Sterile interface module for robotic surgical assembly

Abstract

A robotic surgical assembly includes an instrument drive unit and a sterile interface module for coupling an electromechanical robotic surgical instrument to the instrument drive unit. The sterile interface module is detachable from the instrument drive unit and is equipped with a mechanism that allows manual actuation of the surgical instrument.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to robotics and, more particularly, to robotic surgical devices, assemblies, and / or systems for performing endoscopic surgical procedures and methods of use thereof. BACKGROUND

[0002] Robotic surgical systems have been used for minimally invasive medical procedures. Some robotic surgical systems include a control console that supports a surgical robot arm and a surgical instrument that is mounted to the robot arm. The surgical instrument can have an elongated shaft that supports at least one end effector (e.g., a forceps or grasping tool) on a distal end thereof. In some robotic surgical systems, the entire length of the elongated shaft of the surgical instrument must pass through a holder or other feature of the robot arm, making removal or replacement of the surgical instrument from the robot arm cumbersome.

[0003] Manually operated surgical instruments typically include a handle assembly for actuating the functions of the surgical instrument; however, when using a robotic surgical system, no handle assembly is typically present to actuate the functions of the end effector. The robot arms of the robotic surgical system provide mechanical power to the surgical instrument for its operation and movement. Each robot arm can include an instrument drive unit that is operably connected to the surgical instrument through an interface. The interface couples a selected surgical instrument to the robotic surgical system for driving the operation of the surgical instrument and provides a structure for easy removal or replacement of the surgical instrument from the robot arm.

[0004] During a surgical procedure, some portions of the surgical instrument can be exposed to a non-sterile environment or non-sterile components. Such exposure can contaminate the surgical instrument or portions thereof. Since many components of the robotic surgical system must remain sterile, it is necessary to maintain sterility at the interface for coupling the surgical instrument to the robotic surgical system to protect the sterile components of the robotic surgical system from contamination by the non-sterile portions of the surgical instrument. It is also necessary to have a robotic surgical system that enables the surgical instrument to be removed or replaced more efficiently and expeditiously and with improved usability. SUMMARY

[0005] According to an aspect of the present disclosure, an interface module for coupling an electromechanical robotic surgical instrument to an instrument drive unit is provided. The interface module includes a collar configured to be coupled to the instrument drive unit, a button movably coupled to the collar, and a drive transmission assembly. The drive transmission assembly includes a distal portion and a proximal portion movably coupled to the distal portion. The distal portion is configured to be coupled to a driven member of the electromechanical robotic surgical instrument, and the proximal portion is configured to be selectively coupled to a drive member of the instrument drive unit. The proximal portion of the drive transmission assembly is configured to move distally in response to actuation of the button to disengage from the drive member of the instrument drive unit.

[0006] In aspects, the button is movable along a first axis to move a proximal end portion of the drive transmission assembly between an engaged position and a disengaged position along a second axis that is perpendicular to the first axis. In the engaged position, the drive transmission assembly is engaged with the drive member of the instrument drive unit. In the disengaged position, the drive transmission assembly is disengaged from the drive member of the instrument drive unit.

[0007] In aspects, the interface module can further include a slider supported on the proximal end portion of the drive transmission assembly and configured to engage the button. The proximal end portion of the drive transmission assembly can be configured to move axially with the slider.

[0008] In further aspects, the slider can have a cam surface and the button can have a cam surface configured to engage the cam surface of the slider to move the slider distally and, in turn, move the proximal end portion of the drive transmission assembly.

[0009] In other aspects, the interface module can further include a hub. The hub can house the slider and the proximal end portion of the drive transmission assembly.

[0010] In aspects, the instrument drive unit can further include a pull tab movably coupled to the collar and configured to releasably couple the interface module to the instrument drive unit.

[0011] In aspects, the interface module can further include a hub defining a bore therein. The pull tab can include a protrusion configured to be received in the bore of the hub to axially secure the hub to the collar.

[0012] In further aspects, the pull tab is manually movable between a first position and a second position. In the first position, the protrusion of the pull tab is engaged with the bore of the hub whereby the hub is lockingly engaged with the collar. In the second position, the protrusion of the pull tab is disengaged from the bore of the hub whereby the hub is unlocked from the collar.

[0013] In another aspect, the pull tab can be configured to lockingly engage the button when the button is actuated such that the pull tab maintains the button in an actuated position to maintain the proximal end portion of the drive transmission assembly disengaged from the drive member of the instrument drive unit.

[0014] In other aspects, the pull tab can have a latch and the button can have a latch that engages the latch of the pull tab when the button is moved to an actuated position. The latch of the pull tab can be configured to prevent the button from moving out of the actuated position.

[0015] In aspects, the pull tab can be configured to move between an inward position and an outward position. The latch of the pull tab can be configured to disengage the latch of the button in response to movement of the pull tab toward the outward position.

