Patent Description:
During robotic surgeries, it may be useful to utilize endoscopes for viewing inside of a body cavity or organ. To implement the use of endoscopes in robotic surgeries, the robotic surgical system needs to be modified in such a way that will allow endoscopes to be interfaced with the various components of the robotic surgical system.

<CIT> describes an adapter assembly for connecting an endoscope to a robot.

Accordingly, a need exists for a robotic surgical system capable of operating an endoscope.

In accordance with an aspect of the present disclosure, an adapter assembly for connecting an endoscope to a robotic surgical system is provided. The adapter assembly includes a proximal housing, a distal housing, and a drive assembly. The proximal housing has a proximal portion and a distal portion. The proximal portion of the proximal housing is configured to be coupled to an instrument drive unit of a robotic surgical system. The distal portion of the proximal housing defines an opening therein. The distal housing includes a proximal portion and a distal portion. The proximal portion of the distal housing is rotatably received within the opening of the distal portion of the proximal housing. The distal portion of the distal housing defines a channel longitudinally therethrough that is configured for non-rotatable receipt of an endoscope. The drive assembly includes an input and an output. The input is configured to be operably coupled to a motor of the instrument drive unit. The output is operably coupled to the proximal portion of the distal housing to rotate the distal housing relative to the proximal housing.

In some embodiments, the drive assembly may include 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. Each of the input and the output of the drive assembly may be a gear. The distal housing may include a ring gear non-rotatably disposed about the proximal portion of the distal housing. The ring gear may include teeth in operable engagement with the output of the drive assembly.

It is contemplated that the adapter assembly may include a pair of bearings. The pair of bearings may be 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.

It is envisioned that the distal housing may include a first half section and a second half section removably connected to the first half section.

In some aspects of the present disclosure, the proximal housing may define an opening in the proximal portion thereof for passage of a cable of an endoscope.

In some embodiments, the proximal housing may define a pair of openings therein that are circumferentially spaced from one another.

It is contemplated that the distal housing may define 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 may be configured to align with control buttons of an endoscope upon receipt of the endoscope into the distal housing.

In another aspect of the present disclosure, a surgical assembly for interconnecting an endoscope and a surgical robotic arm is provided. The surgical assembly includes a surgical instrument holder and an adapter assembly. The surgical instrument holder is supported on a surgical robotic arm. The adapter assembly includes a proximal housing, a distal housing, and a drive assembly. The proximal housing has a proximal portion and a distal portion. The proximal portion of the proximal housing is configured to be coupled to an instrument drive unit of the surgical assembly. The distal portion of the proximal housing defines an opening therein. The distal housing includes a proximal portion and a distal portion. The proximal portion of the distal housing is rotatably received within the opening of the distal portion of the proximal housing. The distal portion of the distal housing defines a channel longitudinally therethrough that is configured for non-rotatable receipt of an endoscope. The drive assembly includes an input and an output. The input is configured to be operably coupled to a motor of the instrument drive unit. The output is operably coupled to the proximal portion of the distal housing to rotate the distal housing and the endoscope relative to the proximal housing.

In some embodiments, the surgical instrument holder may include 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. The rotation of the endoscope caused by the motor of the surgical instrument holder may be at a slower rate than the rotation of the endoscope caused by the motor of the instrument drive unit.

In yet another aspect of the present disclosure, a method of assembling an endoscopic surgical assembly is provided. The method includes supporting a surgical instrument holder on a surgical robotic arm. The surgical instrument holder includes a motor. An instrument drive unit having a motor is provided, and the adapter assembly is provided. The method further includes supporting the instrument drive unit on the surgical instrument holder, coupling the proximal portion of the proximal housing to the instrument drive unit thereby operably coupling the input of the adapter assembly to the motor of the instrument drive unit, disposing a proximal portion of an endoscope within the channel defined in the distal housing of the adapter assembly, and actuating the motor of the instrument drive unit to effect rotation of the distal housing of the adapter assembly and the endoscope relative to the proximal housing of the adapter assembly.

In some embodiments, the method may further include actuating the motor of the surgical instrument holder thereby rotating each of the motor of the instrument drive unit, the proximal and distal housings of the adapter assembly, and the endoscope relative to the surgical instrument holder.

