Surgical system instrument manipulator

Abstract

An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

1 . (canceled) 
     
     
         2 . An instrument manipulating system comprising:
 an instrument manipulator that is removably engageable with an instrument in a mounted state, the instrument manipulator comprising:
 an engagement face configured to receive an instrument in the mounted state; 
 a drive output mechanism protruding from the engagement face and movable linearly relative to the engagement face, the drive output mechanism configured to interface with a corresponding driven input mechanism of the instrument in the mounted state such that linear motion of the drive output mechanism imparts motion to the driven input mechanism; 
 an actuator; and 
 a linkage mechanism operably coupling the actuator to the drive output mechanism and configured to transfer motion generated by the actuator to the drive output mechanism. 
   
     
     
         3 . The system of  claim 2 , wherein:
 the linkage mechanism comprises a linkage member, a threaded member, and a sliding member operably coupling the linkage member to the threaded member, rotation of the threaded member imparting motion to the linkage member.   
     
     
         4 . The system of  claim 3 , wherein:
 the actuator is operably coupled to the threaded member to drive rotary motion of the threaded member, the rotary motion of the threaded member driving the linear motion of the drive output mechanism.   
     
     
         5 . The system of  claim 2 , wherein:
 the actuator is configured to generate rotary motion, and   the linkage mechanism is configured to convert the rotary motion of the actuator to the linear motion of the drive output mechanism.   
     
     
         6 . The system of  claim 2 , further comprising:
 a manipulator arm comprising a plurality of links coupled together by one or more joints, wherein the instrument manipulator is coupled to one of the plurality of links of the manipulator arm.   
     
     
         7 . The system of  claim 2 , further comprising:
 the instrument mounted to the instrument manipulator.   
     
     
         8 . The system of  claim 7 , further comprising:
 wherein the instrument comprises an elongate shaft, an end effector coupled to the elongate shaft, and a movable element extending through the elongate shaft and operably coupled to the driven input mechanism and to the end effector such that motion of the driven input mechanism drives motion of the end effector.   
     
     
         9 . The system of  claim 2 , wherein:
 the instrument manipulator comprises:
 a second drive output mechanism protruding from the engagement face and configured to interface with a corresponding second driven input mechanism of the instrument in the mounted state such that motion of the second drive output mechanism imparts motion to the second driven input mechanism; 
 a second actuator; and 
 a second linkage mechanism operably coupling the second actuator to the second output mechanism and configured to transfer motion generated by the second actuator to the second drive output mechanism. 
   
     
     
         10 . The system of  claim 9 , wherein:
 the drive output mechanism is drivable independently of the second drive output mechanism.   
     
     
         11 . A teleoperable surgical system comprising:
 a manipulator arm comprising a plurality of links coupled together by one or more joints; and   an instrument manipulator coupled to one of the plurality of links of the manipulator arm, the instrument manipulator comprising:
 an engagement face configured to receive an instrument in a mounted state, 
 a drive output mechanism protruding from the engagement face and movable linearly relative to the engagement face, the drive output mechanism configured to interface with a corresponding driven input mechanism of the instrument in the mounted state, 
 an actuator, and 
 a linkage mechanism operably coupling the actuator to the drive output mechanism, 
 wherein motion generated by the actuator is transferred by the linkage mechanism to linear motion of the drive output mechanism. 
   
     
     
         12 . The system of  claim 11 , wherein:
 in the mounted state of the instrument, the linear motion of the drive output mechanism imparts motion to the driven input mechanism of the instrument.   
     
     
         13 . The system of  claim 11 , further comprising:
 the instrument removably mounted to the engagement face of the instrument manipulator.   
     
     
         14 . The system of  claim 13 , wherein:
 the instrument comprises an end effector operably coupled to the driven input mechanism such that motion of the driven input mechanism imparts motion to the end effector.   
     
     
         15 . The system of  claim 14 , wherein:
 the instrument further comprises:
 an elongate shaft coupled to the end effector; and 
 a movable element extending through the elongate shaft and operably coupled to the driven input mechanism and to the end effector to transfer motion from the driven input mechanism to the end effector. 
   
     
     
         16 . The system of  claim 11 , wherein:
 the linkage mechanism comprises a linkage member, a threaded member, and a sliding member operably coupling the linkage member to the threaded member, rotation of the threaded member imparting motion to the linkage member.   
     
     
         17 . The system of  claim 16 , wherein:
 the actuator is operably coupled to the threaded member to drive rotary motion of the threaded member, the rotary motion of the threaded member driving the linear motion of the drive output mechanism.   
     
     
         18 . The system of  claim 11 , wherein:
 the actuator is configured to generate rotary motion, and   the linkage mechanism is configured to convert the rotary motion of the actuator to the linear motion of the drive output mechanism.   
     
     
         19 . The system of  claim 11 , wherein:
 the instrument manipulator comprises:
 a second drive output mechanism protruding from the engagement face and configured to interface with a corresponding second driven input mechanism of the instrument in the mounted state such that motion of the second drive output mechanism imparts motion to the second driven input mechanism; 
 a second actuator; and 
 a second linkage mechanism operably coupling the second actuator to the second output mechanism and configured to transfer motion generated by the second actuator to the second drive output mechanism. 
   
     
     
         20 . The system of  claim 19 , wherein:
 the drive output mechanism is drivable independently of the second drive output mechanism.