Robotic surgical assembly and its adapter assembly

Abstract

This disclosure relates to robotic surgical assemblies and their connector assemblies. A connector assembly for connecting an endoscope to a robotic surgical system includes a proximal housing, a distal housing, a door, and a locking assembly. The proximal housing has a body configured to receive a proximal end of an endoscope. The distal housing extends distally from the proximal housing and defines a hollow interior for non-rotatably holding the endoscope therein. The door has an inwardly extending projection and is pivotally coupled to the body of the proximal housing. The locking assembly is disposed within the proximal housing and configured to releasably lock the door to the proximal housing to lock the endoscope in the connector assembly. The locking assembly also includes a rotatable button having fingers and rotatably disposed within the body of the proximal housing so as not to protrude therefrom. The projection of the door defines a cut therein, the cut configured to receive the fingers of the rotatable button to prevent the door from opening.

Description

[0001] This application is a divisional application of patent application No. 201980007946.1 (international application No. PCT / US2019 / 012834), filed on January 9, 2019, entitled "Robotic Surgical Assembly and its Connector Assembly". Technical Field

[0002] This disclosure relates to apparatus for robotic surgical systems, and more specifically, to robotic surgical components and their connectors. Background Technology

[0003] Robotic surgical systems are used in minimally invasive medical procedures. Some robotic surgical systems include a console supporting a robotic surgical arm and surgical instruments mounted to the robotic arm. The robotic arm provides mechanical power for the operation and movement of the surgical instruments. Each robotic arm may include an instrument drive unit operatively connected to the surgical instruments.

[0004] During robotic surgery, it is useful to use endoscopes to observe the inside of body cavities or organs. In order to implement the use of endoscopes in robotic surgery, the robotic surgical system needs to be modified in such a way that it allows the endoscope to interface with the various components of the robotic surgical system.

[0005] Therefore, a robotic surgical system capable of operating endoscopes is needed. Summary of the Invention

[0006] According to one aspect of this disclosure, a connector assembly for connecting an endoscope to a robotic surgical system is provided. The connector assembly includes a proximal housing, a distal housing, and a drive assembly. The proximal housing has a proximal portion and a distal portion. The proximal portion of the proximal housing is configured to be coupled to an instrument drive unit of the robotic surgical system. The distal portion of the proximal housing defines an opening therein. The distal housing includes a proximal portion and a distal portion. The proximal portion of the distal housing is rotatably received within the opening of the distal portion of the proximal housing. The distal portion of the distal housing defines a longitudinally extending channel configured for non-rotatably receiving an endoscope. The drive assembly includes an input and an output. The input is configured to be operatively coupled to a motor of the instrument drive unit. The output is operatively coupled to the proximal portion of the distal housing to rotate the distal housing relative to the proximal housing.

[0007] In some embodiments, the drive assembly may include a drive shaft operably interconnecting an input element of the drive assembly with an output element of the drive assembly, such that rotation of the input element causes rotation of the output element via the drive shaft. Each of the input and output elements of the drive assembly may be a gear. The distal housing may include a gear ring non-rotatably arranged around a proximal portion of the distal housing. The gear ring may include teeth operably engaging with the output element of the drive assembly.

[0008] It is conceivable that the coupling assembly may include a pair of bearings. The pair of bearings may be spaced apart from each other in the longitudinal direction and arranged between the outer surface of the distal housing and the inner surface of the proximal housing to facilitate rotation of the distal housing relative to the proximal housing.

[0009] It is foreseeable that the distal housing may include a first half and a second half removably connected to the first half.

[0010] In some embodiments of this disclosure, the proximal housing may define an opening in its proximal portion for the passage of cables for the endoscope.

[0011] In some embodiments, the proximal housing may define a pair of openings spaced apart from each other in the circumferential direction.

[0012] It is conceivable that the distal housing may define an opening extending between the outer surface and the inner surface of the distal housing. The opening of the distal housing may be configured to align with the control buttons of the endoscope when the endoscope is received into the distal housing.

[0013] In another aspect of this disclosure, a surgical assembly is provided for interconnecting an endoscope and a surgical robotic arm. The surgical assembly includes a surgical instrument holder and a connector assembly. The surgical instrument holder is supported on the surgical robotic arm. The connector assembly includes a proximal housing, a distal housing, and a drive assembly. The proximal housing has a proximal portion and a distal portion. The proximal portion of the proximal housing is configured to be coupled to an instrument drive unit of the surgical assembly. The distal portion of the proximal housing defines an opening therein. The distal housing includes a proximal portion and a distal portion. The proximal portion of the distal housing is rotatably received within the opening of the distal portion of the proximal housing. The distal portion of the distal housing defines a longitudinally extending channel configured to non-rotatably receive an endoscope. The drive assembly includes an input and an output. The input is configured to be operatively coupled to a motor of the instrument drive unit. The output is operatively coupled to the proximal portion of the distal housing to rotate the distal housing and the endoscope relative to the proximal housing.

[0014] In some embodiments, the surgical instrument holder may include a motor operatively coupled to the instrument drive unit, such that actuation of the motor in the surgical instrument holder causes rotation of the instrument drive unit, the proximal and distal housings of the connector assembly, and each of the endoscopes relative to the surgical instrument holder. The rotation of the endoscope caused by the motor in the surgical instrument holder may be at a slower rate than the rotation of the endoscope caused by the motor in the instrument drive unit.

[0015] In another aspect of this disclosure, a method for assembling an endoscopic surgical assembly is provided. The method includes supporting a surgical instrument holder on a surgical robotic arm. The surgical instrument holder includes a motor. An instrument drive unit with a motor is provided, and a connector assembly is also provided. The method further includes supporting the instrument drive unit on the surgical instrument holder, coupling a proximal portion of a proximal housing to the instrument drive unit, thereby operably coupling an input element of the connector assembly to the motor of the instrument drive unit, arranging a proximal portion of the endoscope within a channel defined in a distal housing of the connector assembly, and actuating the motor of the instrument drive unit to achieve rotation of the distal housing of the connector assembly and the endoscope relative to the proximal housing of the connector assembly.

[0016] In some embodiments, the method may further include actuating a motor of the surgical instrument holder to rotate relative to the surgical instrument holder a motor of the instrument drive unit, the proximal end and distal housing of the connector assembly, and each of the endoscopes.

[0017] In another aspect of this disclosure, a connector assembly for connecting an endoscope to a robotic surgical system is provided. The connector assembly includes a proximal housing, a distal housing, and a drive mechanism. The proximal housing is configured to be coupled to an instrument drive unit of the robotic surgical system. The distal housing includes a proximal portion and a distal portion. The proximal portion of the distal housing is rotatably connected to the proximal housing. The distal portion of the distal housing defines a longitudinally extending channel configured to non-rotatably receive an endoscope. The drive assembly includes an input to a motor configured to be operatively coupled to the instrument drive unit of the robotic surgical system, and an output operatively coupled to the distal housing to rotate the distal housing relative to the proximal housing.

[0018] In some embodiments, the connector assembly may further include a latch pivotally connected to a proximal portion of the distal housing, and a locking member connected to the proximal portion of the distal housing. The latch is configured to selectively engage with the locking member to selectively retain the endoscope within the connector assembly.

[0019] It is conceivable that the distal housing may include an inner housing disposed within its distal portion. The inner housing may include a base defining an aperture therethrough. The aperture is configured to receive an endoscope. The aperture of the base may have a tapered upper portion and a cylindrical lower portion extending distally from the tapered upper portion.

[0020] According to another aspect of this disclosure, a connector assembly for an endoscope is provided. The connector assembly includes an elongated housing and a locking collar. The elongated housing defines a longitudinally extending channel configured to receive an endoscope. The locking collar includes an annular member non-rotatably connected to a proximal end of the elongated housing, and a surface feature extending distally from the annular member. The surface feature is configured to connect the locking collar to a surgical robotic arm.

[0021] In some embodiments, the annular member may include a threaded inner surface configured to thread-engage with a surgical instrument retainer.

[0022] It is conceivable that the elongated housing could be cylindrical and flexible to conform to the outer surface of multiple endoscopes.

[0023] It is conceivable that the surface features of the locking collar may include two arched lugs extending distally from the annular member.

[0024] In some embodiments, the elongated housing may include a first half and a second half removably connected to the first half.

[0025] In another aspect of this disclosure, a surgical assembly is provided for interconnecting an endoscope and a surgical robotic arm. The surgical assembly includes a surgical instrument holder and a connector assembly. The surgical instrument holder is configured to engage with a surgical robotic arm and includes an outer member and an inner member rotatably disposed within a channel of the outer member. The inner member defines a channel and a recess therethrough. The connector assembly is configured for reception within the channel of the inner member of the surgical instrument holder and includes an elongated housing and a locking collar. The elongated housing defines a longitudinally extending channel therethrough, the channel being configured to receive an endoscope. The locking collar includes an annular member non-rotatably connected to a proximal end of the elongated housing and a surface feature extending distally from the annular member. The surface feature is configured to matingly receive within a recess of the inner member of the surgical instrument holder, such that the locking collar and the inner member of the surgical instrument holder are rotatable relative to each other.

