Surgical robotic system, adapter assembly and surgical loading unit thereof

Abstract

An adapter assembly of a surgical robotic system includes an elongate body configured to receive a surgical loading unit; and an elongate loading rod coupled to the elongate body and configured to selectively lock the surgical loading unit to the adapter assembly. The elongate loading rod has a distal end that defines a slot therein that is configured to receive an articulated link of the surgical loading unit when the surgical loading unit is incorrectly inserted into the adapter assembly. The surgical robotic system is configured to automatically move the elongated loading rod between a loading position and an unloading position to allow one-handed loading / unloading of the surgical loading unit.

Description

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 433,034, filed on Dec. 16, 2022, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present technology generally relates to an adapter assembly for use with a surgical robotic system, and methods of attaching and detaching a surgical load unit to and from the adapter assembly. BACKGROUND ART

[0003] Surgical robotic systems are used in minimally invasive medical procedures due to their increased accuracy and convenience relative to handheld surgical instruments. In these surgical robotic systems, a robotic arm may support an instrument drive unit that drives the operation of a surgical instrument. The surgical instrument may include an adapter assembly operably coupled to the adapter assembly, and a surgical load unit removably coupled to the adapter assembly. In operation, the robotic arm is moved to a position above the patient, and then the surgical load unit is guided through a small incision via a surgical port or natural orifice of the patient to position the end effector of the surgical load unit at a working site within the patient. SUMMARY OF THE INVENTION

[0004] The technology of the present disclosure generally relates to a surgical robotic system that includes an adapter assembly for interconnecting an instrument drive unit and a surgical load unit. The adapter assembly allows for one-handed unloading of a used surgical load unit from the adapter assembly while the adapter assembly is coupled to the instrument drive unit. The present disclosure also relates to mechanical features that ensure proper assembly of the surgical load unit with the adapter assembly whether the adapter assembly is connected to or disconnected from the instrument drive unit.

[0005] According to one aspect of the present disclosure, there is provided a surgical robotic system that includes a surgical load unit, an adapter assembly, a processor, and a memory in communication with the processor. The adapter assembly is configured to be operably coupled to a surgical robotic arm and includes an elongate body and an elongate loading rod coupled to the elongate body and configured to move between a proximal position and a distal position relative to the elongate body. The elongate body has a distal portion configured to be coupled to a proximal portion of the surgical load unit. In the proximal position, the elongate loading rod is configured to allow the surgical load unit to be removable from the elongate body. In the distal position, the elongate loading rod is configured to secure the surgical load unit to the elongate body. The processor is configured to execute instructions to automatically drive the elongate loading rod proximally to the proximal position in response to a first trigger threshold.

[0006] In various aspects, the first trigger threshold can include the adapter assembly moving proximally to a proximal position on the surgical robotic arm. The adapter assembly moving proximally to the proximal position indicates a desire to remove the surgical loading unit from the adapter assembly.

[0007] In various aspects, the processor can further be configured to automatically cause the system to drive the elongate loading rod distally to a distal position in response to a second trigger threshold. The second trigger threshold can include the surgical loading unit being removed from the elongate body.

[0008] In various aspects, the adapter assembly can further include: a drive screw configured to be rotated by a motor of the surgical robotic system; and a drive nut threadedly engaged to the drive screw and coupled to the elongate loading rod. Rotation of the drive screw can cause the elongate loading rod to translate between a proximal position and a distal position via the drive nut.

[0009] In various aspects, the adapter assembly can further include a switch that couples the drive nut to the elongate loading rod such that movement of the drive nut along the drive screw is configured to cause the elongate loading rod to move from the distal position to the proximal position via the switch.

[0010] In various aspects, the surgical robotic system can further include a biasing member that elastically biases the switch from a proximal position toward a distal position. When the switch is in the proximal position, the elongate loading rod can also be in the proximal position, and when the switch is in the distal position, the elongate loading rod can also be in the distal position.

[0011] In various aspects, the processor can further be configured to automatically cause the system to drive the drive nut distally in response to the second trigger threshold to move the switch to its distal position. The second trigger threshold can include the surgical loading unit being removed from the elongate body.

[0012] In various aspects, the drive nut can include a flange received in an elongate slot defined in the switch. After causing the system to move the drive nut distally to move the switch distally to the distal position, the processor can further be configured to automatically cause the system to drive the flange of the drive nut proximally within the elongate slot of the switch to position the flange at the proximal extremity of the elongate slot. With the flange of the drive nut at the proximal extremity of the elongate slot of the switch, a clinician can manually move the switch from the distal position to the proximal position without encountering resistance from the drive nut.

[0013] In various aspects, the drive screw can have multiple starting threads (e.g., five threads) to allow elastic biasing applied by the biasing member on the drive nut to translate the drive nut distally along the drive screw, whereby the drive nut rotates the drive screw.

[0014] In various aspects, the elongated loading rod can have a distal end that defines a slot therein, the slot being configured to receive a proximal portion of a component of the surgical loading unit when the surgical loading unit is incorrectly inserted into the adapter assembly. The engagement of the proximal portion of the component with the slot of the elongated loading rod resists rotation of the surgical loading unit relative to the adapter assembly toward the assembled state.

[0015] According to another aspect of the present disclosure, a surgical robot system is provided that includes an instrument drive unit having a motor, an adapter assembly, a processor, and a memory that communicates with the processor and has instructions stored therein. The adapter assembly includes: a housing configured to be operatively coupled to the instrument drive unit; a manual switch slidably coupled to the housing and operatively coupled to the motor of the instrument drive unit; an elongated body; and an elongated loading rod slidably coupled to the elongated body. The elongated body has a proximal portion coupled to the housing and a distal portion configured to be coupled to a proximal portion of a surgical loading unit. The elongated loading rod is coupled to the manual switch such that the elongated loading rod is configured to move from a distal position to a proximal position relative to the elongated body in response to a proximal movement of the manual switch. The elongated loading rod is elastically biased toward the distal position. The processor is configured to execute the instructions to cause the system to: in response to a first trigger threshold indicating that the surgical loading unit is to be removed from the adapter assembly, actuate the motor of the instrument drive unit to drive the elongated loading rod proximally to the proximal position; and in response to a second trigger threshold indicating that the surgical loading unit has been removed from the adapter assembly, drive the elongated loading rod distally to the distal position.