[0016] In some aspects, the interface module can additionally include a gear that is selectively engageable with the distal end portion of the drive transmission assembly and that is manually rotatable to rotate the distal end portion of the drive transmission assembly when the drive transmission assembly is disengaged from the drive member of the instrument drive unit.

[0017] In further aspects, the distal end portion of the drive transmission assembly can have gear teeth extending therearound.

[0018] In other aspects, the gear can be slidable relative to the drive transmission assembly between a first position in which the gear is disengaged from the gear teeth of the distal end portion of the drive transmission assembly and a second position in which the gear is engaged with the gear teeth of the distal end portion of the drive transmission assembly.

[0019] In another aspect of the present disclosure, a sterile interface module for coupling an instrument drive unit and a surgical instrument is provided. The sterile interface module includes a body member configured to be selectively coupled to the surgical instrument, a hub supported on the body member, a plurality of drive transmission assemblies supported on the body member, and a slider. Each of the drive transmission assemblies includes a proximal end portion configured to be selectively coupled to a drive member of the instrument drive unit and a distal end portion configured to be selectively coupled to a driven member of the surgical instrument. The proximal end portion is axially movable relative to the distal end portion. The slider is supported on the proximal end portion of each of the drive transmission assemblies. The proximal end portion of the drive transmission assembly is configured to move distally relative to the respective distal end portion of the drive transmission assembly to disengage from the respective drive member of the instrument drive unit in response to distal movement of the slider.

[0020] In aspects, the slider can define a plurality of openings therethrough. The proximal end portion of the drive transmission assembly can extend through a respective opening.

[0021] In some aspects, the slider can include a terminal portion having a cam surface.

[0022] In further aspects, the sterile interface module can additionally include a gear rotatably supported on the body member and configured to selectively engage the distal end portion of one of the drive transmission assemblies.

[0023] In another aspect, the gear can be slidable relative to the body member between a first position in which the gear is disengaged from the distal end portion of the drive transmission assembly and a second position in which the gear is engaged with the distal end portion of the drive transmission assembly.

[0024] In other aspects, the hub can have a square configuration and can include a first side and a second side adjacent the first side. The first side can define a pair of apertures for receiving a pair of protrusions of a pull tab. The second side can define a channel for receiving a button.

[0025] According to yet another aspect of the disclosure, a sterile interface module is provided and includes a pull tab having a protrusion, a drive transmission assembly, and a hub. The drive transmission assembly is for coupling a driven member of an electromechanical robotic surgical instrument and a drive member of an instrument drive unit. The hub has a portion of the drive transmission assembly disposed therein. The hub defines a bore configured to receive the protrusion of the pull tab. The pull tab is configured to move between a first position and a second position. In the first position, the protrusion of the pull tab is engaged with the bore of the hub to axially secure the interface module to the instrument drive unit. In the second position, the protrusion of the pull tab is disengaged from the bore of the hub.

[0026] In aspects, the pull tab can be resiliently biased toward the first position.

[0027] In some aspects, the sterile interface module can additionally include a button operably coupled to the drive transmission assembly and configured to disconnect the drive transmission assembly from the drive member of the instrument drive unit when the button is in an actuated position.

[0028] In further aspects, the pull tab can be configured to lockingly engage the button such that the pull tab maintains the button in the actuated position to maintain the drive transmission assembly disconnected from the drive member of the instrument drive unit.

[0029] In other aspects, the pull tab can have a latch and the button can have a latch that engages the latch of the pull tab when the button is moved to the actuated position. The latch of the pull tab can be configured to prevent the button from moving out of the actuated position.

[0030] In another aspect, the pull tab can be configured to move between an inward position and an outward position. The latch of the pull tab can be configured to disengage the latch of the button in response to movement of the pull tab toward the outward position.

[0031] Other aspects, features, and advantages will become apparent from the following description, the drawings, and the claims. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the general description of the disclosure given above and the detailed description of the disclosure given below, serve to explain the principles of the disclosure, in which:

[0033] Figure 1 is a schematic illustration of a robotic surgical system including an instrument drive unit, a sterile interface module, and a surgical instrument;

[0034] Figure 2 is Figure 1 is a perspective view of the sterile interface module of

[0035] Figure 3 is a perspective view of the sterile interface module of Figure 1Top perspective view of a sterile interface module of a drive member of a drive unit of an instrument;

[0036] Figure 4 A perspective view of a sterile interface module with components removed; Figure 3

[0037] Figure 5 A perspective view of a sterile interface module with a button and a pull tab; Figure 2

[0038] Figure 6A A cross-sectional view to illustrate a pull tab engaged with a hub of a sterile interface module and a button disengaged from the hub;

[0039] Figure 6B A cross-sectional view to illustrate a pull tab disengaged from the hub;

[0040] Figure 7 A front view of a sterile interface module with a release assembly removed for clarity and illustration purposes; Figure 2

[0041] Figure 8 A perspective view of a sterile interface module with components shown in phantom; Figure 7

[0042] Figure 9A A longitudinal cross-sectional view to illustrate a button disengaged from a slider of a sterile interface module;