[0026] In some embodiments, the annular member of the locking collar may include a threaded inner surface configured to thread into the threaded outer surface of an internal member of the surgical instrument retainer.

[0027] It is conceivable that the surface features of the locking collar may include two arcuate lugs extending distally from the annular member of the locking collar. The two arcuate lugs are configured to be received matingly within corresponding recesses of the surgical instrument retainer.

[0028] It is conceivable that the surgical instrument holder may include a motor operatively coupled to an internal component of the surgical instrument holder, such that actuation of the motor causes rotation of the internal component, the connector assembly, and the endoscope. The surgical assembly may further include a drive assembly comprising a pulley, a belt, and a toothed ring. The pulley is rotatably arranged within an external component and operatively engaged with the motor, such that actuation of the motor causes rotation of the pulley. The belt is rotatably arranged within the external component and operatively engaged with the pulley, such that rotation of the pulley results in rotation of the belt. The toothed ring is non-rotatably arranged around the internal component and operatively engaged with the belt, such that rotation of the belt results in rotation of the internal component. The belt may be closed-loop and may include teeth extending from an inner surface of the belt. The toothed ring may have teeth extending from its outer surface, said teeth operatively engaging with the teeth of the belt.

[0029] Further details and schemes of exemplary embodiments of the present disclosure are described in more detail below with reference to the accompanying drawings.

[0030] As used herein, the terms “parallel” and “perpendicular” should be understood to include relative configurations that are approximately parallel and approximately perpendicular, differing from perfectly parallel and perfectly perpendicular configurations by approximately + / - 10 degrees. Attached Figure Description

[0031] Embodiments of this disclosure are described herein with reference to the accompanying drawings, in which:

[0032] Figure 1 This is a schematic diagram of a robotic surgical system including robotic surgical components according to the present disclosure;

[0033] Figure 2 yes Figure 1 A side perspective view of the surgical components, which include a surgical instrument holder, an instrument drive unit, a connector assembly, and an endoscope;

[0034] Figure 3 yes Figure 2 The connection to Figure 2 A side perspective view of the connector assembly of an endoscope;

[0035] Figure 4 It is along Figure 3 A partial cross-sectional view of the connector assembly taken from line 4-4;

[0036] Figure 5 yes Figure 3 A three-dimensional view showing the assembly of the connector and the components of the endoscope separated.

[0037] Figure 6 yes Figure 3 A perspective view of the connector assembly, showing the proximal housing, distal housing, and drive assembly in a transparent form;

[0038] Figure 7 yes Figure 2 A stereoscopic view of the surgical components of the endoscope;

[0039] Figure 8 This is a partially cut-away front view of another embodiment of the connector assembly, the connector assembly being used to make Figure 2 The instrument drive unit and Figure 7 Interconnection of endoscopes;

[0040] Figure 9 It is along Figure 8 The cross-sectional view of the connector assembly taken by line 9-9, in which the endoscope is arranged;

[0041] Figure 10 yes Figure 8 A three-dimensional view of the connector assembly, in which the endoscope is not positioned;

[0042] Figure 11 yes Figure 8 A perspective view of the connector assembly in which the endoscope is arranged, showing the latch mechanism in the unlocked state;

[0043] Figure 12 It is used for Figure 1 A perspective view of another embodiment of a surgical component in a robotic surgical system, the surgical component including a surgical instrument holder, a connector assembly, and Figure 7 An endoscope;

[0044] Figure 13 yes Figure 12 The connection to Figure 7 A three-dimensional view of the connector assembly of an endoscope;

[0045] Figure 14 yes Figure 13 An enlarged view of the connector assembly to which the endoscope is attached;

[0046] Figure 15 yes Figure 12 A three-dimensional view of a surgical instrument retainer;

[0047] Figure 16 yes Figure 15 A three-dimensional view showing the internal components of a surgical instrument holder separated from their parts;

[0048] Figure 17 It is along Figure 15 The cross-sectional view taken by line 17-17 shows the drive assembly of the surgical instrument retainer;

[0049] Figure 18 It is along Figure 15 The cross-sectional view taken by line 18-18 shows the drive assembly of the surgical instrument retainer;

[0050] Figure 19 It is along Figure 15 The cross-sectional view taken by line 19-19 shows the drive assembly of the surgical instrument retainer;

[0051] Figure 20 It is along Figure 15 The cross-sectional view taken from line 20-20 shows the surgical instrument retainer;

[0052] Figure 21A It is used for interconnection Figure 2 The instrument drive unit and Figure 7 A perspective view of another embodiment of the endoscope connector assembly;

[0053] Figure 21B yes Figure 21A Front view of the connector component;

[0054] Figure 22 yes Figure 21A A three-dimensional view showing the components of the connector assembly separated;

[0055] Figure 23 yes Figure 21A A perspective view of the connector assembly, showing the door of the connector assembly in an open configuration, exposing the locking component;

[0056] Figure 24 yes Figure 21A A partial enlarged view of the connector assembly, showing... Figure 23 The components of the locking assembly; and

[0057] Figure 25 yes Figure 21A A partial enlarged view of the connector assembly, showing... Figure 23 The locking component is in the assembly state. Detailed Implementation

[0058] Embodiments of the surgical components and methods of this disclosure are described in detail with reference to the accompanying drawings. The surgical components include a surgical instrument holder, an instrument drive unit, a connector assembly, and an endoscope. In the drawings, the same reference numerals denote the same or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of the surgical instrument holder, instrument drive unit, connector assembly, and / or endoscope closer to the patient, while the term "proximal" refers to the portion of the surgical instrument holder, instrument drive unit, connector assembly, and / or endoscope farther from the patient.

[0059] As will be described in detail below, a robotic surgical system is provided, comprising a robotic surgical assembly coupled to or connected to a robotic arm. The robotic surgical assembly generally includes: a surgical instrument holder; an adapter assembly coupled to the surgical instrument holder; and an endoscope coupled to the adapter assembly. The endoscope can be rotated by actuating a motor supported in the surgical instrument holder, the motor transmitting its rotational motion to the adapter assembly, and subsequently to the endoscope.

[0060] First refer to Figure 1 Surgical systems, such as robotic surgical systems 1, typically include multiple surgical robotic arms 2, 3, including, for example, an endoscope 200 ( Figure 7 The robotic surgical instrument component 100 is removably connected to the slide rail 40 of the surgical robot arms 2 and 3; a control device 4; and an operation console 5 connected to the control device 4.

[0061] The operating console 5 includes: a display device 6 specifically configured to display three-dimensional images; and manual input devices 7 and 8, by means of which a person (not shown) (e.g., a surgeon) can remotely manipulate robotic arms 2 and 3 in a first operating mode. Each robotic arm 2 and 3 may consist of multiple components connected by connectors. The robotic arms 2 and 3 may be driven by an electrical actuator (not shown) connected to a control device 4. The control device 4 (e.g., a computer) may be configured to activate the actuator, particularly by means of a computer program, in such a way that the robotic arms 2 and 3, the attached robotic surgical assembly 100, and the surgical instruments thereunder (e.g., endoscope 200) perform desired movements according to the movements defined by the manual input devices 7 and 8. The control device 4 may also be configured to adjust the movements of the robotic arms 2 and 3.

[0062] The robotic surgical system 1 is configured for a patient "P" lying on an operating table "ST" to undergo minimally invasive treatment using surgical instruments (e.g., endoscope 200). The robotic surgical system 1 may also include more than two robotic arms 2, 3, which are also connected to a control unit 4 and can be remotely operated via an operating console 5. Surgical instruments (e.g., endoscope 200) may also be attached to additional robotic arms.

[0063] The control unit 4 can control multiple motors, such as motors 1...n, each configured to drive the movement of the robotic arms 2, 3 in multiple directions. Furthermore, the control unit 4 can control a single motor 115 of the instrument drive unit 110 of the robotic surgical assembly 100. Figure 2The robotic surgical assembly 100 actuates the drive assembly 160 of the connector assembly 120 to achieve rotation of the endoscope 200. Furthermore, the control device 4 can control the operation of a rotary motor, such as a canister motor "M" of the surgical instrument holder or holder 102. Figure 2 The motor assembly 114 of the instrument drive unit 110, and consequently the connector assembly 120 and the endoscope 200, are configured to drive relative rotation, as will be described in detail below. In an embodiment, each motor of the instrument drive unit 110 may be configured to actuate a drive rod / cable or lever arm to achieve operation and / or movement of an electromechanical surgical instrument (not shown).

[0064] For a detailed discussion of the construction and operation of robotic surgical systems, please refer to U.S. Patent Application Publication No. 2012 / 0116416 entitled “Medical Workstation”, filed November 3, 2011, the entire contents of which are incorporated herein by reference.