[0016] In various aspects, the surgical loading unit can be configured to rotate into a locked engagement with the adapter assembly. The elongated loading rod can have a distal end that defines a slot therein, the slot being configured to receive a proximal portion of a component of the surgical loading unit when the surgical loading unit is incorrectly inserted into the adapter assembly. The engagement of the proximal portion of the component with the slot of the elongated loading rod can resist rotation of the surgical loading unit relative to the adapter assembly toward the locked engagement with the adapter assembly.

[0017] In various aspects, the adapter assembly can include: a drive screw operably coupled to a motor of an instrument drive unit; and a drive nut threadedly engaged with the drive screw and coupled to a elongate loading rod via a manual switch such that rotation of the drive screw translates the elongate loading rod between a proximal position and a distal position.

[0018] In various aspects, the drive nut can include a flange received within an elongate slot defined in the manual switch. The flange of the drive nut can be configured to move between a proximal limit and a distal limit of the elongate slot without moving the manual switch. After the system moves the elongate loading rod to the distal position, the processor can further be configured to drive the system to move the flange of the drive nut proximally within the elongate slot of the switch to position the flange at the proximal limit of the elongate slot.

[0019] In various aspects, the adapter assembly can further include a biasing member that elastically biases the elongate loading rod to the distal position. The drive screw can have a plurality of start threads to allow the drive screw to rotate due to the elastic bias applied to the drive nut by the biasing member during distal translation of the drive nut along the drive screw.

[0020] According to another aspect of the present disclosure, a method of replacing a surgical loading unit in a surgical robot system is provided. The method includes: determining that the surgical loading unit is to be removed from an adapter assembly of the surgical robot system; and actuating a motor of the instrument drive unit of the surgical robot system to drive the elongate loading rod of the adapter assembly proximally to a proximal position when the system determines that the surgical loading unit is to be removed from the adapter assembly, whereby the elongate loading rod unlocks the surgical loading unit from the adapter assembly.

[0021] In various aspects, the method can further include actuating the motor of the instrument drive unit to drive the elongate loading rod distally to a distal position when the system determines that the surgical loading unit has been removed from the adapter assembly.

[0022] In various aspects, the method can further include, after the elongate loading rod is driven distally to the distal position, actuating the motor of the instrument drive unit to drive the drive nut proximally relative to the manual switch of the adapter assembly.

[0023] In various aspects, the method can further include moving the elongate loading rod distally to the distal position via the biasing member of the adapter assembly when the adapter assembly is removed from the instrument drive unit.

[0024] In various aspects, the biasing member can move the elongate loading rod distally against the resistance axial force of the drive nut of the adapter assembly that interconnects the drive screw of the adapter assembly to the elongate loading rod.

[0025] In various aspects, determining that the surgical loading unit is to be removed can include determining that the adapter assembly has been moved proximally to a proximal position on the surgical robotic arm of the surgical robotic system.

[0026] Details of one or more aspects of the present disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the technology described in this disclosure will become apparent from the specification, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Aspects of the present disclosure are described herein with reference to the accompanying drawings, in which:

[0028] Figure 1 is a perspective view of the components of a hand-held electromechanical surgical instrument including a handle assembly, an adapter assembly, and a surgical loading unit, with the parts separated;

[0029] Figure 2 is Figure 1 a perspective view of the proximal portion of the surgical loading unit of

[0030] Figure 3 is Figure 1 a front view of the ring member of the adapter assembly of

[0031] Figure 4 is the proximal portion of the surgical loading unit properly inserted into Figure 3 the ring member of

[0032] Figure 5 is a side perspective view showing the surgical loading unit inserted incorrectly into the adapter assembly for the first time;

[0033] Figure 6 is a side perspective view of the first side of the surgical instrument during the second incorrect insertion of the surgical loading unit into the adapter assembly;

[0034] Figure 7 is a perspective view of the other side of the surgical instrument during the second incorrect insertion of the surgical loading unit into the adapter assembly;

[0035] Figure 8 is a schematic diagram of a surgical robotic system that includes a control tower, a console, and one or more surgical robotic arms;

[0036] Figure 9 is a view showing Figure 8Stereogram of the surgical component of the surgical robot system, the surgical component including a slider of the surgical robotic arm, an instrument drive unit coupled to the slider, an adapter assembly coupled to the instrument drive unit, and a surgical loading unit coupled to the adapter assembly;

[0037] Figure 10 Shows Figure 9 Side view of the adapter assembly and the surgical loading unit in a coupled state, with multiple parts removed to show internal components;

[0038] Figure 11 Side view showing the surgical loading unit lockingly engaged with the adapter assembly;

[0039] Figure 12 Shows Figure 9 Side view of the internal components of the adapter assembly, with multiple parts removed;

[0040] Figure 13 Shows Figure 12 Stereogram of the internal components of the adapter assembly isolated from the rest of the adapter assembly, with multiple parts removed;

[0041] Figure 14 Is Figure 13 Stereogram of the internal components of the adapter assembly, with parts separated;

[0042] Figure 15A Shows Figure 12 Enlarged side view stereogram of the actuation switch and drive nut of the adapter assembly in the unloaded position;

[0043] Figure 15B Enlarged side view stereogram showing the actuation switch and drive nut in the locked position;

[0044] Figure 15C Enlarged side view stereogram showing the drive nut in the proximal position relative to the actuation switch;

[0045] Figure 15D Enlarged side view stereogram showing the actuation switch in the proximal loading position;

[0046] Figure 16 Flowchart showing the method of performing replacement of the adapter assembly for the surgical loading unit;

[0047] Figure 17A Is Figure 15A Front view stereogram of the actuation switch;

[0048] Figure 17B Front view of the actuation switch;

[0049] Figure 17C is a rear view of the actuation switch;

[0050] Figure 17D is a side view of the actuation switch;

[0051] Figure 17E is a top view of the actuation switch; and

[0052] Figure 17F is a bottom view of the actuation switch. DETAILED DESCRIPTION

[0053] As used herein, the terms "parallel" and "perpendicular" are to be understood to include relative configurations that are substantially parallel and substantially perpendicular to true parallel and true perpendicular, up to about + or - 10 degrees.

[0054] Various aspects of the surgical system disclosed herein are described in detail with reference to the accompanying drawings, in which like reference numerals represent the same or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of the surgical system that is closer to the surgical site, while the term "proximal" refers to the portion of the surgical system that is farther from the surgical site.

[0055] Currently, if a surgical load unit is incorrectly inserted into the adapter assembly and rotated after the incorrect insertion, the annular member or rotating ring of the adapter assembly is caused to rotate out of its normal position. After the surgical load unit is removed, the rotating ring remains out of its normal position. Thus, subsequent attempts to insert the surgical load unit into the adapter assembly are prohibited because the rotating ring has been displaced from its normal operating position.

