Surgical Robotic Systems

Abstract

The present invention provides a surgical robot system, which includes: a slender sliding member; a slide for supporting an instrument drive unit; a drive motor, which is operably connected to the slide and is configured to drive the movement of the slide relative to the sliding member; and a motor release mechanism, which is configured to selectively disengage the drive motor from the slide to allow manual movement of the slide along the sliding member.

Description

Background Art

[0001] Surgical robotic systems have been used in minimally invasive medical procedures. Some surgical robotic systems include a console supporting a surgical robotic arm and a surgical instrument having at least one end effector (e.g., a clamp or gripping tool) mounted to the robotic arm. The robotic arm provides mechanical power to the surgical instrument for its operation and movement.

[0002] Manually operated surgical instruments typically include a handle assembly for actuating the functions of the surgical instrument. However, when a robotic surgical system is used, there is typically no handle assembly to actuate the functions of the end effector. Therefore, in order to use each unique surgical instrument with a robotic surgical system, an instrument drive unit is used to interact with the selected surgical instrument to drive the operation of the surgical instrument.

[0003] The instrument drive unit is typically coupled to the robotic arm via a slide. The slide allows the instrument drive unit and attached surgical instrument to move along the axis of the slide, thereby providing a means for adjusting the axial position of the end effector of the surgical instrument relative to the patient. Summary of the invention

[0004] According to one aspect of the present disclosure, a surgical robot system is provided, the surgical robot system comprising an elongated sliding member defining a longitudinal axis, a carriage for supporting an instrument drive unit, a drive motor, and a motor release mechanism. The carriage is coupled to the sliding member and is movable relative to the sliding member along the longitudinal axis. The drive motor is operably coupled to the carriage and is configured to drive movement of the carriage relative to the sliding member. The motor release mechanism is configured to selectively disengage the drive motor from the carriage to allow manual movement of the carriage along the sliding member.

[0005] In various aspects, the system may further include a pulley operably connecting the drive motor and the carriage. Activation of the motor release mechanism may disengage the pulley from the drive motor.

[0006] In certain aspects, the system may further include a motor output member that can be rotated by the drive motor. Activation of the motor release mechanism can cause the pulley to slide relative to the motor output member from a first position to a second position. In the first position, the pulley and the motor output member can rotate relative to each other, and in the second position, the pulley can rotate independently relative to the motor output member.

[0007] The system may further include a torque transfer pin non-rotatably coupling the pulley with the motor output member.The pulley may be configured to slide along the torque transfer pin between a first position and a second position.

[0008] In various aspects, the system may further include a one-way bearing disposed between the pulley and the motor output member. The one-way bearing may be configured to allow rotation of the pulley relative to the motor output member in a first direction and prevent rotation of the pulley relative to the motor output member in a second direction.

[0009] A one-way bearing may be disposed within the pulley, and the motor output member may extend through the one-way bearing and the pulley.

[0010] In certain aspects, the one-way bearing may be non-rotatably fixed to the motor output member.

[0011] In various aspects, the motor release mechanism may include a hub axially held by a pulley and coupled to the motor output member by threads. Rotation of the hub may move the pulley relative to the motor output member between a first position and a second position.

[0012] The motor release mechanism may also include a knob configured to slide into and out of non-rotatable engagement with the hub.

[0013] In various aspects, the system further includes a belt operably coupled to the pulley and secured to the carriage such that movement of the belt drives movement of the carriage along the side.

[0014] The system may also include a robotic arm having a slide coupled thereto.

[0015] In another aspect of the present disclosure, a surgical robotic system includes a robotic arm, an elongated slide coupled to an end portion of the robotic arm, a drive motor, a pulley, and a motor release mechanism. The pulley is operably coupled to the drive motor and is configured to drive movement of an instrument drive unit along the slide. The motor release mechanism is configured to selectively disengage the pulley from the drive motor to allow manual rotation of the pulley relative to the drive motor.

[0016] The system may further include a belt operably coupled to the pulley and fixedly coupled to the instrument drive unit such that movement of the belt drives movement of the instrument drive unit along the side.