[0043] Figure 9B A longitudinal cross-sectional view to illustrate one of the buttons engaged with a slider of a sterile interface module;

[0044] Figure 10 A cross-sectional view to illustrate a first gear of a sterile interface module engaged with a first drive transmission assembly of the sterile interface module and a second gear of the sterile interface module disengaged from a second drive transmission assembly of the sterile interface module;

[0045] Figure 11A A cross-sectional view to illustrate a button in an unlocked state with a pull tab removed;

[0046] Figure 11B A cross-sectional view to illustrate a button in an intermediate position with respect to a pull tab with components removed; and

[0047] Figure 11C A cross-sectional view to illustrate a button lockingly engaged with a pull tab. DETAILED DESCRIPTION

[0048] ​​​​Embodiments of the present disclosure are described in detail with reference to the drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term “distal” refers to the portion of a robotic surgical system or component thereof that is closer to a patient, while the term “proximal” refers to the portion of a robotic surgical system or component thereof that is further from the patient.

[0049] As used herein, the terms parallel and perpendicular are to be understood to include relative configurations that are substantially parallel and substantially perpendicular to within at most about + / - 10 degrees of true parallel and true perpendicular.

[0050] As used herein, the term “clinician” refers to a physician, nurse, or other medical personnel and can include ancillary personnel. In the following description, well-known functions or constructions are not described in detail to avoid obscuring the present disclosure in unnecessary detail.

[0051] Throughout the present disclosure, components of the robotic surgical system described herein can have two or more duplicates. For the sake of brevity, only one of the duplicate components will be described in detail. It can be assumed that the duplicate components not described in detail have the same features and / or functions as their sister components or substantially the same features and / or functions.

[0052] Referring first to Figure 1 A surgical system, such as a robotic surgical system 1, generally includes one or more surgical robot arms 2, 3, a control device 4, and an operating console 5 coupled with the control device 4. Any of the surgical robot arms 2, 3 can have a robotic surgical assembly 50 and an electromechanical surgical instrument 60 coupled thereto. The robotic surgical assembly 50 additionally includes an instrument drive unit 70 and a coupling assembly or sterile interface module 200 that couples the electromechanical surgical instrument 60 to the instrument drive unit 70, as described in greater detail below. In some embodiments, the robotic surgical assembly 50 can be removably attached to a rail 40 of one of the surgical robot arms 2, 3. In certain embodiments, the robotic surgical assembly 50 can be fixedly attached to the rail 40 of one of the surgical robot arms 2, 3.

[0053] The operator console 5 comprises a display device 6 arranged to display three-dimensional images; and manual input devices 7, 8 by means of which a clinician (not shown) can remotely manipulate the robot arms 2, 3 in a first mode of operation, as is known in principle to the person skilled in the art. Each of the robot arms 2, 3 can be made up of any number of members that can be connected by joints. The robot arms 2, 3 are drivable by electric drives (not shown) that are connected to the control device 4. The control device 4, e.g. a computer, is arranged to activate the drives, e.g. by means of a computer program, in such a way that the robot arms 2, 3, the attached robotic surgical assembly 50, and thus the electromechanical surgical instrument 60, including its electromechanical end effector 60a, perform the desired movements in accordance with movements defined by means of the manual input devices 7, 8. The control device 4 can also be arranged in such a way that it regulates the movements of the robot arms 2, 3 and / or the drives.

[0054] The robotic surgical system 1 is configured for a patient "P" to be treated in a minimally invasive manner by means of a surgical instrument, such as the electromechanical surgical instrument 60, that is positioned on, e.g. lying on, a surgical table "ST". The robotic surgical system 1 can also comprise more than two robot arms 2, 3, the additional robot arms likewise being connected to the control device 4 and remotely manipulatable by means of the operator console 5. The surgical instrument, e.g. the electromechanical surgical instrument 60, can also be attached to any additional one or more robot arms.

[0055] The control device 4 can control one or more motors, e.g. motors (motors 1...n), each of which is configured to drive movement of the robot arms 2, 3 in any number of directions. In addition, the control device 4 can control an instrument drive unit 70, which comprises a motor assembly (not shown explicitly) that drives various operations of the end effector 60a of the electromechanical surgical instrument 60. The motor assembly of the robotic surgical assembly 50 comprises any number of motors, which are coupled to the sterile interface module 200 via a corresponding number of drive members 76 Figure 3 ) extending from the motors.

[0056] In general, the robotic surgical assembly 50 transmits power and actuation forces, e.g. torque, from the motors of the motor assembly of the instrument drive unit 70 to driven members (not shown explicitly) supported within an instrument housing (not shown explicitly) of the electromechanical surgical instrument 60 by means of the sterile interface module 200. Such transmission of power and actuation forces ultimately drives movement of components of the end effector 60a of the electromechanical surgical instrument 60 for operating the electromechanical surgical instrument 60. This movement can include, for example, movement of a blade (not shown) and / or closing and opening of jaw members (not shown) of the end effector 60a, articulation / rotation / tilt / yaw of the end effector 60a, and / or actuation or firing of the end effector 60a, e.g. a stapling portion of the end effector 60a.