[0065] refer to Figure 1 and Figure 2 The robotic surgical system 1 includes a robotic surgical assembly 100, which is coupled to or connected to a robotic arm 2 or 3. The robotic surgical assembly 100 includes a surgical instrument holder 102, an instrument drive unit 110, an adapter assembly 120, and an endoscope 200. The instrument drive unit 110 transmits power and actuation force from its motor 115 to the drive assembly 160 of the adapter assembly 120 (see [link to documentation]). Figure 5 The endoscope 200 is rotated at least approximately 180 degrees about its longitudinal axis “X” by actuating a motor “M” supported in the surgical instrument holder 102. The motor “M” transmits its rotational motion to the connector assembly 120 and then to the endoscope 200. Thus, the surgical assembly 100 provides two mechanical paths for adjusting the rotational position of the endoscope 200, each resulting in a different rate of rotation of the endoscope 200, as described below.

[0066] refer to Figure 2The surgical instrument holder 102 of the surgical assembly 100 functions to support the instrument drive unit 110 and actuate the rotation of the motor assembly 114 of the instrument drive unit 110. The surgical instrument holder 102 includes a backrest member or bracket 104 and an outer member or housing 106 extending laterally (e.g., vertically) from an end of the bracket 104. In some embodiments, the housing 106 may extend at various angles relative to the bracket 104 from various portions of the bracket 104. The bracket 104 has a first side 108a and a second side 108b opposite to the first side 108a. The first side 108a of the bracket 104 is detachably connected to the track 40 of the robotic arm 2 and allows the surgical instrument holder 102 to slide or translate along the track 40 of the robotic arm 2. The second side 108b of the bracket 104 is configured to non-rotatably support the housing or outer cover 112 of the instrument drive unit 110.

[0067] The holder 104 of the surgical instrument holder 102 supports or houses a motor, such as a canister motor "M". The motor "M" receives control and power from the control unit 4 to ultimately rotate the internal motor assembly 114 of the instrument drive unit 110. In some embodiments, the holder 104 may include a printed circuit board (not shown) electrically in communication with the motor "M" to control the operation of the motor "M" of the holder 104. The holder 104 has a rotatable drive shaft (not shown) extending from the motor "M" and longitudinally through the holder 104. The drive shaft of the holder 104 has gears or coupling members (not shown) configured to operatively engage with gears or coupling members (not shown) of the motor assembly 114 of the instrument drive unit 110 to transmit rotation from the motor "M" of the surgical instrument holder 102 to the motor assembly 114 of the instrument drive unit 110, as will be described in detail below. In some embodiments, the motor "M" of the surgical instrument holder 102 can drive the rotation of the motor assembly 114 of the instrument drive unit 110 by any suitable drive mechanism, such as a gear assembly, rack and pinion, pulley friction drive, hydraulic system, pneumatic device, cable, belt, etc.

[0068] The housing 106 of the surgical instrument holder 102 defines a channel (not shown) therethrough, which is configured to rotatably receive and support the instrument drive unit 110 therein. The housing 106 has a generally elliptical semicircular shape, but in some embodiments, the housing 106 may take various shapes, such as C-shaped, U-shaped, V-shaped, hook-shaped, etc.

[0069] Continue to refer to Figure 2The instrument drive unit 110 of the surgical assembly 100 includes an outer housing 112 and an inner housing or motor assembly 114 rotatably disposed within the outer housing 112. The outer housing 112 engages with a second side 108b of a bracket 104 of the surgical instrument holder 102 and houses various components of the instrument drive unit 110. In some embodiments, the outer housing 112 may be permanently or removably attached to the second side 108b of the bracket 104. The outer housing 112 of the instrument drive unit 110 has a generally cylindrical configuration, but in some embodiments, the outer housing 112 may have various configurations, such as square, elongated, tubular, etc.

[0070] The outer housing 112 of the instrument drive unit 110 is configured and sized to receive the motor assembly 114, motor group, etc. When the instrument drive unit 110 is coupled to the surgical instrument holder 102, the drive assembly (not shown) of the surgical instrument holder 102 operatively engages the motor assembly 114 of the instrument drive unit 110, such that actuation of the motor "M" of the surgical instrument holder 102 causes rotation of the motor assembly 114 within the outer housing 112 of the instrument drive unit 110. For example, it is conceivable that a gear on a drive shaft (not shown) extending from the motor "M" of the surgical instrument holder 102 operatively engages a toothed inner or outer surface (not shown) of the motor assembly 114, such that rotation of the gear attached to the motor "M" of the surgical instrument holder 102 causes rotation of the motor assembly 114. In some embodiments, the surgical instrument holder 102 may have a pulley system that converts the rotational force output by the motor "M" of the surgical instrument holder 102 into rotation of the motor assembly 114. It is conceivable that any suitable mechanism can be provided to convert the rotational force output by the motor "M" of the surgical instrument holder 102 into the rotation of the motor assembly 114.

[0071] Motor assembly 114 may include four motors, such as can motors, each having a drive shaft (not explicitly shown) having a non-circular cross-sectional profile (e.g., substantially D-shaped, etc.). In some embodiments, the drive shaft may have a circular cross-sectional profile. The four motors are arranged in a rectangular configuration such that their respective drive shafts are parallel to each other and extend in a common direction. The drive shaft 117 of one motor 115 of motor assembly 114 has a drive coupling, such as, for example, configured to operatively couple to drive assembly 160 of coupling assembly 120 (see [link to coupling assembly 120]). Figure 5 The crown gear (not shown). As the motor 115 of the motor assembly 114 is actuated, the rotation of the drive shaft 117 of the motor 115 is transmitted to the drive assembly 160 of the coupling assembly 120 to ultimately rotate the endoscope 200 about its longitudinal axis "X", as will be described below.

[0072] refer to Figures 2 to 6 The surgical assembly 100 includes a connector assembly 120 that selectively interconnects the instrument drive unit 110 and the endoscope 200 to convert rotational motion originating from the instrument drive unit 110 into rotational motion of the endoscope 200 about its longitudinal axis “X”. The connector assembly 120 typically includes a proximal housing 122, a distal housing 124 rotatably coupled to the proximal housing 122, and a drive assembly 160 disposed within the proximal housing 122 and configured to rotate the distal housing 124 relative to the proximal housing 122.

[0073] The proximal housing 122 of the connector assembly 120 has an elongated tubular configuration and includes a proximal portion 122a and a distal portion 122b. The proximal portion 122a of the proximal housing 122 has a mechanical interface, such as a female or male mating feature 126, configured to be non-rotatably coupled to a corresponding mating feature (not shown) of the motor assembly 114 of the instrument drive unit 110. Thus, when the connector assembly 120 is coupled to the instrument drive unit 110, rotation of the motor assembly 114 of the instrument drive unit 110 causes rotation of the connector assembly 120 and any surgical instruments attached thereto.

[0074] The proximal portion 122a of the proximal housing 122 has a hollow interior 128 for the passage of various cables of the endoscope. The proximal portion 122a of the proximal housing 122 defines a pair of openings 130a, 130b extending from its inner surface 132a to its outer surface 132b. The openings 130a, 130b are circumferentially spaced from each other, and each opening 130a, 130b is configured as an access hole for receiving a clinician's finger. In this way, the clinician can use, for example, his or her thumb and forefinger to enter the hollow interior 128 of the proximal housing 122 to clamp the cable connector 206 or 208 of the endoscope 200, thereby selectively detaching the cable connector 206 or 208 from the endoscope 200 or attaching the cable connector 206 or 208 to the endoscope 200. This allows the cable connectors 206, 208 of the endoscope 200 to be removed before the connector assembly 120 or the endoscope 200 is autoclaved, serviced, or generally assembled.

[0075] The proximal portion 122a of the proximal housing 120 defines another pair of openings 134a, 134b extending between the inner and outer surfaces 132a, 132b. The openings 134a, 134b are configured to allow cables (e.g., the light source or fiber optic cable 210 and communication cable 212 of the endoscope 200) to pass from the hollow interior 128 of the proximal housing 122 to the exterior of the proximal housing 122 of the connector assembly 120. In some embodiments, the proximal portion 122a may have more than two openings for cable passage, or only one opening for a single cable passage.

[0076] The distal portion 122b of the proximal housing 122 defines a distal opening 136 therethrough, the distal opening 136 being aligned with the longitudinal axis defined by the proximal housing 122. The distal portion 122b of the proximal housing 122 defines a pair of annular cuts 138a, 138b formed in its inner surface 132a. The annular cuts 138a, 138b are longitudinally spaced apart from each other and rotatably hold corresponding first bearings 140a and second bearings 140b of the drive assembly 160. In some embodiments, the first bearings 140a and second bearings 140b may be replaced by bushings.

[0077] refer to Figures 3 to 6 The distal housing 124 of the connector assembly 120 has a proximal portion 124a and a distal portion 124b rotatably received in a distal opening 136 of the proximal housing 122. A first bearing 140a and a second bearing 140b are arranged around the proximal portion 124a of the distal housing 124. Thus, the first and second bearings 140a and 140b are arranged between the inner surface 132a of the proximal housing 122 and the outer surface of the distal housing 124 to facilitate rotation of the distal housing 124 relative to the proximal housing 122. The distal housing 124 of the connector assembly 120 has a generally elongated tubular structure and defines a channel 142 extending therethrough in the longitudinal direction. The channel 142 is configured to non-rotatably receive and hold the proximal portion 202 (e.g., the handle portion) of the endoscope 200.