[0017] Further details and aspects of exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0018] As used herein, the terms parallel and perpendicular are understood to include relative configurations of substantially parallel and substantially perpendicular that vary by up to about +10 degrees or -10 degrees relative to true parallel and true perpendicular. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Embodiments of the present disclosure are described herein with reference to the accompanying drawings, in which:

[0020] Figure 1is a schematic diagram of a surgical robotic system according to the present disclosure, the surgical robotic system including an instrument drive unit coupled to a slide;

[0021] Figure 2 is a front view of an instrument drive unit and an associated surgical instrument coupled to an exemplary embodiment of a slide;

[0022] Figure 3 is connected to Figure 2 a side view of the carriage of the slide with parts removed;

[0023] Figure 4 is a front view of a carriage coupled to a slide with parts removed;

[0024] Figure 5 is a side view of a slide, wherein an outer shaft of the slide is shown in phantom, and an inner shaft of the slide is shown;

[0025] Figure 6 is a side view of a slide showing a belt and pulley system of a surgical robotic system;

[0026] Figure 7 is a side perspective view of a carriage coupled to a slide with parts removed showing the slide in an extended configuration and the carriage in a raised position;

[0027] Figure 8 is a perspective view of a slide coupled to a portion of a robot arm, showing Figure 6 A motor release mechanism for use with a belt and pulley system;

[0028] Fig. 9 is along Figure 8 The line 9-9 in Figure 8 The motor release mechanism in Figure 6 A cross-sectional view of components of a belt and pulley system in FIG.

[0029] Fig. 10A yes Figure 8 The motor release mechanism in Figure 6 a cross-sectional view of components of the belt and pulley system in FIG. 1 showing the motor release mechanism in a deactivated state; and

[0030] Fig. 10B yes Figure 8 The motor release mechanism in Figure 6 A cross-sectional view of components of the belt and pulley system in FIG. 1 , showing the motor release mechanism in an activated state. DETAILED DESCRIPTION

[0031] Embodiments of the surgical robot system and method of use thereof disclosed in the present invention are described in detail with reference to the accompanying drawings, wherein similar reference numerals in each of the several views represent identical or corresponding elements. As used herein, the term "proximal" refers to the portion of the surgical robot system or its components closest to the clinician, while the term "distal" refers to the portion of the surgical robot system or its components away from the clinician.

[0032] As will be described in detail below, a surgical robotic system is provided, the surgical robotic system comprising: a robotic arm; an elongated slide or rail coupled to the robotic arm; a belt and pulley system for driving movement of an instrument drive unit along the slide; and a motor release mechanism for selectively disengaging the belt and pulley system from the drive motor. During an emergency (e.g., a power outage), the motor release mechanism is actuable to allow manual movement of the instrument drive unit along the slide. The motor release mechanism includes a one-way bearing that allows manual movement of the instrument drive unit in a direction away from the patient and prevents manual movement of the instrument drive unit in a direction toward the patient.

[0033] See first Figure 1 , a surgical system such as, for example, a surgical robot system 1 typically comprises: a plurality of surgical robot arms 2, 3 having instrument drive units 20 and electromechanical instruments 10 removably attached thereto, a control device 4, and an operating console 5 coupled to the control device 4. The operating console 5 comprises: a display device 6, which is particularly arranged to display a three-dimensional image, and manual input devices 7, 8, by means of which a person (not shown), for example a surgeon, can remotely manipulate the robot arms 2, 3 in a first operating mode, as is known in principle to a person skilled in the art.

[0034] Each of the robot arms 2, 3 may consist of a plurality of components connected by joints. The robot arms 2, 3 may be driven by an electric drive (not shown) connected to a control device 4. The control device 4, for example a computer, may be arranged to activate the drive, in particular by a computer program, so that the robot arms 2, 3, the attached instrument drive unit 20 and thus the electromechanical instrument 10 perform the desired movements according to the movements defined by the manual input devices 7, 8. The control device 4 may also be arranged in such a way that it regulates the movements of the robot arms 2, 3 and / or the drives.

[0035] The surgical robotic system 1 is configured for a patient "P" lying on an operating table "ST" to be treated in a minimally invasive manner by surgical instruments, such as electromechanical instruments 10. The surgical robotic system 1 may also include two or more robotic arms 2, 3, which are also connected to the control device 4 and can be remotely controlled by the operating console 5. Surgical instruments, such as the electromechanical surgical instrument 10 (including electromechanical end effectors (not shown)), may also be attached to the additional robotic arms.

