Robotic surgical assemblies

Abstract

A robotic surgical system includes a surgical robotic arm, an electromechanical instrument, an instrument drive unit, and a coupling shaft. The electromechanical instrument is configured to be detachably coupled to the surgical robotic arm. The electromechanical instrument includes a shaft having a proximal end and a distal end having an end effector. The instrument drive unit includes a motor configured to actuate the end effector. The coupling shaft defines a longitudinal axis and is configured to be coupled between the instrument drive unit and the surgical robotic arm such that the instrument drive unit is rotatable about the longitudinal axis of the coupling shaft relative to the surgical robotic arm or the electromechanical instrument.

1 - 20 . (canceled) 
     
     
         21 . A sterile interface configured to be coupled to a surgical robotic arm, the sterile interface comprising:
 a support structure configured to be coupled to a surgical robotic arm, the support structure including a main body having a proximal end portion, and a distal end portion, the main body defining a passageway between the proximal and distal end portions configured for receipt of a surgical instrument; and   a sterile drape coupled to the support structure to house at least a portion of the support structure therein.   
     
     
         22 . The sterile interface according to  claim 21 , wherein the support structure includes:
 a proximal attachment member having a rim configured to couple to the proximal end portion of the main body, and a shaft extending from the rim, the shaft configured to be disposed within the passageway of the main body; and   a distal attachment member configured to couple to the distal end portion of the main body.   
     
     
         23 . The sterile interface according to  claim 22 , wherein the sterile drape has a proximal portion captured between the proximal attachment member and the proximal end portion of the main body, and a distal portion captured between the distal attachment member and the distal end portion of the main body. 
     
     
         24 . The sterile interface according to  claim 21 , wherein the sterile drape is formed from a dielectric material. 
     
     
         25 . The sterile interface according to  claim 21 , wherein the main body includes an outer body and an inner body disposed in the outer body. 
     
     
         26 . The sterile interface according to  claim 25 , wherein the outer body has a connector extending laterally therefrom configured to couple to the surgical robotic arm. 
     
     
         27 . The sterile interface according to  claim 26 , wherein the outer and inner bodies of the main body are together rotatable about a horizontal axis defined through the connector of the outer body. 
     
     
         28 . The sterile interface according to  claim 27 , wherein the inner body is configured to rotate relative to the outer body about a longitudinal axis defined by the support structure. 
     
     
         29 . A robotic surgical system, comprising:
 an electromechanical instrument including:
 a housing portion; 
 a shaft extending from the housing portion; and 
 an end effector coupled to a distal end portion of the shaft; 
   an instrument drive unit including:
 a body portion; and 
 at least one motor disposed within the body portion and configured to actuate the end effector of the electromechanical instrument; and 
   a coupling shaft configured to movably couple the instrument drive unit to a surgical robotic arm such that the instrument drive unit is configured to move relative to the electromechanical instrument between a first condition, in which the body portion of the instrument drive unit is in alignment with the housing portion of the electromechanical instrument, and a second condition, in which the body portion of the instrument drive unit is out of alignment with the housing portion of the electromechanical instrument.   
     
     
         30 . The robotic surgical system according to  claim 29 , wherein the coupling shaft defines a channel extending longitudinally therethrough configured for passage of electrical wiring or optical cabling that is coupled between the instrument drive unit and the surgical robotic arm. 
     
     
         31 . The robotic surgical system according to  claim 29 , wherein the coupling shaft has a distal end portion configured to detachably couple to the surgical robotic arm such that the instrument drive unit is configured to move relative to the surgical robotic arm in a direction parallel to a longitudinal axis of the coupling shaft and a central longitudinal axis of the body portion of the instrument drive unit. 
     
     
         32 . The robotic surgical system according to  claim 29 , wherein in the first condition, the body portion of the instrument drive unit prevents the electromechanical instrument from moving in a proximal direction, and in the second condition, the electromechanical instrument is movable in the proximal direction. 
     
     
         33 . The robotic surgical system according to  claim 29 , further comprising a support structure configured to be coupled to the surgical robotic arm, the support structure defining:
 a passageway therethrough configured for receipt of the shaft of the electromechanical instrument; and   a channel therethrough configured to removably receive the coupling shaft.   
     
     
         34 . The robotic surgical system according to  claim 33 , wherein the support structure includes a button selectively engagable with the coupling shaft to retain the coupling shaft within the channel of the support structure. 
     
     
         35 . The robotic surgical system according to  claim 29 , wherein the instrument drive unit further includes a latch movably attached to the instrument drive unit and configured to be detachably coupled to the electromechanical instrument. 
     
     
         36 . The robotic surgical system according to  claim 29 , wherein the electromechanical instrument further includes a latch configured to be detachably coupled to the surgical robotic arm. 
     
     
         37 . The robotic surgical system according to  claim 29 , wherein the housing portion of the electromechanical instrument has a proximal end, the body portion of the instrument drive unit configured to be supported on the proximal end of the housing portion of the electromechanical instrument. 
     
     
         38 . The robotic surgical system according to  claim 29 , further comprising a daisy chain of sensors extending between at least two of the instrument drive unit, the electromechanical instrument, or the coupling shaft.