Instruments for surgical robotic system and interfaces for the same
Inventors
DUPONT, Lancelot • CHASSOT, Julien
Assignees
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Publication Number
US-12114945-B2
Publication Date
2024-10-15
Expiration Date
Abstract
Systems and methods for actuating an end-effector of a surgical instrument are provided. The surgical instrument includes a surgical instrument interface operatively coupled to an instrument shaft having an end-effector. The surgical instrument interface includes a pair of actuators slidably disposed within longitudinal openings of a housing of the surgical instrument interface and engaged with a grooved opening of a barrel rotatably disposed within the housing, such that translational movement of the actuators within the longitudinal openings is converted to rotational movement of the barrel along the grooved opening. The surgical instrument interface further may include a torsion spring pre-loaded with a predetermined torque such that rotation of the barrel causes rotation of the instrument shaft if the torque generated between the barrel and the instrument shaft is less than the predetermined torque of the spring. Rotation of the instrument shaft actuates the end-effector via a cam mechanism.
Core Innovation
The invention relates to a cable-free surgical instrument interface operatively coupled to an instrument shaft having an end-effector. The interface includes a housing with a longitudinal opening and a barrel rotatably disposed within the housing, and the barrel comprises a grooved opening extending circumferentially along at least a portion of the barrel.
An actuator is slidably disposed within the longitudinal opening and engaged with the grooved opening. Translational movement of the actuator along the longitudinal opening causes the barrel to rotate along the grooved opening to rotate the instrument shaft. A spring has a proximal end coupled to the barrel and a distal end coupled to the instrument shaft, and the spring is configured to be pre-loaded with a predetermined torque.
The spring is used to limit torque transfer between the barrel and the instrument shaft. When torque generated between the barrel and the instrument shaft is below the spring torque, the shaft rotates in a first direction; when torque is above, the spring torsionally compresses to limit transmitted torque. Cam stop and cam ring features enable opposite-direction actuation under lower-torque conditions, and the shaft rotation actuates an end-effector.
Claims Coverage
The independent claim covers a cable-free surgical instrument interface that uses a slidably moved actuator to rotate a grooved barrel, thereby rotating an instrument shaft through a spring pre-loaded with a predetermined torque. The dependent claims refine torque-transfer behavior with threshold conditions and opposite-direction actuation features and further add mechanical interfaces for pre-loading.
Slidably actuated actuator engaged with circumferentially grooved barrel
An actuator slidably disposed within the longitudinal opening and engaged with the grooved opening, such that translational movement of the actuator along the longitudinal opening causes the barrel to rotate along the grooved opening to thereby rotate the instrument shaft.
Pre-loaded spring coupling barrel torque to instrument shaft
A spring having a proximal end coupled to the barrel and a distal end coupled to the instrument shaft, the spring configured to be pre-loaded with a predetermined torque, such that rotation of the barrel rotates the instrument shaft via the spring.
Torque threshold for shaft rotation transmission
A configuration where the shaft rotates via the spring when torque generated between the barrel and the instrument shaft is less than the predetermined torque of the spring.
Cam stop and cam ring torque path for opposite-direction actuation
A barrel including a cam stop and a cam ring with a distal opening, where when barrel-rotation torque between the barrel and shaft is less than the predetermined torque, torque is transmitted through the cam ring to rotate the instrument shaft in a second direction opposite the first.
Cam stop circumferential movement within cam-ring distal opening
A cam stop extending proximally from a proximal end of a barrel and a cam ring with a distal opening sized and shaped to receive the cam stop and allow circumferential movement of the cam stop within the opening.
Fixation ring for spring pre-loading
A fixation ring that couples the distal end of the spring to the instrument shaft and can be actuated to preload the spring with the predetermined torque.
Overall, the claim set covers a cable-free interface that converts actuator translation into barrel rotation along a circumferential groove, while a pre-loaded spring governs torque transfer to the instrument shaft. The dependent features further define threshold-based behavior, add cam stop and cam ring structures for opposite-direction actuation under lower-torque conditions, and include a fixation ring to actuate spring pre-loading.
Stated Advantages
Cable-free operation of the surgical instrument interface.
Limits torque transfer between the barrel and the instrument shaft using a spring pre-loaded with a predetermined torque.
Provides opposite-direction actuation via cam stop and cam ring features under lower-torque conditions.
Enables jaw open/close actuation of the end-effector and may emit ultrasonic energy.
Documented Applications
Use in a surgical robotic system or a handheld surgical system as a cable-free surgical instrument interface.
Integration with an ultrasonic end-effector that may emit ultrasonic energy in combination with a handheld ultrasonic system.
System use with a patient console and a surgeon console and a sterile shield.
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