US 6,491,701 B2 · Mechanical actuator interface system for robotic surgical tools

Abstract

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

Claims44

Dependent claims

A minimally invasive surgical instrument comprising

a shaft having a working end;
an end effector mounting formation positioned at the working end of the shaft and arranged to be angularly displaceable about at least two axes;
elongate elements connected to the end effector mounting formation to cause selective pivotal movement of the end effector mounting formation about the axes in response to selective pulling of the elongate elements;
a support base positioned on an opposed end of the shaft;
and
at least three spools angularly displaceably mounted on the support base and to which opposed ends of the elongate elements are connected so that selective angular displacement of the spools causes the selective pulling of the elongate elements, the spools having axes which are parallel and spaced apart relative to each other.

3 more elements

A surgical instrument for operative mounting to a robotic surgical system, the surgical system having a drive assembly operatively coupled to a control unit operable by inputs from an operator, the drive assembly having a plurality of actuator bodies which are movable in response to operator inputs, the surgical instrument comprising:

a proximal portion and a distal portion, the proximal portion comprising a first plurality of movable engaging interface bodies;
at least one distal end effector member;
a plurality of joints, at least one of the joints being coupled to the end effector member, the joints being coupled to the plurality of movable engaging interface bodies by a plurality of drive members;
and
the instrument being removably coupleable to the drive assembly when the instrument is operatively mounted to the surgical system so that the plurality of actuator bodies engage with corresponding ones of the plurality of interface bodies, and so that movement of the actuator bodies in response to operator inputs produces a corresponding movement of at least one of the joints.

2 more elements

Dependencies are inferred from the claim text.

Mechanical actuator interface system for robotic surgical tools

Life of this patent

Mechanical actuator interface system for robotic surgical tools

Life of this patent

Abstract

Claims44