[0036] The control device 4 may control a plurality of motors, such as motors (motor 1 ... n), each of which is configured to drive movement of the robot arms 2, 3 in a plurality of directions. In addition, the control device 4 may control a plurality of motors (not explicitly shown) of the instrument drive unit 20 to drive various operations of the surgical instrument 10. The instrument drive unit 20 transmits power and actuation force from its motors to a driven member (not shown) of the electromechanical instrument 10 to ultimately drive movement of a component of an end effector (not shown) of the electromechanical instrument 10, such as movement of a blade (not shown) and / or opening and closing of a jaw member (not shown) of the end effector.

[0037] To describe in more detail the construction and operation of the components of an exemplary robotic surgical system, reference may be made to U.S. Patent No. 8,828,023, entitled “Medical Workstation” (hereinafter referred to as the “'023 patent”) and International Patent Publication No. WO2017 / 205308A1, entitled “Robotic Surgical Assemblies”, filed on May 23, 2017 (hereinafter referred to as the “'308 publication”), the entire contents of each of which are incorporated herein by reference.

[0038] refer to Figures 2 to 7 , the surgical robot system 1 includes: a carriage 30 on which the instrument drive unit 20 is supported or carried; and a slide 100 that supports the carriage 30. The carriage 30 is configured to fix the instrument drive unit 20 thereto, so that movement of the carriage 30 along and relative to the slide 100 causes the instrument drive unit 20 to move with the carriage. The carriage 30 is slidably coupled to a linear track 102 that is longitudinally defined along an outer sleeve 106 of the slide 100, as will be described below.

[0039] The slide 100 may have a generally rectangular shape and be constructed of an inner shaft 104 and an outer sleeve or sheath 106 disposed around the inner shaft 104. In an embodiment, the slide 100 may have any suitable shape, such as, for example, a tubular or cylindrical shape. The inner shaft 104 is fixedly or rotatably coupled to the robot arm 2 ( Figure 1) end. The inner shaft 104 has a bottom end portion 140a and a top end portion 104b and defines a longitudinal axis "X" therebetween. The inner shaft 104 may have an overall length approximately equal to half the length of a conventional slide.

[0040] The outer sleeve 106 of the slide 100 is disposed around the inner shaft 104 and is telescopically coupled thereto. In this way, the outer sleeve 106 can be moved along the longitudinal axis "X" of the inner shaft 104 and relative to it in a manner such as Figure 3 The retracted position shown is similar to Figure 7 When the outer sleeve 106 is in the retracted position, the slide has a first length "L1" ( L1 ) that is substantially equal to about half the length of a conventional slide (e.g., as shown and described in the '023 patent and the '308 publication). Figure 3 ), and when the outer sleeve is in the extended position, the slider 100 has a second length "L2" ( Figure 7 ).

[0041] The outer sleeve 106 of the slide 100 defines a longitudinally extending track 102. The track 102 of the outer sleeve 106 can be a single rail or a pair of parallel rails. As described above, the carriage 30 is slidably coupled to the track 102 of the outer sleeve 106. More specifically, the carriage 30 has a coupling member or flange 32 extending from its rear side and passing through the elongated slot 108 of the outer sleeve 106. The coupling member 32 of the carriage 30 is received in the inner cavity 110 ( Figure 7 ) and a belt or cable 112 fixed to a belt and pulley system 114 of the slide 100 for driving the slide 30 to move between the raised position and the lowered position, which will be described in detail.

[0042] The elongated slot 108 is defined along the length of the outer sleeve 106 and extends parallel to the track 102 between the bottom portion 106a of the outer sleeve 106 and the top portion 106b of the outer sleeve 106. The elongated slot 108 of the outer sleeve 106 has an upper limit defining a surface feature 116 that prevents the carriage 30 from rising beyond the upper limit. In an embodiment, the surface feature 116 can be a protrusion extending outwardly from the top portion 106b of the outer sleeve 106. When the coupling member 32 of the carriage 30 contacts the surface feature 116, a threshold force applied to the carriage 30 in an upward direction causes the outer sleeve 106 to rise relative to the inner shaft 104.