[0078] The distal housing 124 of the connector assembly 120 includes a first half 144a and a second half 144b. The first half 144a and the second half 144b of the distal housing 124 are removably connected to each other such that when the first half 144a and the second half 144b are connected, the proximal portion 202 of the endoscope 200 can be encapsulated by the distal housing 124, and when the first half 144a and the second half 144b are disconnected, the endoscope 200 can be removed from or inserted into the distal housing 124. When the endoscope 200 is attached to the distal housing 124, the endoscope 200 is secured therein and is not easily removed. In some embodiments, the distal housing 124 may be integrally formed of a flexible material adapted to the proximal portion 202 of the endoscope 200, such that the endoscope 200 can be selectively inserted into or removed from the distal housing 124. The distal housing 124 defines an opening 146 extending between its inner surface 148a and outer surface 148b. The opening 146 of the distal housing 124 has an elliptical shape and is configured to align with a control button 203 on the proximal portion 202 of the endoscope 200 when the endoscope 200 is received in the distal housing 124.

[0079] The distal housing 124 has a gear ring 150 non-rotatably arranged around its proximal portion 124a. The gear ring 150 has teeth 152 extending radially from its periphery, the teeth 152 operatively engaging the gear 176 of the drive assembly 160. Figure 6 The teeth of the gear ring 150 are as will be described in detail below. In some embodiments, the gear ring 150 may be fixed to the top surface of the distal housing 124, rather than being arranged non-rotatably around the outer surface 148b of the distal housing 124. Further contemplated is that the teeth 152 of the gear ring 150 extend inward rather than radially outward.

[0080] refer to Figures 4 to 6 The drive assembly 160 of the connector assembly 120 is configured to drive the drive shaft 117 of the instrument drive unit 110 ( Figure 2 The rotation of the distal housing 124 of the connector assembly 120 is converted into rotation of the proximal housing 122 of the connector assembly 120. The drive assembly 160 includes a first drive shaft 162 having a proximal end 162a and a distal end 162b. The proximal end 162a of the first drive shaft 160 has an input 164 configured to interact with the drive shaft 117 of the motor 115 of the instrument drive unit 110. Figure 2 A gear (not shown) is detachably and operably engaged, such that actuation of the motor 115 of the instrument drive unit 110 causes rotation of the first drive shaft 162 of the drive assembly 160. The input element 164 of the drive assembly 160 is in the form of a gear, such as a crown gear. The distal end 162b of the first drive shaft 162 has a gear, such as a spur gear 166, which is rotatably supported on a proximal mounting plate 168a of the proximal housing 122. The proximal mounting plate 168a is fixed within the proximal portion 122a of the proximal housing 122 and prevents rotation therein. The proximal mounting plate 168a defines a through-hole 170. The proximal mounting plate 168a has a robot system identification connector 165 that engages with a corresponding connector (not shown) of the instrument drive unit 110. The connector 165 of the connector assembly 120 may be a magnetic, resistive, or digital interface for identification, use, and / or lifespan management, readable by the surgical system and / or feedback display.

[0081] The drive assembly 160 includes a second drive shaft 172 extending longitudinally through the hollow interior 128 of the proximal housing 122 and laterally offset from the first drive shaft 162. The second drive shaft 172 has a proximal end 172a extending through a hole 170 in a proximal mounting plate 168a and a distal end 172b extending through a hole 169 in a distal mounting plate 168b, the distal mounting plate 168b being positioned distal to the proximal mounting plate 168a. Similar to the proximal mounting plate 168a, the distal mounting plate 168b is secured within the proximal housing 122 and prevents rotation therein. The proximal end 172a of the second drive shaft 172 has a gear, such as a spur gear 174, which is operatively engaged with a spur gear 166 of the first drive shaft 162 such that rotation of the first drive shaft 162 causes rotation of the second drive shaft 172. The distal end 172b of the second drive shaft 172 has a gear-shaped output member 176 that is operatively engaged with the teeth 152 of the gear ring 150 of the distal housing 124, such that rotation of the second drive shaft 172 causes rotation of the distal housing 124 relative to the proximal housing 122.

[0082] It is conceivable that the drive assembly 160 of the connector assembly 120 can be replaced by any suitable mechanism that converts the rotational motion of the motor 115 derived from the instrument drive unit 110 into rotation of the distal housing 124 of the connector assembly 120 relative to the proximal housing 122 of the connector assembly 120.

[0083] refer to Figure 7 Surgical component 100 includes an endoscope, such as a stand-alone endoscope 200. It is conceivable that, in addition to... Figure 7 In addition to the endoscope 200 shown, various other types of endoscopes can also be fitted within the distal housing 124 of the connector assembly 120. Optionally, it is conceivable that various different distal housings 124 for the connector assembly 120 can be obtained or provided, specifically configured to interconnect a particular endoscope to the robotic surgical system 1. The endoscope 200 typically includes a proximal portion 202 with manual control buttons 203 and an endoscope tube housing 204 extending distally from the proximal portion 202. The endoscope 200 may also include a light source connector 206 and a communication and power connector 208. The light source connector 206 is configured to detachably engage a light source optical cable 210. The communication and power connector 208 is configured for detachable engagement of a communication cable 212.

[0084] During operation, the bracket 104 of the surgical instrument holder 102 is attached to the robotic arm 2. Figure 2The instrument drive unit 110 is positioned within the channel (not shown) of the surgical instrument holder 102 and supported on the side 108b of the bracket 104 of the surgical instrument holder 102. The proximal portion 122a of the proximal housing 122 of the connector assembly 120 is non-rotatably connected to the motor assembly 114 of the instrument drive unit 110, and the motor 115 of the instrument drive unit 110 is operatively connected to the input 164 of the drive assembly 160 of the connector assembly 120. The cables 210, 212 of the endoscope 200 are guided through the hollow interior 128 of the proximal housing 122 of the connector assembly 120, exit through the openings 134a, 134b of the proximal housing 122 of the connector assembly 120, and the proximal portion 202 of the endoscope 200 is fixed within the distal housing 124 of the connector assembly 120. With the proximal portion 202 of the endoscope 200 held within the distal housing 124 of the connector assembly 120, the endoscope 200 can be manipulated (e.g., rotated) about its longitudinal axis “X” to a selected rotational position.

[0085] Specifically, the endoscope 200 can rotate at a first rate or a second rate slower than the first rate, depending on how precise the clinician needs to position the endoscope 200 at the surgical site. To move the endoscope 200 at a faster rate, the clinician operating the manual input devices 7, 8 of the surgical system 1 can actuate the motor 115 of the motor assembly 114 of the instrument drive unit 110. Actuation of the motor 115 of the instrument drive unit 110 will rotate its gear (not shown), which, since the input 164 of the drive assembly 160 is operatively engaged with the gear of the instrument drive unit 110, will rotate the input 164 of the drive assembly 160 of the coupling assembly 120. Rotation of the input 164 causes the first drive shaft 162 of the drive assembly 160 to rotate, which in turn causes the second drive shaft 172 of the drive assembly 160 to rotate, since the gears 166, 174 of the corresponding first and second drive shafts 162, 172 are meshing. Because the gear 174 of the second drive shaft 172 is operatively engaged with the gear ring 150 of the distal housing 124, rotation of the second drive shaft 172 of the drive assembly 160 achieves rotation of the distal housing 124 relative to the proximal housing 122. With the endoscope 200 held within the distal housing 124, the endoscope 200 rotates about its longitudinal axis “X” as the distal housing 124 rotates. It is conceivable that the distal housing 124 and the endoscope 200 can be rotated approximately 180 degrees relative to the proximal housing 122 in either direction by actuating the motor 115 of the actuated motor assembly 114.

[0086] To move the endoscope 200 at a slower second rate, the clinician operating the manual input devices 7, 8 of the surgical system 1 can actuate the motor "M" of the surgical instrument holder 102. Actuation of the motor "M" of the surgical instrument holder 102 drives the rotation of its motor shaft (not shown), which transmits its rotational motion to the motor assembly 114 of the instrument drive unit 110. Since the motor assembly 114 of the instrument drive unit 110 is non-rotatably connected to the proximal portion 122a of the proximal housing 122 of the connector assembly 120, the rotation of the motor assembly 114 of the instrument drive unit 110 causes the proximal housing 122 of the connector assembly 120 to rotate, thereby causing the distal housing 124 of the connector assembly 120 and the endoscope 200 to rotate about their longitudinal axis "X". It is conceivable that the distal housing 124 of the connector assembly 120 and the endoscope 200 can be rotated by the motor "M" of the surgical instrument holder 102 in either direction by approximately 180 degrees. In some embodiments, the endoscope 200 can move at a faster first rate via the motor "M" of the actuating surgical instrument holder 102 instead of the motor 115 of the actuating instrument drive unit 110, and the endoscope 200 can move at a slower second rate via the motor 115 of the actuating instrument drive unit 110 instead of the motor "M" of the surgical instrument holder 102.

