Medical-technical device calibration

Abstract

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

What is claimed is: 
     
         1 . A surgical instrument releasably couplable to a drive assembly of a robotic system, the surgical instrument comprising:
 proximal portion and a distal portion, said distal portion including at least one distal end effector member, said proximal portion comprising a first plurality of rotatable bodies;   a plurality of joints, at least one of said joints being coupled to said end effector member, said joints being coupled to said first plurality of rotatable bodies by a plurality of drive members; wherein   said first plurality of rotatable bodies is operatively engageable with a second plurality of rotatable bodies on said drive assembly such that an operator's inputs to a control unit cause the second plurality of rotatable bodies to move, thereby producing a corresponding movement of at least one of said joints; and   at least one of said first plurality of rotatable bodies shares a single rotational axis with a corresponding one of said second plurality of rotatable bodies when said first and second plurality of movable bodies are operatively engaged.   
     
     
         2 . A minimally invasive surgical instrument comprising: a shaft having a working end;
 an end effector mounting formation positioned at the working end of the shaft and arranged to be angularly displaceable about at least two axes;   elongate elements connected to the end effector mounting formation to cause selective pivotal movement of the end effector mounting formation about the axes in response to selective pulling of the elongate elements;   a support base positioned on an opposed end of the shaft;   at least three rotatable driven elements angularly displaceably mounted on the support base and to which opposed ends of the elongate elements are connected so that selective angular displacement of the driven elements causes the selective pulling of the elongate elements, the driven elements having axes which are parallel and spaced apart relative to each other;   wherein said support base is releasably couplable to a driving mechanism of a robotic surgical system, and at least one of said driven elements shares a single rotational axis with a corresponding rotatable driving element on said driving mechanism when said support base is operatively coupled to said driving mechanism.   
     
     
         3 . A surgical instrument for operative mounting to a robotic surgical system, the surgical system having a drive assembly operatively coupled to a control unit operable by inputs from an operator, the drive assembly having a plurality of actuator bodies which are movable in response to operator inputs, the surgical instrument comprising:
 a proximal portion and a distal portion, the proximal portion comprising a first plurality of movable engaging interface bodies;   at least one distal end effector member;   a plurality of joints, at least one of the joints being coupled to the end effector member, the joints being coupled to the plurality of movable engaging interface bodies by a plurality of drive members;   the instrument being removably couplable to the drive assembly when the instrument is operatively mounted to the surgical system so that the plurality of actuator bodies engage with corresponding ones of the plurality of interface bodies, and so that movement of the actuator bodies in response to operator inputs produces a corresponding movement of at least one of the joints; and   at least one of said plurality of actuator bodies shares a single rotational axis with a corresponding one of said plurality of interface bodies when said instrument and drive assembly are operatively engaged.   
     
     
         4 . A surgical instrument releasably couplable to a drive assembly of a robotic system, the surgical instrument comprising:
 a proximal portion and a distal portion, said proximal portion comprising a first plurality of rotatable bodies, said distal portion movable in at least one degree of freedom, said distal portion being coupled to said first plurality of rotatable bodies by a plurality of drive members; wherein   said first plurality of rotatable bodies is operatively engageable with a second plurality of rotatable bodies on said drive assembly such that an operator's inputs to a control unit cause the second plurality of rotatable bodies to move, thereby producing a corresponding movement of said distal portion in said at least one degree of freedom; and   at least one of said first plurality of rotatable bodies shares a single rotational axis with a corresponding one of said second plurality of rotatable bodies when said first and second plurality of movable bodies are operatively engaged.