[0043] The top portion 106b may also include a locking feature 118, such as, for example, a roller buckle, a magnetic latch, etc. The locking feature 118 is configured to selectively lock the carriage 30 to the top portion 106b of the outer sleeve 106 when the carriage 30 enters the raised position. Figure 7 As shown, the downward force applied to the carriage 30 via the belt 112 causes the outer sleeve 106 to move downwardly with the carriage 30, because the locking feature 118 locks the outer sleeve 106 and the carriage 30 to each other. When the bottom end portion 106a of the outer sleeve 106 bottoms out on the bottom end portion 104a of the inner shaft 104, the locking feature 118 releases the carriage 30 to allow the carriage 30 to descend along the track 102 of the outer sleeve 106.

[0044] refer to Figures 5 to 7 , shows a belt and pulley system 114 or power transmission system of the slide 100. The power transmission system 114 is operably connected to a drive motor 120 disposed in the bottom end portion 104a of the inner shaft 104. The power transmission system 114 includes a pair of first pulleys 114a and a second pulley 114b coupled to the outer shaft 106 and a third pulley 114c coupled to the inner shaft 104. The first pulley H4a is axially fixed and rotatably coupled to the top end portion 106b of the outer sleeve 106 of the slide 100, and the second pulley H4b is axially fixed and rotatably coupled to the bottom end portion 10ba of the outer sleeve 106. In this way, as the outer sleeve 106 moves toward the extended position relative to the inner shaft 104, the first pulley H4a and the second pulley H4b move therewith. The third pulley H4c is axially fixed and rotatably coupled to the top end portion 104b of the inner shaft 104.

[0045] The second pulley 114b is disposed between the first pulley 114a and the third pulley 114c and is longitudinally spaced apart from the first pulley 114a along the length of the outer sleeve 106. Figure 5 As shown, when the outer sleeve 106 is in the retracted position, the first pulley 114a and the third pulley 114c are disposed adjacent to each other, wherein the second pulley 114b is longitudinally spaced apart from the third pulley 114c. Figure 7 As shown, when the outer sleeve 106 is in the extended position, the first pulley H4a and the third pulley H4c are longitudinally spaced apart from each other, wherein the second pulley 114b and the third pulley 114c are close to each other.

[0046] Specific reference Figure 6 , the second pulley H4b is positioned relative to the first pulley 114a and the third pulley 114c so that Figure 6The outer sleeve 106 is applied with a downward force in the direction indicated by the arrow "A" in FIG. Specifically, the second pulley 114b has a vertical axis "Y" extending through its center point and parallel to the longitudinal axis "X" ( Figure 2 ) in parallel. The first pulley H4a is arranged to be spaced a first distance "d1" from the vertical axis "Y" in the lateral direction, and the third pulley H4c is arranged to be spaced a second distance "d2" less than the first distance "d1" from the vertical axis "Y" in the lateral direction. Therefore, the first portion "P1" of the belt 112 extends from the second pulley 114b to the first pulley 114a at an angle that is greater than the angle at which the second portion "P2" of the belt 112 extends from the second pulley 114b to the third pulley 114c. Due to the difference in these angles, the downward force applied by the first pulley H4a to the outer sleeve 106 is greater than the upward force applied by the third pulley 114c to the outer sleeve 106, whereby the outer sleeve 106 has a constant downward resultant force applied thereto. In other words, due to the inclination angles of the first portion "P1" and the second portion "P2" of the belt 112, the sum of all Y components of the forces acting on the first portion "P1" of the belt 112 and the second portion "P2" of the belt 112 makes the downward force applied to the outer sleeve 106 constant.

[0047] Via the main pulley 123 ( Fig. 9 ) and each of the first, second and third pulleys H4a to H4c, the belt 112 is operably connected to the drive motor 120. The belt 112 is wound on the first pulley 114a, under the second pulley 114b and on the third pulley 114c. The belt 112 is driven by the motor 120 and fixed to the coupling member 32 of the carriage 30, so that the activation of the motor 120 causes the belt 112 to move around the pulleys H4a to H4c and moves the attached carriage 30 along the outer sleeve 106 toward the raised position or the lowered position.