[0057] refer to Figures 2-6B A sterile interface module 200 is provided for the robotic surgical assembly 50 to selectively interconnect the robotic surgical assembly 50 and the electromechanical surgical instrument 60. The electromechanical surgical instrument 60 may be laterally coupled (e.g., laterally loaded) to or laterally detached from the sterile interface module 200 of the robotic surgical assembly 200. Typically, the sterile interface module 200 serves to provide an interface between the instrument drive unit 70 and the electromechanical surgical instrument, such as the electromechanical surgical instrument 60. This interface advantageously maintains sterility, provides a means of transmitting electrical communication between the robotic surgical assembly 50 and the electromechanical surgical instrument 60, provides a structure configured to transmit rotational force from the robotic surgical assembly 50 to the electromechanical surgical instrument 60 for performing functions using the electromechanical surgical instrument 60, and / or provides a structure for selectively attaching / removing the electromechanical surgical instrument 60 to / from the robotic surgical assembly 50 (e.g., for rapid instrument change). In various respects, the interface module 200 may become sterile via a sterilization process performed before or after the procedure and / or be sterilized during manufacturing.

[0058] The aseptic interface module 200 includes a release assembly 170 coupled to an instrument drive unit 70 and a main assembly 201 coupled between the release assembly 170 and the surgical instrument 60. The release assembly 170 is configured to selectively release or detach the main assembly 201 of the aseptic interface module 200 from the instrument drive unit 70 and includes a collar or body portion 71, and a pair of buttons 72, 74 and a pair of tabs, such as pull tabs 78, 80, each supported in a corresponding slot in the collar 71. The buttons 72, 74 are opposite each other and disposed on opposite sides of the collar 71, and the pull tabs 78, 80 are opposite each other and disposed on opposite sides of the collar 71, such that the buttons 72, 74 and the pull tabs 78, 80 are all oriented towards the central longitudinal axis “Y” defined by the aseptic interface module 200.

[0059] By one or more springs 83 ( Figure 6A The spring-biased pull tabs 78 and 80, which are oriented inwards, can be simultaneously pulled to the outwards position. Figure 6BThe main assembly 201 of the sterile interface module 200 is released from the release assembly 170 of the sterile interface module 200 and thus from the instrument drive unit 70. In some aspects, the release assembly 170 may include only one pull tab. Each of the pull tabs 78, 80 may have a generally U-shaped configuration and includes a body portion 82, a rod 84 extending outward from the body portion 82, and a pair of protrusions or projections 86, 88 extending inward from the body portion 82. The rod 84 of the pull tabs 78, 80 is configured to be grasped by a clinician, and the protrusions 86, 88 are configured to selectively engage with one or more attachment holes 246a, 246b (described in more detail below) of the sterile interface module 200 to selectively secure the sterile interface module 200 to the instrument drive unit 70. The protrusions 86 and 88 each have inclined surfaces 90 and 93 and a latching feature 92, such as a hook, which are configured to correspond to the inclined surfaces 120 and 122 of the buttons 72 and 74. Figure 5 The latch feature 92 is engaged with the latch feature 126. In various respects, inclined surfaces 90, 93 may be formed on the latch feature 92.

[0060] As the sterile interface module 200 is attached to the instrument drive unit 70, pulling the pull tabs 78 and 80 causes the protrusions 86 and 88 of the corresponding pull tabs 78 and 80 to move outward relative to the attachment holes 246a and 246b of the sterile interface module 200, such as... Figure 6B As seen in the diagram. This relative movement will release the pull tabs 78, 80 of the release assembly 170 from the hub 214 of the main assembly 201, thereby allowing the main assembly 201 to be separated from the instrument drive unit 70 (e.g., by pulling the sterile interface module 200 away from the instrument drive unit 70).

[0061] The buttons 72 and 74 of the release assembly 170 are controlled by one or more springs 97. Figure 6A Oriented toward the first position, for example, the unacted position ( Figure 5 , 6A The spring is biased outwards. Buttons 72 and 74 can simultaneously be oriented toward the second or actuated position. Figure 9B , 11C Press to activate the emergency release mechanism of the sterile interface module 200, as will be described. In some respects, the release assembly 170 may consist of only one button.

[0062] Each of the buttons 72, 74 may have a generally U-shaped configuration and includes a body portion 96 and a pair of bulges or protrusions 98, 100 extending inwardly from the body portion 96. A space 102 is defined between the protrusions 98, 100 of each of the buttons 72, 74 for receiving a block portion 240 of the slider 226 of the aseptic interface module 200. Each of the protrusions 98, 100 of the buttons 72, 74 has a cam surface 104, such as an inclined surface, which is configured to selectively engage with the slider 226 of the aseptic interface module 200 to disconnect the drive transmission assembly 222 of the aseptic interface module 200 from the drive member 76 of the instrument drive unit 70.

