Robotic surgical assemblies and adapter assemblies thereof

Abstract

Adapter assemblies for connecting an endoscope to a robotic surgical system include a proximal housing, a distal housing, and a drive assembly. The distal housing is rotatable relative to the proximal housing via the drive assembly. A surgical assembly for interconnecting an endoscope and a surgical robotic arm includes a surgical instrument holder and an adapter assembly configured for receipt within the surgical instrument holder.

1 . An adapter assembly for connecting an endoscope to a robotic surgical system, the adapter assembly comprising:
 a proximal housing having a proximal portion and a distal portion, the proximal portion of the proximal housing configured to be coupled to an instrument drive unit of a robotic surgical system, the distal portion of the proximal housing defining an opening therein;   a distal housing including a proximal portion and a distal portion, the proximal portion of the distal housing being rotatably received within the opening of the distal portion of the proximal housing, the distal portion of the distal housing defining a channel longitudinally therethrough, the channel configured for non-rotatable receipt of an endoscope; and   a drive assembly including an input configured to be operably coupled to a motor of an instrument drive unit of a robotic surgical system, and an output operably coupled to the proximal portion of the distal housing to rotate the distal housing relative to the proximal housing.   
     
     
         2 . The adapter assembly according to  claim 1 , wherein the drive assembly includes a drive shaft operably interconnecting the input of the drive assembly to the output of the drive assembly such that rotation of the input effects rotation of the output via the drive shaft. 
     
     
         3 . The adapter assembly according to  claim 2 , wherein each of the input and the output of the drive assembly is a gear. 
     
     
         4 . The adapter assembly according to  claim 3 , wherein the distal housing includes a ring gear non-rotatably disposed about the proximal portion of the distal housing, the ring gear including teeth in operable engagement with the output of the drive assembly. 
     
     
         5 . The adapter assembly according to  claim 1 , further comprising a pair of bearings longitudinally spaced from one another and disposed between an outer surface of the distal housing and an inner surface of the proximal housing to facilitate rotation of the distal housing relative to the proximal housing. 
     
     
         6 . The adapter assembly according to  claim 1 , wherein the distal housing includes a first half section and a second half section removably connected to the first half section. 
     
     
         7 . The adapter assembly according to  claim 1 , wherein the proximal housing defines at least one opening in the proximal portion thereof for passage of at least one cable of an endoscope. 
     
     
         8 . The adapter assembly according to  claim 1 , wherein the proximal housing defines a pair of openings circumferentially spaced from one another. 
     
     
         9 . The adapter assembly according to  claim 1 , wherein the distal housing defines an opening extending between an outer surface of the distal housing and an inner surface of the distal housing, the opening of the distal housing configured to align with control buttons of an endoscope upon receipt of an endoscope into the distal housing. 
     
     
         10 . A surgical assembly for interconnecting an endoscope and a surgical robotic arm, the surgical assembly comprising:
 a surgical instrument holder supported on a surgical robotic arm; and   an adapter assembly including:
 a proximal housing having a proximal portion and a distal portion, the proximal portion of the proximal housing being configured to be coupled to an instrument drive unit of the surgical assembly, the distal portion of the proximal housing defining an opening therein; 
 a distal housing including a proximal portion and a distal portion, the proximal portion of the distal housing being rotatably received within the opening of the distal portion of the proximal housing, the distal housing defining a channel longitudinally therethrough, the channel configured for non-rotatable receipt of an endoscope; and 
 a drive assembly including an input configured to be operably coupled to a motor of an instrument drive unit of the surgical assembly, and an output operably coupled to the proximal portion of the distal housing to rotate the distal housing and an endoscope relative to the proximal housing. 
   
     
     
         11 . The surgical assembly according to  claim 10 , wherein the drive assembly includes a drive shaft operably interconnecting the input of the drive assembly to the output of the drive assembly such that rotation of the input effects rotation of the output via the shaft. 
     
     
         12 . The surgical assembly according to  claim 11 , wherein each of the input and the output of the drive assembly is a gear. 
     
     
         13 . The surgical assembly according to  claim 12 , wherein the distal housing includes a ring gear non-rotatably disposed about the proximal portion of the distal housing, the ring gear including teeth in operable engagement with the output of the drive assembly. 
     
     
         14 . The surgical assembly according to  claim 10 , wherein the adapter assembly further includes a pair of bearings longitudinally spaced from one another and disposed between an outer surface of the distal housing and an inner surface of the proximal housing to facilitate rotation of the distal housing relative to the proximal housing. 
     
     
         15 . The surgical assembly according to  claim 10 , wherein the distal housing includes a first half section and a second half section removably connected to the first half section for permanently fixing an endoscope therein. 
     
     
         16 . The surgical assembly according to  claim 10 , wherein the proximal housing defines at least one opening in the proximal portion thereof for passage of at least one cable of an endoscope. 
     
     
         17 . The surgical assembly according to  claim 10 , wherein the proximal housing defines a pair of openings therein that are circumferentially spaced from one another. 
     
     
         18 . The surgical assembly according to  claim 10 , wherein the distal housing defines an opening extending between an outer surface of the distal housing and an inner surface of the distal housing, the opening of the distal housing configured to align with control buttons of an endoscope upon receipt of an endoscope into the distal housing. 
     
     
         19 . The surgical assembly according to  claim 10 , wherein the surgical instrument holder includes a motor operably coupled to the instrument drive unit such that actuation of the motor of the surgical instrument holder effects rotation of each of the instrument drive unit, the proximal and distal housings of the adapter assembly, and the endoscope relative to the surgical instrument holder. 
     
     
         20 . The surgical assembly according to  claim 19 , wherein the rotation of the endoscope caused by the motor of the surgical instrument holder is at a different rate than the rotation of the endoscope caused by the motor of the instrument drive unit. 
     
     
         22 - 40 . (canceled)