the plurality of drive shafts being rotationally supported in the hub;
• and
• a drive motor operably coupled to the hub and configured to rotate the hub about a central longitudinal axis defined by the hub.