[0056] The present disclosure provides a surgical instrument that includes a surgical load unit and an adapter assembly that interconnects the surgical load unit with a handle assembly or a robotic assembly. The adapter assembly includes a plurality of mechanical features that ensure that the surgical load unit is connected to the adapter assembly in a correct orientation to prevent incorrect displacement of the rotating ring. Further, the adapter assembly is configured to allow the surgical load unit to be loaded into and unloaded from the adapter assembly with one hand while the adapter assembly is attached to the surgical robotic arm.

[0057] Reference Figure 1, surgical instrument 10 according to one aspect of the present disclosure is shown as a powered hand-held electromechanical surgical instrument. Surgical instrument 10 includes a handle assembly 100 configured for selective connection with any one of a plurality of adapter assemblies 200, and in turn, each unique adapter assembly 200 is configured for selective connection with any number of surgical load units 300. Surgical load unit 300 and adapter assembly 200 are configured to be actuated and manipulated by handle assembly 100 or in multiple aspects by surgical robot system 10, as will be referenced Figure 8 described.

[0058] Referencing Figure 1 and Figure 2 , surgical load unit 300 of surgical instrument 10 has a proximal body portion 302, and a tool assembly or end effector 304 coupled to a distal portion 302b of proximal body portion 302. Proximal body portion 302 has a proximal portion 302a configured for engagement with a distal portion 206b of the elongate body 204 of adapter assembly 200. Proximal body portion 302 has a pair of surface features, such as lugs 303a, 303b extending outwardly from opposite sides of proximal portion 302a of surgical load unit 300. Lugs 303a, 303b can assume any suitable shape, such as square or cylindrical. End effector 304 is pivotally attached to proximal body portion 302 and includes an anvil assembly 306 and a staple cartridge assembly 308. Staple cartridge assembly 308 is pivotable relative to anvil assembly 306 and movable between an open or unclamped position and a closed or clamped position to insert through a trocar cannula. In multiple aspects, end effector 304 can be configured to perform alternative functions, such as electrosurgical sealing.

[0059] The surgical loading unit 300 further includes a hinge link 310 that extends through the proximal body portion 302 and extends centrally between the lugs 303a, 303b. The hinge link 310 has a proximal portion 310a that has a flag 312 that projects proximally and radially outward from the proximal body portion 302. The flag 312 of the hinge link 310 is configured to be operatively coupled to an articulated drive member (not explicitly shown) of the adapter assembly 200 to drive translation of the hinge link 310. The hinge link 310 has a distal portion 310b that is operatively coupled to the end effector 304 such that the end effector 304 is configured to articulate relative to the proximal body portion 302 in response to translation of the hinge link 310. For example, the end effector 304 can be moved from a first position where the end effector 304 is aligned with the longitudinal axis of the proximal body portion 302 to at least a second position where the end effector 304 is disposed at a non-zero angle relative to the longitudinal axis of the proximal body portion 302.

[0060] Further reference Figure 1 , the adapter assembly 200 includes a knob housing 202 and an elongate body 204 that extends distally from the knob housing 202. The knob housing 202 and the elongate body 204 are configured and sized to house the components of the adapter assembly 200. The size of the elongate body 204 can be determined for insertion through an endoscope. In various aspects, the elongate body 204 can pass through a typical trocar port, cannula, etc. The size of the knob housing 202 can be determined to not enter a trocar port, cannula, etc. The elongate body 204 has a proximal portion 206a that is attached to the knob housing 202 and is configured to be attached to the handle assembly 100. The elongate body 204 further includes a distal portion 206b that is configured to be coupled to the proximal body portion 302 of the surgical loading unit 300.

[0061] Reference Figure 1 , Figure 3 and Figure 4, the elongated body 204 of the adapter assembly 200 further includes a distal cap or ring member 208 that extends distally from the distal portion 206b. In various aspects, the ring member 208 can be formed with the elongated body 204 and / or the ring member can be received within the elongated body. The ring member 208 has an inner surface 210 that defines an opening or passage 212 that is configured to receive a proximal portion 302a of the proximal body portion 302 of the surgical loading unit 300. The inner surface 210 of the ring member 208 further defines a slot 216 and a pair of diametrically opposed apertures 214a, 214b that are each circumferentially disposed about the ring member 208. The slot 216 is disposed between the apertures 214a, 214b and is circumferentially spaced from each of the apertures 214a, 214b by approximately 90 degrees. During proper insertion of the surgical loading unit 300 into the adapter assembly 200, the apertures 214a, 214b are configured to receive a corresponding pair of lugs 303a, 303b of the surgical loading unit 300, and the slot 216 is configured to receive a proximal portion 310a (e.g., a flag portion 312) of the hinge link 310 of the surgical loading unit 300, as Figure 4 shown.

[0062] Reference Figure 5 and Figure 7 , the adapter assembly 200 further includes an elongated loading rod or locking link 280 disposed within the elongated body 204 of the adapter assembly 200. The elongated loading rod 280 is slidably disposed within the elongated body 204 and is elastically biased toward a distal locking position, as Figure 5 shown. The elongated loading rod 280 has a distal extension 282 that is configured to lockingly engage with a lug 303a ( Figure 2 ) of the surgical loading unit 300 when the surgical loading unit 300 is properly inserted into the elongated body 204. The distal extension 282 has a distal end 284 that has a distally facing edge 283 that defines a slot 286 therein. The slot 286 has a shape and size similar to that of the flag portion 312 of the surgical loading unit 300 to receive the flag portion 312 therein during improper insertion of the surgical loading unit 300 into the adapter assembly 200 ( Figure 5 ). As shown, the slot 286 has a rectangular shape, but other suitable shapes, such as circular, triangular, etc., are contemplated.

[0063] Reference Figure 6 and Figure 7, the adapter assembly 200 further includes an annular member 260 that is rotatably disposed within the elongated body 204 of the adapter assembly 200. The annular member 260 functions to electromechanically communicate to a processor (not shown) of the handle assembly 100 whether the surgical loading unit 300 is properly or improperly connected to the adapter assembly 200. In particular, when the annular member 260 is rotated relative to the elongated body 204 about the longitudinal axis of the elongated body 204 from an initial or first orientation to a second orientation, the annular member 260 sends a signal to the processor of the handle assembly 100 indicating that the surgical loading unit 300 is secured to the adapter assembly 200 and ready for use.