[0063] Turn now Figure 4 and 7 -9B, the main assembly 201 of the sterile interface module 200 typically includes a main body component 210, a connector assembly 212, and a hub 214. Figure 4 ) and slider 226. The main body component 210 has an upper portion 210a and a lower portion 210b connected together by one or more fasteners such as screws. The sterile interface module 200 includes a pin 216 (e.g., a spring pin) that provides a conductive path through the sterile interface module 200 (e.g., to the end effector 60a of the surgical instrument 60 when the surgical instrument 60 is coupled to the sterile interface module 200 - see Figure 1 The lower portion 210b of the main body member 210 defines an inclined inner surface 218, which is configured to support the proximal end of the surgical instrument 60 thereon. The lower portion 210b of the main body member 210 defines a recess 223, which is configured to receive an electromechanical surgical instrument, such as the electromechanical surgical instrument 60, therein for removably securing the electromechanical surgical instrument 60 to the robotic surgical assembly 50. The upper portion 210a of the main body member 210 defines a drive transmission path 220, in which a drive transmission assembly 222 is supported.

[0064] The connector assembly 212 includes a drive transmission assembly 222 and a support plate 224 that supports the drive transmission assembly 222. Figure 4 And actuators, such as sliders 226, supported on each of the drive transmission assembly 222. Figure 4 , 9A As best shown in 9B, each of the drive transmission assemblies 222 includes a proximal portion, such as a proximal shaft 222a, and a distal portion, such as a distal shaft 222b, coupled to the proximal shaft 222a. The proximal shaft 222a has a coupling end 228 (e.g., a slot) that engages with a corresponding drive shaft 76 of the instrument drive unit 70 on the proximal end of the proximal shaft 222a. Figure 3 One of them can be engaged. The proximal shaft 222a has a sheath 230 disposed around it, which defines a ledge 232 supporting the slider 226.

[0065] The distal shaft 222b of the drive transmission assembly 222 protrudes distally through a corresponding opening 220 in the main body member 210 and is configured to engage the electromechanical surgical instrument 60. Figure 1 The distal shaft 222b is retractably received within the proximal shaft 222a and elastically biased in the distal direction. Thus, the proximal shaft 222a floats on the distal shaft 222b and is configured to move along and relative to the distal shaft 222b to selectively engage and disengage the connecting end 228 of the proximal shaft with the corresponding drive shaft 76 of the instrument drive unit 70, as will be described. Each distal shaft 222b has a spur gear 234 fixed around it, which is configured to selectively engage with the manual gears 250, 252 (e.g., pinions) of the sterile interface module 200. In all respects, any suitable type of gear can be engaged with the distal shaft 222b.

[0066] The slider 226 of the connector assembly 212 may have a generally flat rectangular shape and define a plurality of openings 236 therethrough. In various respects, the slider 226 may be block-shaped, planar, annular, and / or cylindrical. The openings 236 may be arranged in a square configuration and have a drive connector 228 for a proximal shaft 222a projecting proximally from there. The inner diameter of the openings 236 in the slider 226 is smaller than the outer diameter of the sheath 230 of the proximal shaft 222a, such that the slider 226 is supported on the ledge 232 of the proximal shaft 222a. In this way, distal movement of the slider 226 causes distal movement of the proximal shaft 222a along and relative to the corresponding distal shaft 222b.

[0067] like Figure 4 and 8 As best shown in -9B, when the aseptic interface module 200 is coupled to the instrument drive unit 70, the slider 226 has opposing end portions 226a, 226b positioned adjacent to the corresponding buttons 72, 74 of the instrument drive unit 70. Each end portion 226a, 226 of the slider 226 has a pair of cam surfaces 237, 238 and a block 240 disposed between the cam surfaces 237, 238. The cam surfaces 237, 238 are configured to engage with the cam surfaces 104 of the buttons 72, 74, such that the buttons 72, 74 are aligned along the horizontal axis “X” (…). Figure 9A The slider 226 moves distally along the vertical axis “Y” defined by the aseptic interface module 200. In all respects, the slider 226 can be axially fixed to the proximal shaft 222a by any suitable means such as friction engagement, adhesive, fasteners, etc.

[0068] like Figure 4As shown in the optimal configuration, the hub 214 of the aseptic interface module 200 covers the components of the connector assembly 212 and serves as a connector for mechanically connecting the main assembly 201 of the aseptic interface module 200 to the release assembly 170. The hub 214 has a base 242 fixed to the upper portion 210a of the main body member 210 and a housing portion 244 attached to the upper surface of the base 242. The housing 244 of the hub 214 houses the slider 226 and the proximal shaft 222a of the drive transmission assembly 222. The housing 244 of the hub 214 has a square configuration and includes a first pair of opposing sides 244a, 244b and a second pair of opposing sides 244c, 244d. The first pair of opposing sides 244a, 244b each defines a pair of holes 246a, 246b, sized to receive protrusions 86, 88 of corresponding pull tabs 78, 80 for selectively axially securing the aseptic interface module 200 to the instrument drive unit 70. The second pair of opposite sides 244c, 244d each define a channel 248, which is configured to receive the corresponding button 72, 74 during actuation of the button 72, 74.