[0048] In operation, prior to performing a surgical procedure, the instrument drive unit 20 may be attached to the carriage 30, and the electromechanical instrument 10 may be attached to the instrument drive unit 20. With the instrument drive unit 20 and the associated electromechanical instrument 10 attached to the carriage 30, the longitudinal position (e.g., height) of the carriage 30 along the longitudinal axis "X" may be adjusted. For example, to raise the carriage 30, the motor 120 of the slide 100 is activated to move the belt 112 upward relative to the outer sleeve 106 of the slide 100. The carriage 30 is raised to the raised position and contacts the locking features 118 and / or surface features 116 of the top portion 106b of the outer sleeve 106. With the carriage 30 secured to the top portion 106b of the outer sleeve 106, activation of the motor 120 causes the carriage 30 to apply an upward force to the outer sleeve 106 to move the outer sleeve 106 upward relative to the inner shaft 104. As the outer sleeve 106 moves, the first pulley H4a and the second pulley H4b move accordingly and move relative to the third pulley H4c. Figure 7 As shown, the slider 100 exhibits a length substantially equal to the length of conventional sliders.

[0049] To lower the carriage 30 from the extended position, the motor 120 is activated to drive the belt 112 in the opposite direction. In an embodiment where the locking feature 118 secures the carriage 30 to the top portion 106b of the outer sleeve 106 of the slider 100, the downward force applied to the carriage 30 via the belt 112 causes the outer sleeve 106 to retract relative to the inner shaft 104. The outer sleeve 106 can be retracted until the bottom portion 106a of the outer sleeve 106 bottoms out on the bottom portion 104a of the inner shaft 104. At this point, to further lower the carriage 30, the belt 112 applies a force large enough via the motor 120 to unlock the carriage 30 from the top portion 106a of the outer sleeve 106, whereby the carriage 30 is lowered along the track 102 of the outer sleeve 106 toward the lowered position, as shown in FIG. Figures 3 to 5 shown.

[0050] refer to Figures 8 to 10B The slide 100 may also include a motor release mechanism 200 for manually releasing the belt and pulley system 114 ( Figure 5 )'s main pulley 123 is disengaged from the drive motor 120 to allow a clinician to manually move the carriage 30 and associated instrument drive unit 20 and surgical instrument 10 to a safe position away from that location during an emergency (e.g., a power outage).

[0051] The motor release mechanism 200 generally includes a hub 202 and a knob 204. The hub 202 is threadedly coupled to the threaded outer surface 130 of the motor output member 132, and the knob 204 is slidably coupled to the hub 202. The knob 204 protrudes outwardly from the slider 100 so that the knob 204 can be accessed. To activate the motor release mechanism 200, Fig. 9 The knob 204 is pushed inwardly in the direction indicated by arrow "B" in the middle, which non-rotatably secures the knob 204 to the hub 202 through a friction fitting engagement. With the knob 204 non-rotatably secured to the hub 202, rotation of the knob 204 causes the hub 202 to rotate relative to the motor output member 132. As the motor release mechanism 200 rotates, the motor release mechanism 200 is pulled along the motor output member 132 in the direction indicated by arrow "C". In an embodiment, the knob 204 can be permanently non-rotatably coupled to the hub 202, thereby removing the safety step of pushing the knob 204 into engagement with the hub 202 before activating the motor release mechanism 200.

[0052] The hub 202 of the motor release mechanism 200 is axially retained within the proximal end 123a of the pulley 123 while also being able to rotate relative to the pulley 123. A thrust bearing 133 may be provided to facilitate rotation of the hub 202 within and relative to the pulley 132. Since the hub 202 is axially retained within the pulley 123, as the hub 202 of the motor release mechanism 200 moves in the direction "C", the pulley 123 also moves.

[0053] The motor output member 132 of the belt and pulley system 114 includes a housing 132a and a shaft 132b extending from the housing 132a. The shaft 132b is non-rotatably fixed to the motor gearbox output shaft 125 of the drive motor 120 and extends axially through the pulley 123. A pair of torque transmission pins 134a, 134b are fixed to the housing 132a and extend through corresponding holes 127a, 127b, which are defined as passing through the distal end 123b of the pulley 123. In an embodiment, there may be more or less than two pins 134a, 134b. The torque transmission pins 134a, 134b drive-couple the pulley 123 to the motor output member 132 so that the pulley 123 rotates with the motor output member 132 in response to activation of the drive motor 120.

