US 12,226,177 B2
Surgical robotic systems
Jaimeen Kapadia, Cambridge, MA (US)
Assigned to Covidien LP, Mansfield, MA (US)
Appl. No. 17/257,374
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Jun. 25, 2019, PCT No. PCT/US2019/038871
§ 371(c)(1), (2) Date Dec. 31, 2020,
PCT Pub. No. WO2020/009831, PCT Pub. Date Jan. 9, 2020.
Claims priority of provisional application 62/693,488, filed on Jul. 3, 2018.
Prior Publication US 2021/0169593 A1, Jun. 10, 2021
Int. Cl. A61B 34/35 (2016.01); A61B 34/30 (2016.01); B25J 9/10 (2006.01)
CPC A61B 34/35 (2016.02) [B25J 9/1035 (2013.01); A61B 2034/302 (2016.02)] 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 hub rotationally coupled to the carriage and configured to be non-rotatably coupled to an electromechanical surgical instrument;
a plurality of motors;
a plurality of motor gears, each motor gear of the plurality of motor gears operably coupled to a corresponding motor of the plurality of motors;
a plurality of drive shafts rotationally supported in the hub, the plurality of drive shafts configured for interfacing with a corresponding driven member of the electromechanical surgical instrument;
a plurality of drive gears, each drive gear of the plurality of drive gears fixed to a corresponding drive shaft of the plurality of drive shafts, wherein each motor gear of the plurality of motor gears is configured to rotate a corresponding drive gear of the plurality of drive gears in response to an activation of a respective motor of the plurality of motors to actuate a function of the electromechanical surgical instrument; and
a plurality of ring gears, each ring gear of the plurality of ring gears operably coupling a corresponding motor gear of the plurality of motor gears with a corresponding drive gear of the plurality of drive gears, wherein at least a first ring gear of the plurality of ring gears has gear teeth on an inner periphery thereof and an outer periphery thereof, wherein the gear teeth on the inner periphery of the first ring gear interface with a corresponding drive gear of the plurality of drive gears, and the gear teeth on the outer periphery of the first ring gear interface with a corresponding motor gear of the plurality of motor gears.