[0069] refer to Figure 4 , 8 10. The aseptic interface module 200 includes a first manual gear 250 and a second manual gear 252, such as a pinion, rotatably and slidably supported on the upper portion 210a of the body member 210. In various aspects, the aseptic interface module 200 may include one or more manual gears. In another aspect, the aseptic interface module 200 may include a manual gear associated with each of the drive transmission assemblies 222. The manual gears 250, 252 project outwardly through an opening 254 in the upper portion 210a of the body member 210 to provide access for the clinician to the manual gears 250, 252. The manual gears 250, 252 may have an elongated slot 256 defined therein, through which a pin 258 is received. The elongated slot 256 allows the gears 250, 252 to slide between a disengaged position of the associated gear teeth 260 with the distal shaft 222b and an engaged position of the associated gear teeth 260 with the distal shaft 222b. In various respects, gears 250 and 252 can be elastically biased toward the disengaged position by means of a biasing member (not shown) provided in slot 256. In other respects, manual gears 250 and 252 can be permanently fixed in the engaged position.

[0070] The operation of the robotic surgical assembly 50 will now be described. (See reference...) Figure 6A and 6B To connect the sterile interface module 200 to the instrument drive unit 70, the sterile interface module 200 is manipulated in the proximal direction to insert its hub 214 into the collar 71 of the release assembly 170. The housing portion 244 engages the inclined surfaces 90, 93 of the pull tabs 78, 80, whereby the pull tabs 78, 80 are... Figure 6AThe arrow "A" indicates the direction in which the elastic bias of the spring member 83 is resisted and moved outward. As the first opposite sides 244a, 244b of the hub 214 of the aseptic interface module 200 align with the corresponding pull tabs 78, 80, the pull tabs 78, 80 are moved outward by the spring member 83. Figure 6B The arrow "B" in the diagram indicates an inward bias. The protrusions 86 and 88 of the pull tabs 78 and 80 are received in corresponding holes 246a and 246b in the hub 214 of the sterile interface module 200, thereby axially and rotatably securing the sterile interface module 200 to the instrument drive unit 70. When the sterile interface module 200 is coupled to the instrument drive unit 70, the drive connector 228 of the drive transmission assembly 222 of the sterile interface module 200 engages with the corresponding drive member 76 of the instrument drive unit 70. Figure 3 This allows the aseptic interface module 200 to be operatively connected to the instrument drive unit 70.

[0071] With the robotic surgical assembly 50 of the robotic surgical system 1 fixed to one of the surgical robotic arms 2 and 3 of the robotic surgical system 1, and the electromechanical surgical instrument 60 of the robotic surgical system 1 fixed to the sterile interface module 200 of the robotic surgical system 1, a clinician can perform surgical procedures as needed by robotically controlling the driven members of the electromechanical surgical instrument 60 using the motor assembly of the robotic surgical assembly 50. Specifically, one or more of the motors in the motor assembly are actuated to rotate one or more of the drive members 76 of the motor assembly, such that one or more of the drive transmission assemblies 222 of the sterile interface module 200 cooperate with one or more of the driven members of the electromechanical surgical instrument 60 to operate and / or manipulate the end effector 60a of the electromechanical surgical instrument 60 as needed (e.g., firing, articulating, rotating, etc.).

[0072] To separate the sterile interface module 200 from the instrument drive unit 70, the actuation release assembly 170 is used. Specifically, the pull tabs 78 and 80 are... Figure 6A Arrow "A" indicates that the spring member 83 moves outward against the elastic bias to remove the protrusions 86, 88 of the pull tabs 78, 80 from the corresponding holes 246a, 246b in the hub 214 of the main assembly 201. As the pull tabs 78, 80 of the release assembly 170 disengage from the hub 214 of the main assembly 201, the main assembly 201 of the aseptic interface module 200 can be disconnected from the instrument drive unit 70.

[0073] refer to Figure 4 , 9AIn emergency situations, such as when a power failure occurs, and when the electromechanical surgical instrument 60 is at least partially positioned inside the patient, manual actuation of the surgical instrument 60 can be performed to manipulate the end effector 60a of the surgical instrument 60, even though the robotic surgical system 50 has no power. Pressing one or both of the buttons 72, 74 on the release assembly 170 will activate the end effector 60a. Figure 9A The arrow "C" in the diagram indicates the direction from the starting position ( Figure 9A Oriented toward the actuation position ( Figure 9B The buttons 72 and 74 are moved inward. The cam surface 104 of the buttons 72 and 74 engages with the cam surfaces 237 and 238 of the slider 226, thereby... Figure 9A The arrow "D" indicates the direction in which the slider 2226 is driven distally. Since the slider 226 is supported on the ledge 232 of the proximal shaft 222a of the drive transmission assembly 222, the proximal shaft 222a moves distally together with the slider 226 and along the distal shaft 222b from the engaged position ( Figure 9A Move to the disengaged position ( Figure 9B In the disengaged position, the drive coupling 228 of the proximal shaft 222a is connected to the drive shaft 76 of the instrument drive unit 70. Figure 3 They are spaced apart on the distal side and therefore do not join with it.