[0064] The annular member 260 defines a cylindrical passageway 264 therethrough that is configured to receive a proximal body portion 302 of the surgical loading unit 300. The annular member 260 includes surface features such as a pair of tabs 276a, 276b that define a cavity 278 therebetween that is configured to dock with a lug 303b of the surgical loading unit 300 when the surgical loading unit 300 is properly inserted into the adapter assembly 200 such that the annular member 260 can be rotated by and with the surgical loading unit 300.

[0065] The annular member 260 further includes an appendage or additional surface feature 290 that projects radially outward from the annular member and is disposed on a side of the annular member 260 opposite the pair of tabs 276a, 276b. When the elongated loading rod 280 is in the distal position, the appendage or tab 290 is positioned to abuttingly engage a lateral edge surface 288 of a distal extension 282 of the elongated loading rod 280 ( Figure 7 ). Due to the engagement of the appendage 290 of the annular member 260 with the elongated loading rod 280, the elongated loading rod 280 prevents the annular member 260 and thus the surgical loading unit 300 from rotating relative to the elongated body 204. Accordingly, the annular member 260 can only be rotated by the surgical loading unit 300 when a lug 303a of the surgical loading unit 300 engages the elongated loading rod 280 and causes the elongated loading rod to move proximally out of engagement with the appendage 290 (during proper insertion of the surgical loading unit 300).

[0066] In operation, to properly assemble the surgical loading unit 300 with the adapter assembly 200, the surgical loading unit 300 is rotationally oriented (about its longitudinal axis) such that a pair of lugs 303a, 303b of the surgical loading unit 300 are aligned with a pair of apertures 214a, 214b of the ring member 260, and a flag 312 of a hinge link 310 of the surgical loading unit 300 is aligned with a slot 216 of the ring member 208, as Figure 4As shown. When the surgical loading unit 300 is correctly oriented, the surgical loading unit 300 can be translated towards the adapter assembly 200 so that the proximal body portion 302 of the surgical loading unit 300 enters the elongated body 204 of the adapter assembly 200 and further into the annular member 260. When the surgical loading unit 300 is fully inserted into the adapter assembly 200, the lug 303b of the surgical loading unit 300 is received between the surface features 276a, 276b of the annular member 260, the lug 303a of the surgical loading unit 300 engages the elongated loading rod 280 to retract the elongated loading rod 280 towards its proximal position, and the flag 312 of the articulated link 310 is coupled to an articulated drive member (not shown) of the adapter assembly 200.

[0067] After the elongated loading rod 280 is moved to the proximal position by the lug 303a of the surgical loading unit 300, the distal extension 282 of the elongated loading rod 280 no longer engages the attachment 290 of the annular member 260 and thus no longer prevents the annular member 260 from rotating out of the first orientation. With the surgical loading unit 300 in this initial insertion position within the adapter assembly 200, the surgical loading unit 300 is not yet locked in engagement with the adapter assembly 200 and the annular member 260 remains in the first orientation. To complete the mechanical coupling of the surgical loading unit 300 to the adapter assembly 200, the surgical loading unit 300 is then rotated relative to the elongated body 204. Since the lug 303b of the surgical loading unit 300 is received in the cavity 278 defined between the surface features 276a, 276b of the annular member 260, rotation of the surgical loading unit 300 drives the annular member 260 to rotate from the first orientation to the second orientation. The rotation of the annular member 260 from the first orientation to the second orientation establishes an electrical connection between the annular member 260 and the processor of the handle assembly 100, whereby the processor records that the surgical loading unit 300 is locked in engagement with the adapter assembly 200 and the surgical instrument 10 is ready for operation.

[0068] Rotation of the surgical loading unit 300 causes the lug 303a of the surgical loading unit 300 to move into an inner groove (not explicitly shown) defined in the ring member 208 of the elongated body 204 and out of the longitudinal path of the elongated loading rod 280. The elastic biasing of the elongated loading rod 280 drives its axial translation to set the elongated loading rod 280 in the distal or locked position. With the elongated loading rod 280 in the distal position, the lug 303a of the surgical loading unit 300 is captured between the ring member 208 and the distal extension 282, thereby preventing the surgical loading unit 300 from sliding or rotating out of the adapter assembly 200. In this state, the surgical loading unit 300 is correctly releasably and lockingly engaged to the adapter assembly 200 and ready for use.

[0069] In some cases, a clinician may inadvertently orient the surgical load unit 300 incorrectly (about its longitudinal axis) relative to the adapter assembly 200 prior to inserting the surgical load unit 300 into the adapter assembly 200. For example, referring to Figure 5 , the surgical load unit 300 may be incorrectly oriented 90 degrees counterclockwise from the correct orientation (about its longitudinal axis). When the rotational orientation of the surgical load unit 300 is incorrect, the surgical load unit 300 can still be longitudinally inserted into the adapter assembly 200. However, in this orientation, the flag 312 of the articulated link 310 is received in the slot 286 of the distal extension 282, rather than the lug 303a of the surgical load unit 300 engaging the distal extension 282 of the elongated load bar 280. Accordingly, when the clinician attempts to complete the assembly of the surgical load unit 300 with the adapter assembly 200 by applying a rotational force to the surgical load unit 300, the engagement of the flag 312 of the articulated link 310 with the slot 286 of the non-rotatable elongated load bar 280 advantageously prevents the surgical load unit 300 from rotating. Thus, the clinician will be unable to operate the surgical instrument 10 and will be warned that the surgical load unit 300 is incorrectly oriented.

[0070] Referring to Figure 6 and Figure 7 , the surgical load unit 300 may be incorrectly oriented 90 degrees clockwise from the correct orientation (about its longitudinal axis). In this orientation, the flag 312 of the articulated link 310 is received in the cavity 278 defined by the pair of surface features 276a, 276b of the annular member 260, rather than the lug 303b of the surgical load unit 300 being received in the cavity, as Figure 6 shown. Additionally, neither the lug 303a nor the lug 303b of the surgical load unit 300 engages the distal extension 282 of the elongated load bar 280, such that the distal extension 282 remains engaged with the attachment 290 of the annular member 260. Accordingly, when the clinician attempts to complete the assembly of the surgical load unit 300 with the adapter assembly 200 by applying a rotational force to the surgical load unit 300, the engagement of the attachment 290 with the distal extension 282 advantageously prevents the annular member 260 from rotating and, in turn, prevents the surgical load unit 300 from rotating. Thus, the clinician will be unable to operate the surgical instrument 10 and will be warned that the surgical load unit 300 is incorrectly oriented.

