US 12,409,003 B2
Instrument cassette assemblies for robotic surgical instruments
James A. Boonzaier, Cape Town (ZA); Jack A. Hornsby, Tempsford (GB); Akshaya Ahuja, St. Neots (GB); Aki Hannu Einari Laakso, Raleigh, NC (US); Hans C. Pflaumer, Apex, NC (US); Rupert A. Barton, Cambridge (GB); Adam R. Turner, Cambridge (GB); Paul Smitheman, Cambridge (GB); and Matthew J. Brady, Cambridge (GB)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Titan Medical, Inc., Toronto (CA)
Filed on Mar. 4, 2022, as Appl. No. 17/686,749.
Claims priority of provisional application 63/188,554, filed on May 14, 2021.
Prior Publication US 2022/0361971 A1, Nov. 17, 2022
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 90/50 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 34/35 (2016.02); A61B 34/71 (2016.02); A61B 90/50 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical system, comprising:
a drive unit;
a surgical instrument removably connected to the drive unit, the surgical instrument including:
an elongated shaft assembly having a proximal end portion and a distal end portion;
an end effector supported on the distal end portion of the elongated shaft assembly; and
an instrument cassette assembly supported on the proximal end portion of the elongated shaft assembly, the instrument cassette assembly including:
a cassette housing; and
an actuator system supported in the cassette housing and operably coupled to the end effector for operating the end effector, the actuator system including:
a cable actuator assembly including a plurality of cables that extends from the cassette housing to the end effector for manipulating the end effector;
an actuator shaft assembly supported in the elongated shaft assembly and defining a longitudinal axis, the actuator shaft assembly including a first inner shaft, and a second inner shaft slidably advanceable through the first inner shaft;
a rotation actuator assembly coupled to the first inner shaft of the actuator shaft assembly and positioned to rotate the first inner shaft of the actuator shaft assembly about the longitudinal axis and relative to the elongated shaft assembly for imparting rotational force to the end effector; and
an axial actuator assembly coupled to the second inner shaft of the actuator shaft assembly and positioned to axially translate the second inner shaft of the actuator shaft assembly relative to the longitudinal axis and relative to the elongated shaft assembly for imparting axial force to the end effector.