[0087] In addition to allowing the endoscope 200 to rotate at two rates via the connector assembly 120, the connector assembly 120 may also include mechanical features (not shown) for increasing the rotation angle while maintaining the timing position of the buttons 203 on the cables 210, 212 and the endoscope 200.

[0088] refer to Figures 8 to 11 Another embodiment of the connector assembly 320 is provided, similar to the above reference. Figures 2 to 6 The described connector assembly 120. The connector assembly 320 connects the instrument drive unit 110 ( Figure 2 ) and endoscopes (e.g., endoscope 200 ( Figure 7 They are selectively interconnected to convert rotational motion originating from the instrument drive unit 110 into rotational motion of the endoscope 200 about its longitudinal axis "X". The connector assembly 320 typically includes a proximal housing 322, a distal housing 324 rotatably coupled to the proximal housing 322, and a drive assembly 360 disposed within the proximal housing 322 and configured to rotate the distal housing 324 relative to the proximal housing 322.

[0089] In some embodiments, the endoscope 200 can rotate with its cables 210, 212 not oscillating near the track 40.

[0090] The proximal housing 322 of the connector assembly 320 has a mechanical interface, such as a female or male mating feature 326, configured to be non-rotatably coupled to the motor assembly 114 of the instrument drive unit 110. Figure 2 The corresponding matching features (not shown) are used. Thus, when the connector assembly 320 is coupled to the instrument drive unit 110, rotation of the motor assembly 114 of the instrument drive unit 110 causes rotation of the connector assembly 320 and any surgical instruments (e.g., endoscope 200) attached thereto. The proximal end 322a of the proximal housing 322 has a plurality of openings 334a, 334b ​​defined therein, configured to allow the proximal ends of the light source cable 212 and communication cable 210 of the endoscope 200 to pass through. The proximal housing 322 has a wire retainer 323 configured to store the cables 210, 212 of the endoscope 200 therein when the cables 210, 212 are not passing through the openings 334a, 334b.

[0091] The distal housing 324 has a proximal portion 324a and a distal portion 324b. The proximal portion 324a of the distal housing 324 is rotatably connected to the distal end 322b of the proximal housing 322. The proximal portion 324a of the distal housing 324 is configured to hold the cable connectors 206, 208 of the endoscope 200 therein. In particular, the proximal portion 324a of the distal housing 324 has a latch locking mechanism 340, which allows selective removal and insertion of the endoscope 200 into the connector assembly 320. The latch locking mechanism 340 includes a latch 342 pivotally connected to the proximal portion 324a of the distal housing 324 and a locking member 344. The latch 342 has a male mating feature or protrusion 346 configured to engage with a corresponding female mating feature or recess (not shown) defined in the locking member 344.

[0092] The latch 342 of the latch locking mechanism 340 can be used as follows Figure 10 The locking configuration shown and as Figure 11 The device pivots between the unlocking configurations shown. In the locking configuration, the male mating feature 346 of the latch 342 engages with the female mating feature of the lock 344, thereby encapsulating the connectors 206, 208 of the endoscope 200 within the proximal portion 324a of the distal housing 324 and preventing the endoscope 200 from being removed therefrom. In the unlocking configuration, the latch 342 and the lock 344 are spaced apart, thereby allowing the endoscope 200 to be removed from or inserted into the connector assembly 320. In some embodiments, any suitable locking mechanism may be provided in the distal portion 324b of the connector assembly 320 or any part of the connector assembly 320 to help selectively secure the endoscope 200 within the connector assembly 320.

[0093] The distal portion 324b of the distal housing 324 has a generally elongated structure and a hollow interior 328 configured to receive an endoscope (e.g., endoscope 200). The hollow interior 328 has a generally non-circular shape, for example, rectangular, and non-rotatably holds the endoscope 200 therein. Due to the shape of the hollow interior 328 of the distal portion 324b of the distal housing 324, rotation of the distal housing 324 of the connector assembly 320 causes the endoscope 200 to rotate with it.

[0094] The distal housing 324 of the connector assembly 320 also includes an inner housing 350 disposed within the distal portion 324b of the distal housing 324. The inner housing 350 has a curved wall 352 extending longitudinally within the distal housing 324 and configured to cup-shaped or partially surround the outer surface of the proximal portion 202 of the endoscope 200. The inner housing 350 also includes a base 354 having a generally square shape, which prevents the inner housing 350 from rotating relative to the distal housing 324 within the distal housing 324. The base 354 prevents the endoscope 200 from sliding distally out of the connector assembly 320. The distal housing 324 includes a biasing member, such as a compression spring 353, arranged between the base 354 and the distal end of the distal housing 324 to allow the base 354 to move between a lower position relative to the distal end of the distal housing 324 and a higher position relative to the distal end of the distal housing 324 to facilitate insertion of the endoscope 200 into the base 354.

[0095] The base 354 of the inner housing 350 defines an aperture 356 therethrough, configured to receive an endoscope 200. The aperture 356 of the base 354 of the inner housing 350 has a tapered upper portion 356a and a cylindrical lower portion 356b extending distally from the upper portion 356a. The upper portion 356a of the aperture 356 of the base 345 is configured to receive the tapered or tapered distal end 202b of the proximal portion 202 of the endoscope 200, while the lower portion 356b of the aperture 356 is configured to receive the cylindrical proximal end 204a of the tube 204 of the endoscope 200. This configuration of the aperture 356 can accommodate various length variations of endoscopes. It is conceivable that multiple inner housings of different sizes can be provided, each configured to hold an endoscope of a specific size. In some embodiments, the inner housing 350 may be pivotable relative to the distal portion 324b of the distal housing 324 to facilitate insertion of the endoscope 200 into the aperture 356 of the inner housing 350.

[0096] For details, please refer to the following: Figure 9 The drive assembly 360 of the connector assembly 320 is configured to drive the drive shaft 117 of the instrument drive unit 110 ( Figure 2The rotation of the coupling assembly 320 is converted into rotation of the distal housing 324 of the coupling assembly 320 relative to the proximal housing 322 of the coupling assembly 320. The drive assembly 360 includes a first drive shaft 362 having a proximal end 362a and a distal end 362b. The proximal end 362a of the first drive shaft 360 has an input element 364 in the form of a gear, such as, for example, a crown gear. The input element 364 is configured to engage with the drive shaft 117 of the motor 115 of the instrument drive unit 110. Figure 2 The gears (not shown) are detachably and operably engaged such that actuation of the motor 115 of the instrument drive unit 110 causes rotation of the first drive shaft 362 of the drive assembly 360. The distal end 362b of the first drive shaft 362 has a gear, such as, for example, a spur gear 366.

[0097] The drive assembly 360 includes a second drive shaft 372 extending longitudinally through a proximal portion 324a of the proximal housing 322 and the distal housing 324, and laterally offset from the first drive shaft 362. The second drive shaft 372 has a proximal end portion 372a and a distal end portion 372b extending between the proximal portion 324a of the proximal housing 322 and the distal housing 324. The proximal end portion 372a of the second drive shaft 372 has a gear, such as a spur gear 374, which is operatively engaged with a spur gear 366 of the first drive shaft 362, such that rotation of the first drive shaft 362 causes rotation of the second drive shaft 372. The distal end portion 372b of the second drive shaft 372 is disposed within and fixed to the surface of the proximal portion 324a of the distal housing 324, such that rotation of the second drive shaft 372 causes rotation of the distal housing 324 relative to the proximal housing 322.

[0098] It is conceivable that the drive assembly 360 of the connector assembly 320 can be replaced by any suitable mechanism that converts the rotational motion of the motor 115 derived from the instrument drive unit 110 into rotation of the distal housing 324 of the connector assembly 320 relative to the proximal housing 322 of the connector assembly 320.

[0099] During operation, the bracket 104 of the surgical instrument holder 102 ( Figure 2The instrument drive unit 110 is attached to the track 40 of the robotic arm 2. The instrument drive unit 110 is positioned within the channel (not shown) of the surgical instrument holder 102 and supported on the side 108b of the bracket 104 of the surgical instrument holder 102. The proximal portion 322a of the proximal housing 322 of the connector assembly 320 is non-rotatably coupled to the motor assembly 114 of the instrument drive unit 110, and the motor 115 of the instrument drive unit 110 is operatively coupled to the input 364 of the drive assembly 360 of the connector assembly 320. The tube 204 of the endoscope 200 is slidably received within the hole 356 of the inner housing 350 of the connector assembly 320 to house the endoscope 200 within the inner housing 350 of the connector assembly 320. When the latch locking mechanism 340 is in the unlocked configuration, the proximal portion 202a of the endoscope 200 moves along... Figure 11 Pivoting in the direction indicated by arrow "A" causes the connectors 206, 208 of the endoscope 200 to be received within the proximal portion 324a of the distal housing 324 of the connector assembly 320. Cables 210, 212 of the endoscope 200 are guided through the proximal housing 322 of the connector assembly 320 and exit through openings 334a, 334b ​​in the proximal housing 322. The endoscope 200 is placed within the connector assembly 320, and then the latch locking mechanism 340 is locked. While the endoscope 200 is held within the connector assembly 320, the endoscope 200 can be manipulated (e.g., rotated) about its longitudinal axis "X" to a selected rotational position.