[0054] The pulley 123 can slide relative to and along the pins 134a, 134b to adjust the axial position of the pulley 123 relative to the motor output member 132. Specifically, in response to the activation of the motor release mechanism 200, the pulley 123 can slide along the torque transmission pins 134a, 134b in a manner such as Fig. 10A The first axial position shown is similar to Fig. 10BThe slider 100 may be configured to move axially between the first and second axial positions shown. In the first axial position, the torque transfer pins 134a, 134b extend through the holes 127a, 127b of the pulley 123, thereby non-rotatably fixing the pulley 123 to the motor output member 132. In the second axial position, the pulley 123 is disengaged from the torque transfer pins 134a, 134b, whereby the pulley 123 is disengaged from the motor output member 123 and is able to rotate independently relative to the motor output member 132. The slider 100 may include a spring 135 (e.g., a wave spring) that resiliently biases the pulley 123 toward the first position. A thrust bearing 137 may be provided to facilitate rotation of the pulley 123 relative to the spring 135.

[0055] The slide 100 also includes a one-way bearing 138 disposed within the pulley 123 and captured between the pulley 123 and the shaft 132b of the motor output member 132. The bearing 138 can be non-rotatably fixed to the shaft 132b of the motor output member 132. The bearing 138 can be any suitable one-way bearing or clutch, such as, for example, a one-way bearing having a roller, a strut, or a spring element. The bearing 138 is configured to prevent rotation of the pulley 123 relative to the motor output member 132 in a direction corresponding to movement of the carriage 30 / instrument drive unit 20 along the slide 100 in a downward direction, as described below.

[0056] In operation, when the pulley 123 is in the first or operating position, as Fig. 10A As shown, activation of the drive motor 120 causes the motor output member 132, the bearing 138, and the pulley 123 to rotate as a unit in either rotational direction (i.e., clockwise or counterclockwise). As described above, rotation of the pulley 123 causes movement of the surgical instrument 10 in a selected direction along the slide 100. For example, clockwise rotation of the pulley 123 can cause upward movement of the surgical instrument 10 along the slide 100, while counterclockwise rotation of the pulley 123 can cause downward movement of the surgical instrument 10 along the slide.

[0057] During an emergency (e.g., a power outage), the clinician may wish to remove the surgical instrument 10 from the patient and away from the patient. However, during a power outage, the drive motor 120 will be locked and prevent manual movement of the surgical instrument 10 along the slide 100. Therefore, in order to move the surgical instrument 10 / slide 30 / instrument drive unit 20, the slide 30 may need to be operably disengaged from the drive motor 120.

[0058] To disengage the drive motor 120 from the carriage 20, the motor release mechanism 200 may be actuated by pushing its knob 204 into non-rotational engagement with its hub 202. With the knob 204 and hub 202 of the motor release mechanism 200 non-rotationally coupled to each other, the knob 204 and hub 202 rotate together about the motor output member 132 to pull the pulley 123 away from the housing 132a of the motor output member 132 toward the second position, thereby causing the belt and pulley system 114 ( Figure 5 ) is disengaged from the drive motor 120.

[0059] When the pulley 123 is in the second or safe position, as Fig. 10B As shown, the bearing 138 allows the pulley 123 to rotate relative to it and relative to the motor output member 132 in a direction corresponding to the movement of the carriage 30 / instrument drive unit 20 / surgical instrument 10 along the slide 100 in the upward direction. Therefore, along the slide 100, the surgical instrument 10 can be manually moved upward and removed from the patient's body to a selected position. Conversely, because the one-way bearing 138 prevents the pulley 123 from rotating in the corresponding rotational direction relative to the bearing 138, attempts to move the carriage 30 / instrument drive unit 20 / surgical instrument 10 in the downward direction are frustrated. In addition, because the drive motor 120 is in a locked state (for example, due to power failure), the drive motor 120 prevents the bearing 138 and the motor output member 132 from rotating by the force applied to the carriage 30 / instrument drive unit 20 / surgical instrument 10.

[0060] It should be understood that various modifications may be made to the embodiments disclosed in the present invention. Therefore, the above description should not be understood as limiting, but only as an illustration of various embodiments. Those skilled in the art will be able to envision other modifications within the scope and essence of the claims attached hereto.

