Drive assembly for surgical robotic system
Inventors
Breton, Alexander • Stauffer, Allison M. • Devlin, Maeve • Kline, Eric • KHALIFA, Sammy
Assignees
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Publication Number
US-12685559-B2
Publication Date
2026-07-21
Expiration Date
Abstract
A drive assembly of a surgical robotic system is disclosed herein. In some embodiments, the drive assembly includes a first drive unit having a first drive unit face, a second drive unit having a second drive unit face, and a third drive unit having a third drive unit face. Each drive unit may include a plurality of motors configured to rotate a corresponding one of a plurality of drive elements about rotational axes perpendicular to the respective the respective drive unit face. the first drive unit, the second drive unit, and the third drive unit configured to be positioned about the drive assembly common axis with respect to a vertical plane passing through the drive assembly common axis such that an orientation and position of the first drive unit face mirrors those of second drive unit face, and the third drive unit face is bisected by the vertical plane.
Core Innovation
The drive assembly for a surgical robotic system comprises first, second, and third motorized drive units arranged about a drive assembly common axis corresponding to a cavity insertion axis. Each drive unit has a drive unit face, drive elements, and motors configured to rotate drive elements about axes perpendicular to the respective face. The first and second drive unit faces mirror one another and are opposite and substantially parallel, while the third face is bisected by a vertical plane passing through the common axis and is substantially perpendicular to the first face.
The assembly provides drive interfaces for two robotic-arm cassettes and a camera cassette aligned through a central channel for single-trocar insertion. The arrangement reduces patient and table interference, enables rapid rear cassette removal, and maintains reusable drive units behind a sterile barrier. Drive units slidably receive cassette interface portions from the back end in directions parallel to the common axis.
Claims Coverage
The claims identify one independent claim encompassing six inventive features directed to three motorized drive units and their defined arrangement around a common cavity-insertion axis, along with associated interfaces, cassette configurations, insertion mechanisms, and drive couplings.
Three motorized drive units
The assembly includes first, second, and third drive units, each having a drive unit face, multiple drive elements, and corresponding motors configured to rotate the drive elements about axes perpendicular to the respective faces.
Mirrored first and second drive unit faces
The first and second drive unit faces have mirrored orientations and positions and are opposite and substantially parallel to one another around the drive assembly common axis.
Perpendicular third drive unit face
The third drive unit face is bisected by the vertical plane passing through the drive assembly common axis and is substantially perpendicular to the first drive unit face.
Cassette drive interfaces
Drive-side crown elements and cassette spooley assemblies containing spools and pulleys provide drive interfaces, connecting cassettes through drape plates and a central channel.
Cassette reception and assembly types
The drive units are configured to slidably receive cassette interface portions from the back end in directions parallel to the common axis, accommodating first and second robotic arm cassette assemblies and a third camera cassette assembly configured for single-trocar insertion.
Compliant motor couplings
Couplings connect motors to drive-side crown elements and permit relative displacement to provide compliance for mating.
The independent claim covers the three-unit motorized drive assembly and its specified face geometry around a common cavity-insertion axis, while dependent claim elements specify cassette, crown-element, insertion, assembly-type, and compliant-coupling features.
Stated Advantages
The arrangement reduces patient and table interference.
Rear cassette removal is rapid.
The reusable drive units remain behind a sterile barrier.
Documented Applications
The drive assembly is used in a surgical robotic system with two robotic-arm cassettes and a camera cassette aligned through a central channel for insertion via a single trocar.
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