US 12,440,291 B2
Systems and methods for unpowered release and retraction of robotic tools in a robotic surgical system
James Angus Boonzaier, Cape Town (ZA); Hans Christian Pflaumer, Apex, NC (US); Austin Paul Davis, Wendell, NC (US); Matthew Michael Marinovich, London (GB); and Jozsef Horvath, Wake Forest, NC (US)
Assigned to CONAVI MEDICAL INC., North York (CA)
Filed by Titan Medical Inc., Toronto (CA)
Filed on Dec. 5, 2023, as Appl. No. 18/529,567.
Claims priority of provisional application 63/477,280, filed on Dec. 27, 2022.
Prior Publication US 2024/0206995 A1, Jun. 27, 2024
Int. Cl. B25J 19/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); A61B 2560/0266 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A robotic surgical system, comprising:
a central drive unit configured to movably couple to a robotic arm, the central drive unit comprising:
a linear spar attached to a mounting plate and extending distally from the mounting plate along a first axis, and
a telescoping assembly movable relative to the linear spar, comprising
an intermediate link movably coupled to the linear spar and configured to move linearly relative to the linear spar, the intermediate link being actuatable by a lead screw to extend distally relative to the linear spar, and
an instrument drive unit movably coupled to the intermediate link and configured to move linearly relative to the intermediate link, the instrument drive unit configured to extend distally relative to the intermediate link, the instrument drive unit having a distal interface configured to removably couple to a robotic tool,
wherein the telescoping assembly is actuatable between a collapsed configuration where the instrument drive unit is in a retracted position relative to the intermediate link and the intermediate link is in a retracted position relative to the linear spar and an extended configuration where the instrument drive unit is in an extended position relative to the intermediate link and the intermediate link is in an extended position relative to the linear spar;
an electric motor operatively coupled to the lead screw and operable to rotate the lead screw to extend the intermediate link relative to the linear spar;
a brake operable to inhibit rotation of the lead screw to lock a movement of one or more of the intermediate link and the instrument drive unit; and
a manual brake release mechanism manually operable by a user to disengage the brake to allow manual retraction of the telescoping assembly to the collapsed configuration to manually retract the robotic tool.