[0071] Referring to Figure 8 , a surgical robotic system 10 is provided that includes an adapter assembly 400 having reference Figures 1 to 7Similar mechanical features of the described adapter assembly 200 are provided to ensure that the surgical load unit 300 is connected to the adapter assembly 400 in the correct orientation. The surgical robot system 10 generally includes a control tower 20 that is connected to all components of the surgical robot system 10, including a surgical console 30 and one or more robotic arms 40. Each of the robotic arms 40 includes a surgical instrument 50 and an instrument drive unit 52 removably coupled to the surgical instrument. Each of the robotic arms 40 is also coupled to a movable robotic arm cart 60 and is supported on the movable robotic arm cart.

[0072] The surgical instrument 50 includes an adapter assembly 400 coupled to the instrument drive unit 52 and a surgical load unit 300 removably coupled to the adapter assembly 400, as will be described further with reference to Figures 9 to 14 The surgical load unit 300 is configured for use during a minimally invasive surgical procedure. In an embodiment, the surgical load unit 300 may be configured for an open surgical procedure. In an embodiment, the surgical load unit 300 may be an endoscope (such as an endoscope camera 51) that is configured to provide a video feed to a user. In another embodiment, the surgical load unit 300 may be an electrosurgical grasper that is configured to seal tissue by compressing the tissue between jaw members and applying an electrosurgical current thereto. In yet other embodiments, the surgical load unit 300 may be a surgical stapler.

[0073] One of the robotic arms 40 may include an endoscope camera 51 that is configured to capture video of the surgical site. The endoscope camera 51 may be a stereoscopic endoscope that is configured to capture two side-by-side (i.e., left and right) images of the surgical site to produce a video stream of the surgical scene. The endoscope camera 51 is coupled to a video processing device 56, which may be disposed within the control tower 20. The video processing device 56 may be any computing device as described below that is configured to receive video feedback from the endoscope camera 51, perform image processing based on a depth estimation algorithm of the present disclosure, and output the processed video stream.

[0074] The surgical console 30 includes a first display 32 and a second display 34. The first display shows video feedback of the surgical site provided by a camera 51 of the surgical instrument 50 disposed on the robotic arm 40, and the second display shows a user interface for controlling the surgical robot system 10. The first display 32 and the second display 34 are touchscreens that allow for the display of various graphical user inputs.

[0075] The surgical console 30 also includes a plurality of user interface devices, such as a foot pedal 36 and a pair of handle controllers 38a and 38b, which are used by a user to remotely control the robotic arm 40. The surgical console further includes an armrest 33 for supporting the clinician's arm when operating the handle controllers 38a and 38b.

[0076] The control tower 20 includes a display 23 (which may be a touch screen) and outputs on a graphical user interface (GUI). The control tower 20 also serves as an interface between the surgical console 30 and one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arm 40, such as to move the robotic arm 40 and the corresponding surgical instrument 50 based on a set of programmable instructions and / or input commands from the surgical console 30 in such a way that the robotic arm 40 and the surgical instrument 50 execute a desired sequence of movements in response to inputs from the foot pedal 36 and the handle controllers 38a and 38b.

[0077] Each of the control tower 20, the surgical console 30, and the robotic arm 40 includes a corresponding computer 21, 31, 41. The computers 21, 31, 41 are interconnected with each other by using any suitable communication network based on a wired or wireless communication protocol. As used herein, the term "network", whether in the plural or singular, refers to a data network, including but not limited to the Internet, intranet, wide area network or local area network, and there is no limitation to the full scope of the communication network defined as covered by this disclosure. Suitable protocols include but are not limited to Transmission Control Protocol / Internet Protocol (TCP / IP), User Datagram Protocol / Internet Protocol (UDP / IP), and / or Datagram Congestion Control Protocol (DCCP). Wireless communication can be achieved through one or more wireless configurations, such as radio frequency, light, Wi-Fi, Bluetooth (an open wireless protocol used to exchange data from fixed and mobile devices over short lengths of radio waves), creating a personal area network (PAN), (a specification of a set of advanced communication protocols using small low-power digital radios based on the IEEE 122.15.4-2003 wireless personal area network (WPAN) standard).

[0078] Computers 21, 31, 41 may include any suitable processor 57 operatively connected to a memory 61, which may include one or more of volatile, non-volatile, magnetic, optical, or dielectric, such as read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM (EEPROM), non-volatile RAM (NVRAM), or flash memory. The processor 57 may be any suitable processor (e.g., control circuitry) adapted to execute the operations, calculations, and / or instruction sets described in this disclosure, including but not limited to a hardware processor, a field programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, and combinations thereof. Those skilled in the art will understand that processor 57 may be replaced by any logical processor (e.g., control circuitry) suitable for executing the algorithms, calculations, and / or instruction sets described herein. The robotic arm 40 also includes a plurality of manual override buttons 53 disposed on the instrument drive unit 52 and the mounting arm 62 and may be used in a manual mode. A user may press one or more of these buttons 53 to move the components associated with the buttons 53.

[0079] Reference Figures 9 to 11 , the instrument drive unit 52 is slidably coupled to a slide member 43 of the surgical robotic arm 40 such that the instrument drive unit 52 is movable between a plurality of positions along the length of the slide member 43. The adapter assembly 400 of the surgical robot system 10 includes: a housing 402 configured to be removably coupled to the instrument drive unit 52; a manual switch 404 slidably coupled to the housing 402 and operatively coupled to a motor 59 of the instrument drive unit 52; an elongate tube or body 406; and an elongate loading rod 410 ( Figures 10 to 11 ), which is slidably supported within the elongate body 406. The elongate body 406 has a proximal portion 406a coupled to the housing 402; and a distal portion 406b configured to receive a proximal portion 302a of the surgical loading unit 300.

[0080] Reference Figures 10 to 14 , the elongate loading rod 410 of the adapter assembly 400 has a proximal portion 410a and a distal portion 410b. The proximal portion 410a of the elongate loading rod 410 is coupled to the manual switch 404 such that the elongate loading rod 410 is configured to move from a distal position ( Figure 11 ) to a proximal position ( Figure 10 ) relative to the elongate body 406 in response to a proximal movement of the manual switch 404. The elongate loading rod 410 is elastically biased toward the distal position by a biasing member (e.g., a spring 412 supported within the elongate body 406).

