US 9,775,678 B2Granted

Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument

AssigneeKUKA Roboter GmbH

InventorSebastian Lohmeier

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Abstract

A surgical instrument arrangement has a modular motor drive unit which has a drive arrangement having at least one output element, an instrument shaft that can be detachably connected to the drive unit, and a drive arrangement having at least one input drive element. The output drive arrangement and the input drive arrangement can be coupled to each other by a mechanical interface that has at least one single-sided linkage, a pin, and a cut-out, wherein the pin can be radially expanded in the cut-out. Alternatively, a gap may be formed between the pin and the cut-out, which gap is wavy in the radial direction, and in which a radially displaceable, axially fixed intermediate element arrangement is arranged. The surgical instrument arrangement may also include a sterile barrier, which is provided to envelop the drive unit and to be arranged between the drive unit and the instrument shaft.

Claims19

Dependent claims

A drive train assembly, comprising:

at least one drive train for actuating with a drive a degree of freedom of an end effector of a surgical instrument in relation to an instrument shaft;
and
a metering assembly disposed on the at least one drive train and configured to sense a load in the drive train;
wherein the drive train assembly has at least two drive trains for actuating the same degree of freedom of the end effector, and wherein the metering assembly has at least one metering means disposed on one of these drive trains for sensing a load in this drive train;
wherein the metering assembly further comprises:
a first metering means disposed on a first drive train for sensing a load in the first drive train and,
a second metering means disposed in a second drive train for sensing a load in the second drive train,
wherein the same degree of freedom of the end effector can be actuated by the first and second drive train, and wherein the first and second metering means are linked to one another with signal-based technology;
wherein the first and second metering means are linked to one another in a compensatory manner;
and
wherein the first and second metering means are linked to one another in two branches of a Wheatstone bridge circuit.

8 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/579,398Filed 22 Dec 2014 · continuation
Priority: DE 10 2012 013 2423 Jul 2012
Published: US 2015/0173840 A125 Jun 2015
Granted: 3 Oct 2017
Term ends: Not estimatedThe source records don’t support an estimate.

Classification14 codes

A61B 46/10
Surgical drapes: specially adapted for instruments, e.g. microscopes
A61B 17/00
Surgical instruments, devices or methods
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 34/76
Manipulators specially adapted for use in surgery: manipulators having means for providing feel, e.g. force or tactile feedback