[0100] Specifically, the endoscope 200 can rotate at a first rate or a second rate slower than the first rate, depending on how precise the clinician needs to position the endoscope 200 at the surgical site. To move the endoscope 200 at a faster first rate, the clinician operating the manual input devices 7, 8 of the surgical system 1 can actuate the motor 115 of the motor assembly 114 of the instrument drive unit 110. Actuating the motor 115 of the instrument drive unit 110 causes its gear (not shown) to rotate, which in turn rotates the input 364 of the drive assembly 360 of the coupling assembly 320, since the input 364 of the drive assembly 360 is operatively engaged with the gear of the instrument drive unit 110. The rotation of the input 364 causes the first drive shaft 362 of the drive assembly 360 to rotate, which in turn causes the second drive shaft 372 of the drive assembly 360 to rotate, since the gears 366, 374 of the corresponding first and second drive shafts 362, 372 are meshing. Because the distal end 372b of the second drive shaft 372 is fixed to the distal housing 324, rotation of the second drive shaft 372 of the drive assembly 360 causes rotation of the distal housing 324 relative to the proximal housing 322. With the endoscope 200 held within the distal housing 324, the endoscope 200 rotates about its longitudinal axis “X” as the distal housing 324 rotates. It is conceivable that the distal housing 324 and the endoscope 200 can rotate approximately 180 degrees relative to the proximal housing 322 in either direction via the motor 115 of the actuating motor assembly 114.

[0101] To move the endoscope 200 at a slower second rate, the clinician operating the manual input devices 7 and 8 of the surgical system 1 can actuate the motor "M" of the surgical instrument holder 102. Actuation of the motor "M" of the surgical instrument holder 102 drives the rotation of its motor shaft (not shown), which transmits its rotational motion to the motor assembly 114 of the instrument drive unit 110. Since the motor assembly 114 of the instrument drive unit 110 is non-rotatably connected to the proximal portion 322a of the proximal housing 322 of the connector assembly 320, the rotation of the motor assembly 114 of the instrument drive unit 110 causes the proximal housing 322 of the connector assembly 320 to rotate, thereby causing the distal housing 324 of the connector assembly 320 and the endoscope 200 to rotate about their longitudinal axis "X". It is conceivable that the distal housing 324 of the connector assembly 320 and the endoscope 200 can be rotated up to approximately 180 degrees in either direction by means of the motor "M" of the surgical instrument holder 102.

[0102] refer to Figures 12 to 20 This document will describe another embodiment of the surgical assembly 400. The surgical assembly 400 includes an endoscope, such as, for example Figure 7 The stand-alone endoscope 200, the connector assembly 420 is configured to receive the endoscope 200. It is conceivable that, in addition to... Figure 7In addition to the endoscope 200 shown, various different types of endoscopes can be fitted within the elongated housing 422 of the connector assembly 420. Alternatively, it is conceivable that the various elongated housings 422 of the connector assembly 420 may be available or provided, specifically configured to interconnect a particular endoscope to the robotic surgical system 1. Figure 1 ).

[0103] refer to Figures 12 to 15 The connector assembly 420 selectively interconnects the surgical instrument holder 402 and the endoscope 200 to convert rotational motion originating from the surgical instrument holder 402 into rotational motion of the endoscope 200 about its longitudinal axis “X”. The connector assembly 420 generally includes an elongated housing 422 and a locking collar 424 non-rotatably coupled to the elongated housing 422. The elongated housing 422 has a proximal end 422a and a distal end 422b, the proximal end 422a having the locking collar 424 non-rotatably attached thereto. The elongated housing 422 of the connector assembly 420 has a generally cylindrical construction and defines a channel 442 extending longitudinally therethrough. The channel 442 is configured to non-rotatably receive and hold the proximal portion 202 of the endoscope 200 therein.

[0104] The elongated housing 422 of the connector assembly 420 includes a first half 444a and a second half 444b. The first half 444a and the second half 444b of the elongated housing 422 are removably connected to each other, such that when the first half 444a and the second half 444b are connected, the proximal portion 202 of the endoscope 200 can be encapsulated by the elongated housing 422, and when the first half 444a and the second half 444b are disconnected, the proximal portion 202 of the endoscope 200 can be removed from or inserted into the elongated housing 422. In some embodiments, the elongated housing 422 may be integrally formed of a flexible material adapted to the proximal portion 202 of the endoscope 200, such that the endoscope 200 can be selectively inserted into or removed from the elongated housing 422. The elongated housing 422 defines an opening 446 extending between its inner and outer surfaces. The opening 446 of the elongated housing 422 has an elliptical shape and is configured to align with the control button 203 on the proximal portion 202 of the endoscope 200 when the endoscope 200 is received in the elongated housing 422.

[0105] The locking collar 424 of the connector assembly 420 can be received within the surgical instrument holder 402 to be drivably coupled to the motor "M" of the surgical instrument holder 402. Figure 20This causes the actuation of the motor "M" to rotate the coupling assembly 420. The locking collar 424 includes an annular member 426 and a pair of surface features 428a, 428b extending distally therefrom. The annular member 426 of the locking collar 424 is non-rotatably arranged around the proximal end 422a of the elongated housing 422 to transmit rotation caused by the actuation of the "M" of the surgical instrument holder 402 to the elongated housing 422, and further to the endoscope 200. The annular member 426 defines an annular aperture 430 therethrough, configured for the passage of various cables of the endoscope (e.g., endoscope 200). The annular member 426 of the locking collar 424 has an inner surface 432 with mating features, such as threads 434, configured to mate or thread engagement corresponding mating features 492 of the internal member 490 of the surgical instrument holder 402.

[0106] The surface features 428a and 428b of the locking collar 424 are mating members, such as, for example, a pair of arched lugs extending distally from the annular member 426 of the locking collar 424. The lugs 428a and 428b are configured to matingly receive corresponding recesses 494a and 494b in the inner member 490 of the surgical instrument holder 402 to facilitate the transmission of rotational movement of the inner member 490 of the surgical instrument holder 402 to the locking collar 424 of the connector assembly 420. Thus, when the annular member 426 of the locking collar 424 of the connector assembly 420 matingly engages with the inner member 490 of the surgical instrument holder 402, rotation of the inner member 490 of the surgical instrument holder 402 causes rotation of the connector assembly 420 accordingly.

[0107] refer to Figures 15 to 20 The surgical instrument holder 402 of the surgical assembly 400 functions to support the connector assembly 420 therein and to allow rotation of the connector assembly 420 relative to it. Similar to... Figure 2 The surgical instrument retainer 402 of the retainer 102 includes: a backrest member or bracket 404, and an outer member or housing 406 extending laterally (e.g., vertically) from an end of the bracket 404. In some embodiments, the outer member 406 may extend at various angles relative to various portions of the bracket 404. The bracket 404 has a first side 408a and a second side 408b opposite to the first side 408a. The first side 408a of the bracket 404 is slidably connected to the robotic arm 2 ( Figure 2 The surgical instrument holder 402 is positioned along the track 40 of the robotic arm 2 so that it can move along the track 40 of the robotic arm 2. Figure 2 Sliding or translation. In some embodiments, the first side 408a of the bracket 404 may also be detachably connected to the track 40.

[0108] The holder 404 of the surgical instrument holder 402 supports or houses a motor, such as a canister motor "M". When the connector assembly 420 with endoscope 200 is attached to the surgical instrument holder 402, the motor "M" is activated from the control device 4 ( Figure 1 The device receives control and power to ultimately rotate the connector assembly 420 and the endoscope 200. In some embodiments, the bracket 404 may include a printed circuit board electrically connected to a motor "M" to control the operation of the motor "M" of the bracket 404. The bracket 404 has a rotatable drive shaft extending from the motor "M" and longitudinally through the bracket 404. The drive shaft of the bracket 404 is operatively coupled to a drive assembly 450 of the surgical instrument holder 402, which transmits rotation from the motor "M" of the surgical instrument holder 402 to the connector assembly 420 when the connector assembly 420 is received in the surgical instrument holder 402, as will be described in detail below.

[0109] Continue to refer to Figures 15 to 20 The drive assembly 450 of the surgical instrument holder 402 is located within the outer member 406 of the surgical instrument holder 402 and is configured to convert rotation of the drive shaft of the motor "M" of the surgical instrument holder 402 into rotational motion of the coupling assembly 420 when the coupling assembly 420 is operably received within the surgical instrument holder 402. Specifically, the drive assembly 450 of the surgical instrument holder 402 includes a first pulley 454 and a second pulley 456, each disposed within the outer member 406. The first pulley 454 is non-rotatably coupled to the drive shaft of the motor "M" of the surgical instrument holder 402, such that rotation of the drive shaft causes rotation of the first pulley 454 relative to the outer member 406. The first pulley 454 and the second pulley 456 can be selectively moved to different positions within the housing 406. Both the first pulley 454 and the second pulley 456 are gear-like, such as, for example, spur gears, having teeth 458 extending radially from their periphery. In some embodiments, the first pulley 454 and the second pulley 456 may have smooth outer surfaces without teeth.