[0081] When the proximal portion 302a of the surgical loading unit 300 is axially inserted into the distal portion 406b of the elongated body 406 of the adapter assembly 400, the distal portion 410b of the elongated loading rod 410 is configured to be pushed proximally by one of the lugs 303a or 303b extending outwardly from the proximal portion 302a of the surgical loading unit 300, as Figure 10 shown. When the surgical loading unit 300 is attached to the adapter assembly 400 and the elongated loading rod 410 is in the distal position, as Figure 11 shown, the distal portion 410b of the elongated loading rod 410 locks the surgical loading unit 300 in engagement with the adapter assembly 400 by preventing the rotation of the lug 303a of the surgical loading unit 300 out of the locked state. On the other hand, when the surgical loading unit 300 is attached to the adapter assembly 400 and the elongated loading rod 410 is in the proximal position, as Figure 10 shown, the surgical loading unit 300 can be rotated and then withdrawn from the adapter assembly 400.

[0082] The distal portion 410b of the elongated loading rod 410 defines a slot 414 therein, which is configured to receive the proximal portion of the component of the surgical loading unit 300 (e.g., Figure 5 the proximal portion 310a of the hinge link 310) when the surgical loading unit 300 is not correctly inserted into the adapter assembly 400. Thus, the engagement of the proximal portion 310a of the hinge link 310 with the slot 414 of the elongated loading rod 410 resists the rotation of the surgical loading unit 300 relative to the adapter assembly 400 towards the Figure 11 assembled state shown. Further details regarding the elongated loading rod 410 and its mechanism for preventing incorrect insertion of the surgical loading unit 300 are provided above with reference to Figures 1 to 7 the surgical loading unit 300, as

[0083] referred to Figures 12 to 14, the switch 404 of the adapter assembly 400 is axially fixed to the proximal portion 410a of the elongated loading rod 410 such that proximal or distal movement of the switch 404 causes corresponding proximal or distal movement of the elongated loading rod 410, and proximal or distal movement of the elongated loading rod 410 causes corresponding proximal or distal movement of the switch 404. The switch 404 is configured to move between a proximal position and a distal position, in the proximal position, the elongated loading rod 410 is in the proximal position, and in the distal position, the elongated loading rod 410 is in the distal position. When the switch 404 moves to the proximal position, the system 10 may provide a notification (e.g., an audible alarm, a tactile feedback, a color change, a prompt on the displays 23, 32, or 34, or a combination thereof) to the clinician that the surgical loading unit 300 is in an unlocked state and thus unsafe to use. In various aspects, when the switch 404 moves to the proximal position, the system 10 may be configured to prohibit actuation of any motor of the instrument drive unit 52 that can drive the operation of the surgical loading unit 300. When the switch 404 is in the distal position, the system 10 may provide an audible, visual, and / or tactile alarm to the clinician that the surgical loading unit 300 is locked to the adapter assembly 400 and thus safe to use.

[0084] The adapter assembly 400 further includes a drive nut 418 operably coupled to a drive screw 416, and the drive screw and the drive nut are each supported in the housing 402 of the adapter assembly 400. The drive nut 416 is coupled to the elongated loading rod 410 via the manual switch 404 of the adapter assembly 400 such that movement of the drive nut 418 along the drive screw 416 is configured to move the elongated loading rod 410 from the distal position to the proximal position via the switch 404. More specifically, the drive nut 418 includes a laterally extending attachment or flange 420 that is received in a longitudinally extending elongated slot 422 defined in the body of the switch 404. The elongated slot 422 has a proximal limit 422a and a distal limit 422b, and the flange 420 of the drive nut 418 is configured to translate between the proximal limit and the distal limit. Thus, only when the flange 420 of the drive nut 418 engages the proximal limit 422a of the elongated slot 422 does proximal movement of the drive nut 418 cause corresponding proximal movement of the switch 404 and the attached elongated loading rod 410. Similarly, only when the flange 420 of the drive nut 418 engages the distal limit 422b of the elongated slot 422 does distal movement of the drive nut 418 cause corresponding distal movement of the switch 404 and the attached elongated loading rod 410.

[0085] The drive screw 416 has a proximal portion 416a that is configured to be drivingly coupled to the drive motor 59 of the instrument drive unit 52 ( Figure 9) drive shaft (not explicitly shown). Actuation of drive motor 59 causes drive screw 416 to rotate about its longitudinal axis and relative to housing 402 of adapter assembly 400. When motor 59 of instrument drive unit 52 is operably coupled to elongate load bar 410 via switch 404, drive nut 418, and drive screw 416, manual movement of elongate load bar 410 via manual switch 404 is resisted. On the other hand, when adapter assembly 400 is decoupled from instrument drive unit 52, manual operation of elongate load bar 410 via switch 404 is permitted.

[0086] Drive screw 416 has a threaded distal portion 416b threadedly coupled to drive nut 418 such that rotation of drive screw 416 is configured to cause drive nut 418 to translate along drive screw 416. The threaded distal portion 416b of drive screw 416 may include a plurality of start threads 419 (e.g., 5 threads) to allow drive screw 416 to rotate due to the elastic biasing applied to drive nut 418 by spring 412 during distal translation of drive nut 418 along drive screw 416. The spring constant of spring 412 is selected to allow spring 412 to overcome any resistance to translation of drive nut 418 along drive screw 416. Thus, in the case where adapter assembly 400 is decoupled from instrument drive unit 52, spring 412 is configured to automatically drive elongate load bar 410 distally to a distal position.

[0087] In operation, referring to Figure 10 , Figure 11 , Figures 15A to 15D and Figure 16 , in order to remove the used surgical load unit 300 from adapter assembly 400 and replace it with a new surgical load unit 300, instrument drive unit 52 together with the attached adapter assembly 400 and surgical load unit 300 is moved proximally along slider 43 ( Figure 9 ) of surgical robotic arm 40 to withdraw surgical load unit 300 from the surgical site, as shown in step 500 of Figure 16 . In response to a first trigger threshold indicative of a desire to remove the used surgical load unit 300, processor 57 is configured to automatically actuate motor 59 of instrument drive unit 52 to drive drive screw 416 to rotate in a direction that drives drive nut 418 to make a corresponding proximal movement therealong, as shown in Figure 16as shown in step 502 therein. When the instrument drive unit 52, along with the attached adapter assembly 400 and surgical loading unit 300, is moved to the most proximal position (or near the most proximal position) on the slider 43 (e.g., via a sensor or camera), the first trigger threshold can be met. In other aspects, when the system 10 determines that the stapling of the surgical loading unit 300 is complete, the first trigger threshold can be met. In response, the system 10 automatically enters a disassembling state, whereby the system 10 can automatically open the jaws 306, 308 of the surgical loading unit 300 ( Figure 1 ) to release the tissue and enable the adapter assembly 400 to move along the slider 43.