[0074] refer to Figures 11A-11C While buttons 72 and 74 engage slider 226, the inclined surfaces 120 and 122 defined on the corresponding protrusions 98 and 100 of buttons 72 and 74 engage the inclined surfaces 90 and 93 of pull tabs 78 and 80. Figure 11A ) drive the pull tabs 78 and 80 outward, such as Figure 11B As shown. Continue applying actuating force to buttons 72 and 74 to move them to the actuated position, as shown. Figure 11C As shown. In the actuated position, the latch 126 of buttons 72, 74 engages the latch 92 of pull tabs 78, 80, thereby preventing buttons 72, 74 from moving out of the actuated position. In this way, the clinician does not need to maintain a force on buttons 72, 74 to keep them in the actuated position where the drive transmission assembly 222 is disengaged from the drive member 76 of the instrument drive unit 70. With the drive transmission assembly 222 held in the disengaged position by the connection between the pull tabs 78, 80 and buttons 72, 74, the clinician can manually actuate the surgical instrument 60.

[0075] In particular, such as Figure 10As shown, one of the gears 250, 252 of the aseptic interface module 200 can be pushed inward to engage with the gear teeth 260 of the distal shaft 222b. With one of the gears 250, 252 operably engaged with the distal shaft 222b, gear 250 can be rotated, for example, using a clinician's thumb or any other suitable means. Rotation of gear 250 causes rotation of the associated distal shaft 222b, thereby applying a force (e.g., torque) through a corresponding component of the electromechanical surgical instrument 60 to manually operate the end effector 60a of the electromechanical surgical instrument 60. Figure 1 This allows the end effector 60a to be positioned in the desired orientation / location. For example, the end effector 60a of the electromechanical surgical instrument 60 can be manually manipulated to an open position to release tissue gripped by the end effector 60a, allowing the electromechanical surgical instrument 60 to be removed from the surgical site. At the same time, if such manual manipulation is not possible in the event of a power failure or other similar emergency, the risk of undesirable tissue damage that would otherwise exist is limited.

[0076] Those skilled in the art will understand that the structures and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments, and that the specification, disclosure, and drawings should be interpreted merely as examples of specific embodiments. Therefore, it should be understood that this disclosure is not limited to the precise embodiments described, and that various other changes and modifications can be made by those skilled in the art without departing from the scope or spirit of this disclosure. Furthermore, elements and features shown or described in certain embodiments may be combined with elements and features of certain other embodiments without departing from the scope of this disclosure, and such modifications and changes are also included within the scope of this disclosure. Therefore, the subject matter of this disclosure is not limited to what has been specifically shown and described.

Claims

1. An interface module for connecting electromechanical robotic surgical instruments to an instrument drive unit, comprising: A collar, which is configured to be connected to an instrument drive unit; A button, which is movably connected to the collar; and Drive transmission assembly, comprising: The distal portion is configured to be connected to the driven component of the electromechanical robotic surgical instrument; and A proximal portion, movably coupled to the distal portion and configured to selectively couple to a drive member of the instrument drive unit, wherein the proximal portion of the drive transmission assembly is configured to move distally in response to actuation of the button to disengage from the drive member of the instrument drive unit. The interface module further includes a gear that selectively engages with the distal portion of the drive transmission assembly and can be manually rotated to rotate the distal portion of the drive transmission assembly when the drive transmission assembly is disengaged from the drive member of the instrument drive unit.

2. The interface module of claim 1, wherein the button is movable along a first axis to move the proximal portion of the drive transmission assembly along a second axis perpendicular to the first axis between an engagement position where the drive transmission assembly engages with the drive member of the instrument drive unit and a disengagement position where the drive transmission assembly disengages from the drive member of the instrument drive unit.

3. The interface module of claim 1, wherein the interface module further includes a slider supported on the proximal portion of the drive transmission assembly and configured to engage the button, the proximal portion of the drive transmission assembly being configured to move axially together with the slider.

4. The interface module of claim 3, wherein the slider has a cam surface and the button has a cam surface, the cam surface being configured to engage the cam surface of the slider to move the slider distally and thereby move the proximal portion of the drive transmission assembly.

5. The interface module of claim 3, further comprising a hub, wherein the slider and the proximal portion of the drive transmission assembly are accommodated within the hub.

6. The interface module of claim 1, further comprising a pull tab movably coupled to the collar and configured to releasably couple the interface module to the instrument drive unit.