[0110] The drive assembly 450 further includes a drive belt or belt 460 rotatably and / or translationally received within the outer member 406. The belt 460 is closed-loop and made of a flexible material, allowing it to be manipulated into any suitable shape. Specifically, the belt 460, when received within the outer member 406, presents a semi-circular shape that is an ellipse of the outer member 406. In some embodiments, the belt 460 may be formed of a rigid material and have a permanent semi-circular ellipse shape corresponding to the shape of the outer member 406. The belt 460 has teeth 462 extending from its inner surface. The belt 460 is wound around a first pulley 454 and a second pulley 456 such that the teeth 462 of the belt 460 operatively engage with the teeth 458 of the first pulley 454 and the second pulley 456. In this way, rotation of the first pulley 454 is caused by actuation of a motor "M" of the bracket 404, causing the belt 460 to rotate about the first pulley 454 and the second pulley 456. The second pulley 456 serves as an idler pulley to guide the belt 460 around the inner circumference of the outer member 406. It is conceivable that the second pulley 456 can be selectively moved to multiple positions to achieve tension on the belt 460.

[0111] In some embodiments, the first pulley 454 and the belt 460 do not have teeth for transmitting rotational motion between them. Instead, rotation is transmitted between the first pulley 454 and the belt 460 via frictional engagement between the smooth inner surface of the belt 460 and the smooth outer surface of the first pulley 454. It is conceivable that each component of the drive assembly 450 can be detached from the housing 406 to facilitate the assembly, maintenance, and adjustment of the drive assembly 450.

[0112] The drive assembly 450 further includes a gear ring 480 rotatably arranged within the outer member 406. The gear ring 480 has a plurality of teeth 482 extending radially from its outer surface. The teeth 482 are operatively engaged with the teeth 462 of the belt 460. Thus, rotation of the belt 460 causes the gear ring 480 to rotate relative to the outer member 406 within the outer member 406.

[0113] Continue to refer to Figures 15 to 20 The internal member 490 of the surgical instrument holder 402 is non-rotatably disposed within the gear ring 480 of the drive assembly 450, such that rotation of the gear ring 480 causes the internal member 490 to rotate with it. In some embodiments, the gear ring 480 may be integrally formed with the outer surface of the internal member 490. The internal member 490 is configured to non-rotatably receive the connector assembly 420 therein and to transmit rotation of the drive assembly 450 of the surgical instrument holder 402 to the connector assembly 420. The internal member 490 has a circular configuration corresponding to a circular channel defined through the outer member 406.

[0114] For example, Figure 16 As shown, the internal member 490 is an assembly comprised of an upper internal member 490a, an intermediate internal member 490b, and a lower internal member 490c. The upper and intermediate internal members 490a and 490b are attached to each other via a snap-fit ​​engagement. It is conceivable that the internal member 490 may be a single piece rather than an assembly comprised of parts. In some embodiments, the upper and intermediate internal members 490a and 490b may be attached to each other via any suitable fastening device. The upper internal member 490a has a threaded outer surface 492 configured for thread 434 of the locking collar 424 of the connector assembly 420. Figure 14 ) Threaded engagement. The intermediate inner member 490b is non-rotatably received within the gear ring 480 of the drive assembly 450 of the surgical instrument holder 402, such that rotation of the gear ring 480 enables rotation of the inner member 490 relative to the outer member 406.

[0115] The upper inner member 490a and the middle inner member 490b together define a recess 494a, which is configured to receive one of the lugs 428a, 428b of the connector assembly 420. The lower inner member 490c is non-rotatably received within the middle inner member 490b. The lower inner member 490c defines a recess 494b therein, which is offset by approximately 180 degrees from the recesses 494a of the upper and middle inner members 490a, 490b. The recess 494b of the lower inner member 490c is configured to receive the other lug of the lugs 428a, 428b of the connector assembly 420, such that after the connector assembly 420 is received within the surgical instrument holder 402, the lugs 428a, 428b of the locking collar 424 of the connector assembly 420 are positioned within the recesses 494a, 494b of the inner member 490 of the surgical instrument holder 402. In this way, rotation of the inner member 490 relative to the outer member 406 causes the coupling assembly 420 to rotate with it.

[0116] During operation, the bracket 404 of the surgical instrument holder 402 is attached to the track 40 of the robotic arm 2. Figure 2 On. The lugs 428a, 428b of the locking collar 424 of the connector assembly 420 are placed in the recesses 494a, 494b of the inner member 490 of the surgical instrument holder 402, and the connector assembly 420 is manually rotated relative to the outer member 406 so that the threaded outer surface 492 of the inner member 490 of the surgical instrument holder 402 is threadedly engaged with the threaded inner surface 434 of the locking collar 424 of the connector assembly 420. Cables 210, 212 of the endoscope 200 Figure 7The endoscope 200 is guided through the distal end 422b of the elongated housing 422 of the connector assembly 420 and brought out through the annular member 426 of the locking collar 424 of the connector assembly 420, while the proximal portion 202 of the endoscope 200 is secured within the channel 442 of the elongated housing 422 of the connector assembly 420. With the proximal portion 202 of the endoscope 200 secured within the elongated housing 422 of the connector assembly 420, the endoscope 200 can be manipulated (e.g., rotated) about its longitudinal axis “X” to a selected rotational position.

[0117] Specifically, in order to rotate the endoscope 200 about its longitudinal axis "X", the surgical system 1 ( Figure 1 The clinician using the manual input devices 7 and 8 can actuate the motor "M" of the surgical instrument holder 402. Actuation of the motor "M" of the surgical instrument holder 402 drives the rotation of its motor shaft, which transmits its rotational motion to the first pulley 454 of the drive assembly 450. Because the belt 460 of the drive assembly 450 is operatively engaged with the first pulley 454 of the drive assembly 450, and the gear ring 480 of the drive assembly 450 is operatively engaged with the belt 460, the rotation of the first pulley 454 causes the belt 460 of the drive assembly 450 to rotate, which in turn causes the gear ring 480 of the drive assembly 450 to rotate.

[0118] When the inner member 490 of the surgical instrument holder 402 is non-rotatably received within the gear ring 480, rotation of the gear ring 480 of the drive assembly 450 within the outer member 406 of the surgical instrument holder 402 drives rotation of the inner member 490 relative to the outer member 406. Considering that the locking collar 434 of the connector assembly 420 is locked to the inner member 490, rotation of the inner member 490 within the outer member 406 of the surgical instrument holder 402 drives rotation of the connector assembly 420. With the proximal end 202 of the endoscope 200 non-rotatably coupled to the elongated housing 422 of the connector assembly 420, rotation of the connector assembly 420 of the surgical instrument holder 402 causes the endoscope 200 to rotate about its longitudinal axis “X”.

[0119] refer to Figures 21A to 25 Another embodiment of the connector assembly 520 is provided, which is similar to the above-described reference. Figures 2 to 6 The described connector assembly 120. The connector assembly 520 connects the instrument drive unit 110 ( Figure 2 ) and endoscopes (e.g., endoscope 200) Figure 7 ) are selectively interconnected to transmit signals originating from the instrument drive unit 110 ( Figure 2The rotational motion of the endoscope 200 is converted into rotational motion of the endoscope 200 about its longitudinal axis “X”. The connector assembly 520 typically includes a proximal housing 522 and a distal housing 524 non-rotatably coupled to the proximal housing 522.

[0120] The proximal housing 522 of the connector assembly 520 has a mechanical interface, such as a female or male mating feature 526, configured to be non-rotatably coupled to the motor assembly 114 of the instrument drive unit 110. Figure 2 The corresponding matching features (not shown). Thus, when the connector assembly 520 is coupled to the instrument drive unit 110, the rotation of the motor assembly 114 of the instrument drive unit 110 causes the connector assembly 520 and any surgical instruments (e.g., endoscope 200) attached thereto to rotate.

[0121] The proximal housing 522 of the connector assembly 520 has a body 522a and a latch or door 522b pivotally coupled to the body 522a. The body 522a defines an arcuate channel 529 therein, configured to allow the proximal end of the endoscope 200's light source cable 212 and communication cable 210, or any suitable wire or cable (e.g., optical fiber) of the endoscope 200, to pass through. When the endoscope 200's cable is arranged within the arcuate channel 529, the arcuate channel 529 is configured such that it bends and orients the endoscope 200's cable in a distal direction towards the proximal end of the endoscope 200's cable.

[0122] The proximal housing 522 of the coupling assembly 520 includes a locking assembly 530 disposed within the body 522a and configured to releasably lock a door 522b of the proximal housing 522 to the body 522a, as will be described herein. The locking assembly 530 includes a rotatable member or button 532, a biasing member (e.g., a torsion spring 534), and a cover 536. The rotatable member 532 is rotatably disposed within the body 522a so as not to protrude from the body 522a, thereby reducing the likelihood of accidental actuation of the rotatable member 532. The rotatable member 532 has fingers 538 or locking elements extending laterally therefrom. The torsion spring 534 is disposed between the rotatable member 532 and the cover 536, resiliently biasing the fingers 538 of the rotatable member 532 in a downward or distal direction. The cap 536 of the locking assembly 530 retains the rotatable member 532 and the spring 534 within the body 522a.