[0088] Proceeding to step 502, since the elongated loading rod 410 is coupled to the drive nut 418 via the switch 404, proximal movement of the drive nut 418 along the drive screw 416 causes the elongated loading rod 410 to move proximally to a proximal position ( Figure 10 ) to unlock the surgical loading unit 300 from the adapter assembly 400. In this way, the clinician can now rotate the surgical loading unit 300 with one hand and axially withdraw the surgical loading unit from the adapter assembly 400 without having to manually actuate the switch 404 simultaneously.

[0089] The clinician can now choose to remove the surgical loading unit 300 from the adapter assembly 400 while the adapter assembly 400 remains attached to the instrument drive unit 52, or disassemble the adapter assembly 400 from the instrument drive unit 52 and then remove the surgical loading unit 300 from the adapter assembly 400 while the adapter assembly 400 remains disconnected from the instrument drive unit 52. In the case where the clinician removes the surgical loading unit 300 from the adapter assembly 400 while the adapter assembly 400 remains attached to the instrument drive unit 52, in step 504, a second trigger threshold is met, which indicates that the surgical loading unit 300 has been removed from the adapter assembly 400. For example, the system 10 detects the removal of the surgical loading unit 300 from the adapter assembly 400 via a sensor (such as a Hall effect sensor) or a camera.

[0090] In response to step 504, in step 506, the processor 57 is configured to automatically actuate the motor 59 of the instrument drive unit 52 to drive the drive screw 416 to drive the drive nut 418 to perform a corresponding distal movement (from Figure 15A the proximal position shown to Figure 15Brotate in the direction of the distal position shown. Since the elongated loading rod 410 is coupled to the drive nut 418 via the switch 404, the distal movement of the drive nut 418 along the drive screw 416 causes the elongated loading rod 410 to move distally to the distal position. When the elongated loading rod 410 is in the distal position, the slot 414 of the elongated loading rod 410 prevents the incorrect insertion of the new surgical loading unit 300 into the adapter assembly 400 in the above manner.

[0091] After the elongated loading rod 410 is driven to the distal position, in step 508, the processor 57 is configured to then automatically send a command to the motor 59 of the instrument drive unit 52 to drive the proximal movement of the drive nut 418, so that the flange 420 of the drive nut 418 is moved from the distal limit 422b of the elongated slot 422 of the switch 404 to the proximal limit 422a of the elongated slot 422, as Figure 15B shown. When the flange 420 of the drive nut 418 is positioned at the proximal limit 422a of the elongated slot 422 of the switch 404, the switch 404 and the attached elongated loading unit 410 are free to move proximally during the manual insertion of the surgical loading unit 300 into the adapter assembly 400. Without first moving the drive nut 418 proximally relative to the switch 404, the motor 59 of the instrument drive unit 52 will resist the proximal movement of the elongated loading rod 410, thereby resisting and / or preventing the proximal insertion of the new surgical loading unit 300 into the adapter assembly 400.

[0092] When the elongated loading rod 410 is in the distal position, in step 510, the new surgical loading unit 300 is inserted proximally into the adapter assembly 400, whereby the lug 303a of the surgical loading unit 300 engages the distal end 414 of the elongated loading rod 410 to drive the elongated loading rod 410 towards the proximal position against the elastic bias of the spring 412, as Figure 10 shown. When the surgical loading unit 300 is rotated out of engagement with the lug 303a of the surgical loading unit 300, as Figure 11 shown, the spring 412 drives the elongated loading rod 410 distally into the distal position to lockingly engage the new surgical loading unit 300 with the adapter assembly 400.

[0093] In step 600, in the case where the clinician chooses to remove the adapter assembly 400 from the instrument drive unit 52 before performing the replacement of the surgical load unit 300, once the adapter assembly 400 is removed from the instrument drive unit 52, there is no longer any resistance from the motor 59 of the instrument drive unit 52 to the rotation of the drive screw 416. That is, in step 602, when the adapter assembly 400 is disengaged from the instrument drive unit 52, the distally oriented force applied by the spring 412 on the elongated load bar 410 immediately drives the distal movement of the elongated load bar 410 towards the distal position. More specifically, when the elongated load bar 410 moves distally, the drive nut 418 moves distally with the elongated load bar and moves along the drive screw 416, which causes the drive screw to rotate. As described above, the plurality of start threads 419 of the threaded distal portion 416b of the drive screw 416 provide reduced resistance to the translation of the drive nut 418 along the drive screw 416 to allow only the force of the spring 412 to drive the distal movement of the elongated load bar 412.

[0094] According to the present disclosure, optionally, step 602 may further include manually moving the switch 404 proximally (or in any contemplated direction) to remove the used surgical load unit 300 from the adapter assembly 400.

[0095] In the case where the elongated load bar 410 is in the distal position, due to the action of the spring 412, the slot 414 of the elongated load bar 410 prevents the incorrect insertion of the new surgical load unit 300 into the adapter assembly 400 in the above-described manner. In step 604, the new surgical load unit 300 may be lockingly engaged to the adapter assembly 400, at which time the adapter assembly 400 and the new surgical load unit 300 may be re-engaged to the instrument drive unit 52.

[0096] It is contemplated that the system 10 may be configured to display animations of various states of the replacement of the used surgical load unit 300 with the new surgical load unit 300 on the displays 23, 32, or 34. Additionally or alternatively, the system 10 may be configured to provide an audible alert, haptic feedback, and / or a color change during each step of the replacement.

[0097] It should be understood that the various aspects disclosed herein can be combined in combinations different from those specifically presented in the specification and the drawings. It should also be understood that, according to examples, certain actions or events of any of the processes or methods described herein can be performed in a different order, can be added, combined, or completely omitted (e.g., all of the described actions or events may not be necessary to implement the techniques). Additionally, although for clarity certain aspects of this disclosure are described as being performed by a single module or unit, it should be understood that the techniques of this disclosure can be performed by a combination of units or modules associated with, for example, a medical device.

Claims

1. A surgical robot system, comprising: A surgical loading unit; An adapter assembly configured to be operably coupled to a surgical robotic arm, the adapter assembly including: An elongate body including a distal portion configured to removably couple to a proximal portion of the surgical loading unit; and An elongate loading rod coupled to the elongate body and configured to move relative to the elongate body between a proximal position and a distal position, in the proximal position, the elongate loading rod is configured to allow the surgical loading unit to be removed from the elongate body, in the distal position, the elongate loading rod is configured to fix the surgical loading unit to the elongate body; A processor; and A memory in communication with the processor and having instructions stored therein, the processor being configured to execute the instructions to cause the system to automatically drive the elongate loading rod proximally to the proximal position in response to a first trigger threshold.