In yet another aspect of the present disclosure, an adapter assembly for connecting an endoscope to a robotic surgical system is provided. The adapter assembly includes a proximal housing, a distal housing, and a drive mechanism. The proximal housing is configured to be coupled to an instrument drive unit of a robotic surgical system. The distal housing includes a proximal portion and a distal portion. The proximal portion of the distal housing is rotatably connected to the proximal housing. The distal portion of the distal housing defines a channel longitudinally therethrough that is configured for non-rotatable receipt of an endoscope. The drive assembly includes 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 distal housing to rotate the distal housing relative to the proximal housing.

In some embodiments, the adapter assembly may further include a latch pivotably connected to the proximal portion of the distal housing, and a lock connected to the proximal portion of the distal housing. The latch is configured to selectively connect to the lock for selectively retaining an endoscope within the adapter assembly.

It is contemplated that the distal housing may include an inner housing seated within the distal portion thereof. The inner housing may include a base that defines a bore therethrough. The bore is configured for receipt of an endoscope. The bore of the base may have a cone-shaped upper portion, and a cylindrical lower portion that extends distally from the cone-shaped upper portion.

In accordance with yet another aspect of the present disclosure, an adapter assembly for an endoscope is provided. The adapter assembly includes an elongate housing and a locking collar. The elongate housing defines a channel longitudinally therethrough that is configured for receipt of an endoscope. The locking collar includes an annular member non-rotatably connected to a proximal end of the elongate housing, and a surface feature extending distally from the annular member. The surface feature is configured for coupling the locking collar to a surgical robotic arm.

In some embodiments, the annular member may include a threaded inner surface configured to threadingly engage a surgical instrument holder.

It is contemplated that the elongate housing may be cylindrical and pliable to conform to an outer surface of a plurality of endoscopes.

It is envisioned that the surface feature of the locking collar may include two arcuate tabs that extend distally from the annular member.

In some embodiments, the elongate housing may include a first half section and a second half section removably connected to the first half section.

In another aspect of the present disclosure, a surgical assembly for interconnecting an endoscope and a surgical robotic arm is provided. The surgical assembly includes a surgical instrument holder and an adapter assembly. The surgical instrument holder is configured for engagement to a surgical robotic arm and includes an outer member and an inner member rotatably disposed within a channel of the outer member. The inner member defines a channel therethrough and a recess therein. The adapter assembly is configured for receipt within the channel of the inner member of the surgical instrument holder and includes an elongate housing and a locking collar. The elongate housing defines a channel longitudinally therethrough that is configured for receipt of an endoscope. The locking collar includes an annular member non-rotatably connected to a proximal end of the elongate housing, and a surface feature extending distally from the annular member. The surface feature is configured to be matingly received within the recess of the inner member of the surgical instrument holder such that the locking collar and the inner member of the surgical instrument holder are rotatable with one another.

In some embodiments, the annular member of the locking collar may include a threaded inner surface configured to threadingly engage a threaded outer surface of the inner member of the surgical instrument holder.

It is contemplated that the surface feature of the locking collar may include two arcuate tabs that extend distally from the annular member of the locking collar. The two arcuate tabs are configured for mating receipt within respective recesses of the surgical instrument holder.

It is envisioned that the surgical instrument holder may include a motor operably coupled to the inner member of the surgical instrument holder such that actuation of the motor rotates the inner member, the adapter assembly, and the endoscope. The surgical assembly may further include a drive assembly, which includes a pulley, a belt, and a ring gear. The pulley is rotatably disposed within the outer member and in operable engagement with the motor such that actuation of the motor rotates the pulley. The belt is rotatably disposed within the outer member and in operable engagement with the pulley such that rotation of the pulley effects rotation of the belt. The ring gear is non-rotatably disposed about the inner member and in operable engagement with the belt such that rotation of the belt effects rotation of the inner member. The belt may be a closed loop and may include teeth extending from an inner surface of the belt. The ring gear may have teeth extending from an outer surface thereof that are in operable engagement with the teeth of the belt.

Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:.

Embodiments of the presently disclosed surgical assembly including a surgical instrument holder, an instrument drive unit, an adapter assembly, and an endoscope, and methods thereof, are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term "distal" refers to that portion of the surgical instrument holder, instrument drive unit, adapter assembly, and/or endoscope, that is closer to the patient, while the term "proximal" refers to that portion of the surgical instrument holder, instrument drive unit, adapter assembly, and/or endoscope, that is farther from the patient.