Claims

1. A surgical robot system, comprising: an elongated slider defining a longitudinal axis; a carriage for supporting an instrument drive unit, wherein the carriage is coupled to the slide and is movable relative to the slide along the longitudinal axis; a drive motor operably coupled to the carriage and configured to drive movement of the carriage relative to the slide; and a motor release mechanism configured to selectively disengage the drive motor from the carriage to allow manual movement of the carriage along the slide, The surgical robotic system further includes a pulley operably coupling the drive motor and the carriage, wherein activation of the motor release mechanism disengages the pulley from the drive motor, The surgical robot system also includes a motor output member capable of being rotated by the drive motor, wherein activation of the motor release mechanism causes the pulley to slide relative to the motor output member from a first position to a second position, wherein the pulley and the motor output member are capable of rotating relative to each other, and wherein the pulley is capable of rotating independently relative to the motor output member.

2. The surgical robot system according to claim 1 further comprises at least one torque transfer pin that non-rotatably connects the pulley to the motor output member, wherein the pulley is configured to slide along the at least one torque transfer pin between the first position and the second position.

3. The surgical robot system according to claim 1 further comprises a one-way bearing arranged between the pulley and the motor output member, wherein the one-way bearing is configured to allow the pulley to rotate in a first direction relative to the motor output member and prevent the pulley from rotating in a second direction relative to the motor output member.

4. The surgical robotic system of claim 3, wherein the one-way bearing is disposed within the pulley, and the motor output member extends through the one-way bearing and the pulley.

5. The surgical robotic system of claim 3, wherein the one-way bearing is non-rotatably fixed to the motor output member.

6. The surgical robotic system of claim 1 , wherein the motor release mechanism comprises a hub axially held by the pulley and threadedly coupled to the motor output member, such that rotation of the hub moves the pulley relative to the motor output member between the first position and the second position.

7. The surgical robotic system of claim 6, wherein the motor release mechanism further comprises a knob configured to slide into and out of non-rotatable engagement with the hub.

8. The surgical robotic system of claim 1 further comprising a belt operably coupled to the pulley and secured to the carriage such that movement of the belt drives movement of the carriage along the side.

9. The surgical robotic system of claim 1, further comprising a robotic arm having the slide coupled thereto.

10. A surgical robot system, comprising: Robotic arm; an elongated slide coupled to an end portion of the robotic arm; Drive motor; a pulley operably coupled to the drive motor and configured to drive movement of an instrument drive unit along the slide; and a motor release mechanism configured to selectively disengage the pulley from the drive motor to allow manual rotation of the pulley relative to the drive motor, The surgical robot system also includes a motor output member capable of being rotated by the drive motor, wherein activation of the motor release mechanism causes the pulley to slide relative to the motor output member from a first position to a second position, wherein the pulley and the motor output member are capable of rotating relative to each other, and wherein the pulley is capable of rotating independently relative to the motor output member.

11. The surgical robotic system according to claim 10 further comprises at least one torque transfer pin that non-rotatably connects the pulley to the motor output member, wherein the pulley is configured to slide along the at least one torque transfer pin between the first position and the second position.

12. The surgical robot system according to claim 10 further comprises a one-way bearing arranged between the pulley and the motor output member, wherein the one-way bearing is configured to allow the pulley to rotate in a first direction relative to the motor output member and prevent the pulley from rotating in a second direction relative to the motor output member.

13. The surgical robotic system of claim 12, wherein the one-way bearing is disposed within the pulley, and the motor output member extends through the one-way bearing and the pulley.

14. The surgical robotic system of claim 12, wherein the one-way bearing is non-rotatably fixed to the motor output member.

15. The surgical robotic system of claim 10, wherein the motor release mechanism comprises a hub axially held by the pulley and threadedly coupled to the motor output member such that rotation of the hub moves the pulley relative to the motor output member between the first position and the second position.

16. The surgical robotic system of claim 15, wherein the motor release mechanism further comprises a knob configured to slide into and out of non-rotatable engagement with the hub.

17. The surgical robotic system of claim 10, further comprising a belt operably coupled to the pulley and fixedly coupled to the instrument drive unit, such that movement of the belt drives lateral movement of the instrument drive unit.

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