2. The surgical robot system according to claim 1, wherein, The first trigger threshold includes the adapter assembly moving proximally to a proximal position on the surgical robotic arm.

3. The surgical robot system according to claim 1, wherein, The adapter assembly includes: A drive screw configured to be rotated by a motor of the surgical robot system; and A drive nut threadedly engaged to the drive screw and coupled to the elongate loading rod such that rotation of the drive screw causes the elongate loading rod to translate between the proximal position and the distal position via the drive nut.

4. The surgical robot system according to claim 3, wherein, The adapter assembly includes a switch that couples the drive nut to the elongate loading rod such that movement of the drive nut along the drive screw is configured to cause the elongate loading rod to move from the distal position to the proximal position via the switch.

5. The surgical robot system according to claim 4, further comprising a biasing member that elastically biases the switch from a proximal position toward a distal position, in the proximal position, the elongate loading rod is in the proximal position, in the distal position, the elongate loading rod is in the distal position.

6. The surgical robot system according to claim 5, wherein, The processor is further configured to automatically cause the system to drive the drive nut distally to move the switch to its distal position in response to a second trigger threshold, the second trigger threshold including the surgical loading unit being removed from the elongate body.

7. The surgical robot system according to claim 6, wherein, The drive nut includes a flange received in an elongate slot defined in the switch, wherein, after causing the system to move the drive nut distally to move the switch distally to the distal position, the processor is further configured to automatically drive the flange of the drive nut proximally within the elongate slot of the switch to position the flange at a proximal limit of the elongate slot.

8. The surgical robot system according to claim 5, wherein, The drive screw has a plurality of start threads to allow the drive screw to rotate due to an elastic bias applied to the drive nut by the biasing member during distal translation of the drive nut along the drive screw.

9. The surgical robot system according to claim 1, wherein, The elongated loading rod has a distal end that defines a slot therein configured to receive a proximal portion of a component of the surgical loading unit when the surgical loading unit is incorrectly inserted into the adapter assembly, whereby engagement of the proximal portion of the component with the slot of the elongated loading rod resists rotation of the surgical loading unit relative to the adapter assembly toward an assembled state.

10. A surgical robot system comprising: An instrument drive unit having a motor; An adapter assembly including: A housing configured to be operatively coupled to the instrument drive unit; A manual switch slidably coupled to the housing and operatively coupled to the motor of the instrument drive unit; An elongated body having a proximal portion and a distal portion, the proximal portion being coupled to the housing and the distal portion being configured to be coupled to a proximal portion of a surgical loading unit; and An elongated loading rod slidably coupled to the elongated body and coupled to the manual switch such that the elongated loading rod is configured to move from a distal position to a proximal position relative to the elongated body in response to a proximal movement of the manual switch, the elongated loading rod being elastically biased toward the distal position; A processor; and A memory in communication with the processor and having instructions stored therein, the processor being configured to execute the instructions to cause the system to: In response to a first trigger threshold indicating that the surgical loading unit is to be removed from the adapter assembly, actuate the motor of the instrument drive unit to drive the elongated loading rod proximally to the proximal position; and In response to a second trigger threshold indicating that the surgical loading unit has been removed from the adapter assembly, drive the elongated loading rod distally to the distal position.

11. The surgical robot system according to claim 10, wherein, The surgical loading unit is configured to rotate into a locked engagement with the adapter assembly. The elongated loading rod has a distal end that defines a slot therein configured to receive a proximal portion of a component of the surgical loading unit when the surgical loading unit is incorrectly inserted into the adapter assembly, whereby engagement of the proximal portion of the component with the slot of the elongated loading rod resists rotation of the surgical loading unit relative to the adapter assembly toward a locked engagement with the adapter assembly.

12. The surgical robot system according to claim 10, wherein, The adapter assembly includes: A drive screw operatively coupled to the motor of the instrument drive unit; and A drive nut threadedly engaged to the drive screw and coupled to the elongated loading rod via the manual switch such that rotation of the drive screw translates the elongated loading rod between the proximal position and the distal position.

13. The surgical robot system according to claim 12, wherein, The drive nut includes a flange that is received in an elongated slot defined in the manual switch. The flange of the drive nut is configured to move between a proximal limit and a distal limit of the elongated slot without moving the manual switch. Wherein, after the system moves the elongated loading rod to the distal position, the processor is further configured to drive the flange of the drive nut to move proximally within the elongated slot of the switch to position the flange at the proximal limit of the elongated slot.

14. The surgical robot system according to claim 12, wherein, The adapter assembly further includes a biasing member that elastically biases the elongated loading rod to the distal position. The drive screw has a plurality of start threads to allow the drive screw to rotate due to the elastic bias applied to the drive nut by the biasing member during the distal translation of the drive nut along the drive screw.

15. A method of replacing a surgical loading unit in a surgical robot system, the method comprising: Determining that the surgical loading unit is to be removed from the adapter assembly of the surgical robot system; And When the system determines that the surgical loading unit is to be removed from the adapter assembly, actuating a motor of the instrument drive unit of the surgical robot system to drive the elongated loading rod of the adapter assembly proximally to a proximal position, whereby the elongated loading rod unlocks the surgical loading unit from the adapter assembly.

16. The method according to claim 15, further comprising actuating the motor of the instrument drive unit to drive the elongated loading rod distally to a distal position when the system determines that the surgical loading unit has been removed from the adapter assembly.

17. The method according to claim 16, further comprising actuating the motor of the instrument drive unit to drive the drive nut proximally relative to the manual switch of the adapter assembly after the elongated loading rod has been moved distally to the distal position.

18. The method according to claim 15, further comprising moving the elongated loading rod distally to the distal position via the biasing member of the adapter assembly when the adapter assembly is removed from the instrument drive unit.

19. The method according to claim 18, wherein, The biasing member moves the elongated loading rod distally against the axial force of the resistance of the drive nut of the adapter assembly that interconnects the drive screw of the adapter assembly to the elongated loading rod.

20. The method according to claim 15, wherein, Determining to remove the surgical loading unit includes determining that the adapter assembly has been moved proximally to a proximal position on the surgical robotic arm of the surgical robot system.

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