7. The interface module of claim 6, further comprising a hub defining a bore therein, wherein the tab includes a protrusion configured to be received in the bore of the hub to axially secure the hub to the collar.

8. The interface module of claim 7, wherein the pull tab is manually movable between a first position in which the protrusion of the pull tab engages with the hole of the hub, thereby locking the hub to the collar, and a second position in which the protrusion of the pull tab disengages from the hole of the hub, thereby unlocking the hub from the collar.

9. The interface module of claim 6, wherein the pull tab is configured to lockably engage the button when the button is actuated, such that the pull tab holds the button in the actuated position to maintain the proximal portion of the drive transmission assembly disengaged from the drive member of the instrument drive unit.

10. The interface module of claim 9, wherein the pull tab has a latch and the button has a latch, the latch engaging the latch of the pull tab when the button is moved to the actuated position, the latch of the pull tab being configured to prevent the button from moving out of the actuated position.

11. The interface module of claim 10, wherein the pull tab is configured to move between an inward position and an outward position, and the latch of the pull tab is configured to disengage the latch of the button in response to movement of the pull tab toward the outward position.

12. The interface module of claim 1, wherein the distal portion of the drive transmission assembly has gear teeth extending therearound.

13. The interface module of claim 12, wherein the gear is slidable relative to the drive transmission assembly between a first position in which the gear is disengaged from the gear teeth of the distal portion of the drive transmission assembly and a second position in which the gear is engaged with the gear teeth of the distal portion of the drive transmission assembly.

14. A sterile interface module for connecting an instrument drive unit and a surgical instrument, the sterile interface module comprising: The main component is configured to be selectively connected to the surgical instruments; The hub is supported on the main body component; A plurality of drive transmission assemblies are supported on the main body member, each of the plurality of drive transmission assemblies comprising: The proximal portion is configured to selectively connect to the drive member of the instrument drive unit; and The distal portion, configured to be selectively coupled to the driven member of the surgical instrument, the proximal portion being axially movable relative to the distal portion; and A slider, supported on the proximal portion of each of the plurality of drive transmission assemblies, wherein the proximal portion of each of the plurality of drive transmission assemblies is configured to move distally relative to a corresponding distal portion of the plurality of drive transmission assemblies to disengage from a corresponding drive member of the instrument drive unit in response to distal movement of the slider. The sterile interface module further includes a gear rotatably supported on the body member and configured to selectively engage the distal portion of at least one of the plurality of drive transmission assemblies.

15. The sterile interface module of claim 14, wherein the slider defines a plurality of openings therethrough, and the proximal portion of each of the plurality of drive transmission assemblies extends through the respective opening.

16. The aseptic interface module of claim 14, wherein the slider includes an end portion having a cam surface.

17. The aseptic interface module of claim 14, wherein the gear is slidable relative to the body member between a first position in which the gear is disengaged from the distal portion of at least one of the plurality of drive transmission assemblies and a second position in which the gear is engaged with the distal portion of at least one of the plurality of drive transmission assemblies.

18. The aseptic interface module of claim 14, wherein the hub has a square configuration and includes a first side defining a pair of holes for receiving a pair of protrusions for receiving a pull tab, and a second side adjacent to the first side and defining a channel for receiving a button.

19. A sterile interface module, comprising: A pull-tab, which has protrusions; and A drive transmission assembly for connecting the driven component of an electromechanical robotic surgical instrument and the drive component of an instrument drive unit; and A hub having at least a portion therein of the drive transmission assembly, the hub defining a hole configured to receive the protrusion of the pull tab, wherein the pull tab is configured to move between a first position in which the protrusion of the pull tab engages with the hole of the hub to axially secure the aseptic interface module to the instrument drive unit, and a second position in which the protrusion of the pull tab disengages from the hole of the hub. The sterile interface module further includes a gear that selectively engages with the distal portion of the drive transmission assembly and can be manually rotated to rotate the distal portion of the drive transmission assembly when the drive transmission assembly is disengaged from the drive member of the instrument drive unit.

20. The aseptic interface module of claim 19, wherein the pull tab is elastically biased toward the first position.

21. The aseptic interface module of claim 19, further comprising a button operably coupled to the drive transmission assembly and configured to disconnect the drive transmission assembly from the drive member of the instrument drive unit when the button is in an actuated position.

22. The aseptic interface module of claim 21, wherein the pull tab is configured to lockably engage the button such that the pull tab holds the button in the actuated position to maintain the drive transmission assembly disconnected from the drive member of the instrument drive unit.

23. The aseptic interface module of claim 22, wherein the pull tab has a latch and the button has a latch, the latch engaging the latch of the pull tab when the button is moved to the actuated position, the latch of the pull tab being configured to prevent the button from moving out of the actuated position.

24. The aseptic interface module of claim 23, wherein the pull tab is configured to move between an inward position and an outward position, and the latch of the pull tab is configured to disengage the latch of the button in response to movement of the pull tab toward the outward position.

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