[0123] The door 522b of the proximal housing 522 has an inwardly extending protrusion 540 configured to selectively interlock with the fingers 538 of the rotatable member 532 of the locking assembly 530. Specifically, the protrusion 540 of the door 522b has an inclined end 542 configured to engage with the fingers 538 of the rotatable member 532. The protrusion 540 of the door 522b also defines a cutout 544 therein. In use, as the door 522b of the proximal housing 522 closes (e.g., the door 522b pivots toward the body 522a), the inclined end 542 of the protrusion 540 of the door 522b engages the fingers 538 of the rotatable member 532 to lift or raise the fingers 538 of the rotatable member 532, thereby causing the rotatable member 532 to rotate in a first direction (e.g., clockwise). After the door 522b of the proximal housing 522 is closed, the fingers 538 of the rotatable member 532 pass over the inclined end 542 of the protrusion 540 to allow the elastic bias of the torsion spring 534 of the locking assembly 530 to rotate the rotatable member 532 in a second direction (e.g., counterclockwise), thereby placing or arranging the fingers 538 of the rotatable member 532 in the cutout 544 of the protrusion 540. With the fingers 538 of the locking assembly 530 arranged in the cutout 544 of the protrusion 540, the door 522b is prevented or prevented from being opened relative to the main housing 522a by connecting the fingers 538 of the main body 522a and the protrusion 540 of the door 522b.

[0124] To disengage the locking assembly 530 of the body 522a from the protrusion 540 of the door 522b, the rotatable member 532 can be manually rotated in a first direction against the elastic bias of the torsion spring 534 of the locking assembly 530, thereby raising the fingers 538 of the rotatable member 532 out of the cutout 544 of the protrusion 540. With the fingers 538 of the rotatable member 532 disengaged from the protrusion 540 of the door 522b, the door 522b can be pivoted away from the body 522a to allow the endoscope 200 to be inserted into or removed from the connector assembly 520.

[0125] The proximal housing 522a also includes a pair of pads 550a and 550b, wherein the first pad 550a of the pair is coupled to the body 522a of the proximal housing 522, and the second pad 550b of the pair is coupled to the door 522b of the proximal housing 522. The pads 550a and 550b are made of an elastic material such as silicon or an elastomer. It is conceivable that the pads 550a and 550b can be made of any suitable material, for example, flexible or rigid materials. The pads 550a and 550b are configured to capture the proximal portion of the endoscope 200 therebetween when the door 522b of the proximal housing 522 is closed. In this way, the pads 550a and 550b eliminate recoil and increase the stiffness between the door 522b and the body 522a of the proximal housing 522.

[0126] Continue to refer to Figures 21A to 25 The distal housing 524 of the connector assembly 520 has a semi-cylindrical shape (see...). Figure 21B The distal housing 524 is configured to partially surround the endoscope 200. The distal housing 524 defines a hollow interior 528 having a generally non-circular shape, such as a rectangle, for non-rotatably holding the endoscope 200 therein. Due to the shape of the hollow interior 528 of the distal housing 524, rotation of the distal housing 524 of the connector assembly 520 causes the endoscope 200 to rotate with it.

[0127] The distal housing 524 defines an opening or window 552 therein to allow a clinician to eject the endoscope 200 from the connector assembly 520 by inserting a finger or tool through the window 552 while the endoscope 200 is positioned within the connector assembly 520. The distal portion 524 defines an elongated cutout 554 configured to receive a control button 203 of the endoscope 200. The distal housing 524 defines an opening 546 at its distal end that is coaxial with the longitudinal axis defined by the connector assembly 520.

[0128] The distal housing 524 includes a flexible annular member 560 disposed therein. It is conceivable that the annular member 560 can be made of any suitable flexible material, such as an elastomer. The annular member 560 of the distal housing 524 is configured to cup-shaped or partially surround the outer surface of the proximal portion 202 of the endoscope 200. The annular member 560 prevents the endoscope 200 from sliding distally out of the connector assembly 520. The annular member 560 defines an aperture 562 through which it is configured to receive the endoscope 200. The aperture 562 of the annular member 560 is tapered to receive the tapered or tapered distal end 202b of the proximal portion 202 of the endoscope 200.

[0129] The connector component 520 may include a memory 564, such as, for example, an identification chip ( Figure 22 Its storage is related to system 1 ( Figure 1 The memory 564 can store various information about the various components of the robot arm 2. For example, the memory 564 can store identification information, which the system 1 can use to determine the connection to the robot arm 2. Figure 2 The system 1 may or may not identify the connector assembly 520 or endoscope 200. Based on the identified connector assembly or endoscope, the system 1 may or may not identify the surgical assembly 100. Figure 2The system 1 may not supply power to any or all components of the surgical assembly 100 if the identification information stored in the memory 564 does not match the identification information provided by the connector assembly (e.g., connector assembly 520) or endoscope (e.g., endoscope 200) (e.g., via an RFID tag on connector assembly 520 or endoscope 200). In some embodiments, the memory 564 may also control and monitor the lifespan of connector assembly 520.

[0130] Each connector assembly disclosed herein can be made of a variety of suitable materials, such as PEEK, PEK, PEKK, PEKEKK, UDEL, RADEL, PPS, PPSU, Ultem TM Valox TM And / or various non-conductive materials, including thermoplastics or resin-based materials.

[0131] It will be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but should only be considered as examples of various embodiments. Other modifications within the scope and spirit of the appended claims will be apparent to those skilled in the art.

Claims

1. A connector assembly (520) for connecting an endoscope to a robotic surgical system, the connector assembly comprising: A proximal housing (522) configured to be coupled to an instrument drive unit (110) of a robotic surgical system, the proximal housing having a body (522a) configured to receive a proximal end of an endoscope (200); A distal housing (524) extends distally from the proximal housing (522), the distal housing defining a hollow interior (528) for non-rotatably holding the endoscope therein; Door (522b); as well as A locking assembly (530), disposed within the proximal housing and configured to releasably lock the door to the proximal housing to lock the endoscope in the connector assembly. The door (522b) is characterized in that it is pivotally connected to the body of the proximal housing (522), and the locking assembly (530) further includes: A rotatable button (532) rotatably disposed within the body of the proximal housing so as not to protrude therefrom, the rotatable button having a finger (538); a biasing member (534) resiliently biasing the finger (538) of the rotatable button in a distal direction, wherein the door (522b) has an inwardly extending protrusion (540) configured to selectively interlock with the finger of the rotatable button when the door is closed relative to the proximal housing, the protrusion (540) having an inclined end (542) configured to engage the finger of the rotatable button as the door closes so that the rotatable button rotates against the resilient bias of the biasing member; and The protrusion (540) of the door defines a cutout (544) therein, the cutout being configured to receive the finger (538) of the rotatable button (532) to prevent the door from opening.

2. The connector assembly according to claim 1, wherein, The proximal housing (522) defines an arcuate channel (529) therein, the arcuate channel being configured to allow the proximal ends of the cables (212, 210) of the endoscope (200) to pass through.

3. The connector assembly according to claim 2, wherein, The bow-shaped channel (529) is configured to bend the cables (212, 210) of the endoscope (200) and orient the proximal end of the cables of the endoscope in a distal direction.

4. The connector assembly according to any one of the preceding claims, wherein, The rotatable button (532) is recessed within the proximal housing (522).

5. The connector assembly of claim 1, further comprising: A first pad (550a) is connected to the proximal housing (522); as well as A second pad (550b) is connected to the door (522b), wherein the first pad and the second pad are configured to capture the proximal end of the endoscope (200) therebetween when the door is closed.

6. The connector assembly of claim 1, wherein, The proximal housing (522) has a mechanical interface configured to be non-rotatably coupled to a corresponding matching feature of the motor assembly (114) of the instrument drive unit (110), such that the proximal housing, the distal housing (524), and the endoscope (200) are configured to rotate together with the motor assembly about a longitudinal axis defined by the connector assembly.

7. The connector assembly of claim 1, wherein, The distal housing (524) defines a window (552) therein to allow a clinician to eject the endoscope (200) from the connector assembly by passing a finger or tool through the window while the endoscope is positioned within the connector assembly.

8. The connector assembly of claim 1, further comprising a flexible annular member (560) disposed in the distal end of the distal housing (524), wherein, The annular member prevents the endoscope (200) from sliding distally out of the connector assembly.

9. The connector assembly of claim 1, wherein, The distal housing (524) has a semi-cylindrical shape and is configured to partially surround the endoscope (200).

10. The connector assembly of claim 1, wherein, The distal housing (524) defines an elongated cutout (554) configured to receive a control button (203) of the endoscope (200).

11. The connector assembly of claim 1, further comprising a memory (564) configured to store information about at least one component of the robotic surgical system.

12. The connector assembly of claim 1, wherein, The proximal housing (522) and the distal housing (524) are separable from each other.

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