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.

Mechanical actuator interface system for robotic surgical tools

Robotic surgical tools, systems, and methods for preparing for, and performing robotic surgery include a memory (126) mounted on the tool (54). The memory (126) can perform a number of functions when the tool (54) is loaded on the tool manipulator (58). First, the memory can provide a signal verifying that the tool (54) is compatible with that particular robotic system. Secondly, the tool memory (126) may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory (126) of the tool (54) 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.

Surgical robotic tools, data architecture, and use

The present invention provides systems and methods for performing robotics assisted surgical procedures on a patient. In particular, a three component surgical system (2) is provided that includes a non-sterile drive and control component (40), a sterilized end effector or surgical tool (20), and an intermediate connector component (24) that includes mechanical elements for coupling the surgical tool (20) with the drive and control component (40), and for transferring motion and electrical signals therebetween. The drive and control component (40) is shielded from the sterile surgical site, the surgical tool (20) is sterilized and disposable and the intermediate connector (24) is sterilized and reusable. In this manner, the intermediate connector (24) can be sterilized after a surgical procedure without damaging the motors (170) or electrical connections within the drive and control component (40) of the robotics system.

Multi-component telepresence system and method

An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.

Instrument interface of a robotic surgical system

A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.

Disposable sterile surgical adaptor

A two-axis Cartesian robot is described comprising a first horizontally disposed support having a first carriage selectively movably mounted thereon A second support is operatively secured to the first carriage and extends perpendicularly with respect to the longitudinal axis of the first support A belt pulley is rotated by a reversible drive motor and is operatively connected to the upper and lower ends of the second support by a pulley arrangement A horizontal brake is provided to control the movement of the carriage with respect to the first support A vertical brake is provided to control the movement of the second support with respect to the carriage A workpiece handling member is mounted on the lower end of the second support for manipulating the workpiece being handled

Two-axis cartesian robot

A three-axis Cartesian robot is described comprising a first horizontally disposed support having a first carriage selectively movably mounted thereon. A second support is operatively secured to the first carriage and extends transversely from the longitudinal axis of the first support. A second carriage is longitudinally movably mounted on the second support and has a third support selectively vertically movably mounted thereon. A dual cable driver traversing pulley is rotated by a reversible drive motor. First and second cable members are wrapped around the traversing pulley in opposite directions. The cable members are operatively connected to the upper and lower ends of the third support by a pulley arrangement. Traverse, horizontal and vertical brakes are provided to control the movement of the carriages and the third support.

Three-axis cartesian robot

The snap electrical terminal of the present invention includes a base having a top wall, a vertical wall, and an annular flange. The annual flange has an underside on which is disposed a ring of solder. In use, the snap electrical terminal provides a ring-shaped electrical and/or mechanical connection with the component to which it is connected. Alternate embodiments of the terminal permit the attachment of male or female threaded components thereto depending on the desired application.

Snap electrical terminal

A hand-operated lever linkage control suitable for use as a motorcycle clutch control, comprising a housing attached to a vehicle, a lever assembly pivotally mounted in the housing and connected to a control linkage and a spring-tensioned pivoting eccentric arrangement in the housing and connected to the lever assembly for mechanically assisting lever travel during actuation of the control linkage This spring-tensioned pivoting eccentric arrangement includes a pair of fulcrum pivots rotatably mounted in opposing sides of the housing forward of the lever assembly, a rigid member eccentrically mounted between the fulcrum pivots and rotatable therewith, rigid linkage arms connecting this rigid member to the lever assembly and a coil spring tensioned between the housing and the rigid member for urging pivotal movement of this eccentric assembly and for providing a mechanical advantage through the linkage arms to assist lever travel during actuation of the control linkage

Hand-operated lever linkage control

A ballast connector is described for use with a ballast having windings, resistors, capacitors, etc. mounted therein. An internal connector housing is positioned in one end of the ballast case and has the various leads from the windings, resistors, capacitors, etc. extending outwardly through sockets provided in the internal connector housing. An external connector housing is selectively removably mounted on the ballast case and has its inner end adapted to be received by the outer end of the internal connector housing. A plurality of insulation displacement connectors are positioned in the external connector housing and have one end thereof connected to predetermined leads which extend through the socket in the internal connector housing. The leads are provided with detents on the opposite sides thereof which are received by V-shaped portions of the said one end of the insulation displacement connector. The outer ends of the insulation displacement connectors are electrically connected to service leads.

Larry J. Costa

Papers

Two-axis cartesian robot

Three-axis cartesian robot

Snap electrical terminal

Hand-operated lever linkage control

Means for securing insulation displacement terminals to leads extending from a fluorescent light ballast