US 11,998,288 B2
Surgical robotic systems
Jaimeen Kapadia, Cambridge, MA (US); and Ranjan Mishra, Orange, CT (US)
Assigned to COVIDIEN LP, Mansfield, MA (US)
Appl. No. 17/273,441
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Sep. 10, 2019, PCT No. PCT/US2019/050268
§ 371(c)(1), (2) Date Mar. 4, 2021,
PCT Pub. No. WO2020/060790, PCT Pub. Date Mar. 26, 2020.
Claims priority of provisional application 62/732,061, filed on Sep. 17, 2018.
Prior Publication US 2021/0338347 A1, Nov. 4, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); B25J 9/12 (2006.01); A61B 34/37 (2016.01)
CPC A61B 34/30 (2016.02) [B25J 9/12 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/00477 (2013.01); A61B 34/37 (2016.02)] 17 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 electric motors disposed within the carriage, each electric motor of the plurality of electric motors including a stator and a rotor disposed within the stator, wherein each stator is fixed relative to the carriage, and each rotor is rotatable relative to and within a corresponding stator, and wherein the plurality of electrical motors are vertically stacked within the carriage;
a plurality of drive shafts rotationally supported in the hub; and
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 and configured for interfacing with a corresponding driven member of the electromechanical surgical instrument, wherein each rotor is configured to rotate a corresponding drive gear of the plurality of drive gears 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.