US 12,186,040 B2
Surgical robotic systems
Jaimeen Kapadia, Cambridge, MA (US); and Ranjan K. Mishra, Orange, CT (US)
Assigned to Covidien LP, Mansfield, MA (US)
Appl. No. 17/273,112
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Sep. 10, 2019, PCT No. PCT/US2019/050267
§ 371(c)(1), (2) Date Mar. 3, 2021,
PCT Pub. No. WO2020/060789, PCT Pub. Date Mar. 26, 2020.
Claims priority of provisional application 62/732,228, filed on Sep. 17, 2018.
Prior Publication US 2021/0220063 A1, Jul. 22, 2021
Int. Cl. A61B 34/30 (2016.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [B25J 9/102 (2013.01); B25J 9/12 (2013.01); A61B 2017/00225 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An instrument drive unit for use in a robotic surgical system, the instrument drive unit comprising:
a carriage configured to be coupled to a robotic arm;
a plurality of concentric tubular shafts rotationally supported in the carriage, each tubular shaft of the plurality of tubular shafts including a distal end and a proximal end;
a plurality of disc-shaped members, each disc-shaped member non-rotatably supported at the proximal end of a corresponding one of the plurality of tubular shafts;
a plurality of electric motors, each electric motor of the plurality of electric motors including a stator and a rotor disposed within the stator, wherein the rotor of each electric motor is in operative engagement with a corresponding one of the plurality of disc-shaped members;
a plurality of ring gears, each ring gear supported at the distal end of a corresponding one of the plurality of tubular shafts;
a plurality of drive shafts rotationally supported in the carriage, each drive shaft of the plurality of drive shafts spaced a radial distance from the plurality of concentric tubular shafts; and
a plurality of drive gears non-rotatably supported on a corresponding one of the plurality of drive shafts, each drive gear of the plurality of drive gears operatively connected to a corresponding tubular shaft of the plurality of tubular shafts, via a corresponding ring gear of the plurality of ring gears, and operably coupled to a corresponding rotor, wherein each rotor is configured to rotate a corresponding drive shaft of the plurality of drive shafts in response to an activation of a respective electric motor of the plurality of electric motors to actuate a function of the electromechanical surgical instrument.