As will be described in detail below, provided is a robotic surgical system that includes a robotic surgical assembly, which is coupled with or to a robotic arm. The robotic surgical assembly generally includes a surgical instrument holder, an adapter assembly, which is coupled to the surgical instrument holder, and an endoscope, which is coupled to the adapter assembly. The endoscope may be rotated by actuation of a motor supported in the surgical instrument holder, which transfers its rotational motion to the adapter assembly and in turn the endoscope.

Referring initially to <FIG>, a surgical system, such as, for example, a robotic surgical system <NUM>, generally includes a plurality of surgical robotic arms <NUM>, <NUM> having a robotic surgical assembly <NUM> including a surgical instrument, for example, endoscope <NUM> (<FIG>) removably coupled to a slide rail <NUM> of surgical robotic arms <NUM>, <NUM>; a control device <NUM>; and an operating console <NUM> coupled with control device <NUM>.

Operating console <NUM> includes a display device <NUM>, which is set up in particular to display three-dimensional images; and manual input devices <NUM>, <NUM>, by means of which a person (not shown), for example a surgeon, is able to telemanipulate robotic arms <NUM>, <NUM> in a first operating mode, as known in principle to a person skilled in the art. Each of the robotic arms <NUM>, <NUM> may be composed of a plurality of members, which are connected through joints. Robotic arms <NUM>, <NUM> may be driven by electric drives (not shown) that are connected to control device <NUM>. Control device <NUM> (e.g., a computer) may be set up to activate the drives, in particular by means of a computer program, in such a way that robotic arms <NUM>, <NUM>, the attached robotic surgical assembly <NUM>, and thus surgical instrument, such as, for example, endoscope <NUM> execute a desired movement according to a movement defined by means of manual input devices <NUM>, <NUM>. Control device <NUM> may also be set up in such a way that it regulates the movement of robotic arms <NUM>, <NUM>.

Robotic surgical system <NUM> is configured for use on a patient "P" lying on a surgical table "ST" to be treated in a minimally invasive manner by means of a surgical instrument, e.g., endoscope <NUM>. Robotic surgical system <NUM> may also include more than two robotic arms <NUM>, <NUM>, the additional robotic arms likewise being connected to control device <NUM> and being telemanipulatable by means of operating console <NUM>. A surgical instrument, for example, endoscope <NUM>, may also be attached to the additional robotic arm.

Control device <NUM> may control a plurality of motors, e.g., motors (Motor <NUM>. n), with each motor configured to drive movement of robotic arms <NUM>, <NUM> in a plurality of directions. Further, control device <NUM> may control an individual motor <NUM> (<FIG>) of an instrument drive unit <NUM> of robotic surgical assembly <NUM> that actuates a drive assembly <NUM> of an adapter assembly <NUM> to effect rotation of endoscope <NUM>. In addition, control device <NUM> may control the operation of a rotation motor, such as, for example, a canister motor "M" (<FIG>) of a surgical instrument holder or holder <NUM>, configured to drive a relative rotation of motor assembly <NUM> of instrument drive unit <NUM> and in turn adapter assembly <NUM> and endoscope <NUM>, as will be described in detail below. In embodiments, each motor of the instrument drive unit <NUM> can be configured to actuate a drive rod/cable or a lever arm to effect operation and/or movement of an electromechanical surgical instrument (not shown).

For a detailed discussion of the construction and operation of a robotic surgical system, reference may be made to <CIT>, entitled "Medical Workstation," the entire contents of which are incorporated by reference herein.

With reference to <FIG> and <FIG>, robotic surgical system <NUM> includes the robotic surgical assembly <NUM>, which is coupled with or to robotic arm <NUM> or <NUM>. The robotic surgical assembly <NUM> includes the surgical instrument holder <NUM>, the instrument drive unit <NUM>, the adapter assembly <NUM>, and the endoscope <NUM>. Instrument drive unit <NUM> transfers power and actuation forces from a motor <NUM> thereof to a drive assembly <NUM> (See <FIG>) of adapter assembly <NUM> to drive a rotation of endoscope <NUM> up to least about <NUM> degrees about its longitudinal axis "X. " Endoscope <NUM> may be rotated at least an additional <NUM> degrees by actuation of motor "M" supported in surgical instrument holder <NUM>, which transfers its rotational motion to adapter assembly <NUM> and in turn to endoscope <NUM>. As such, surgical assembly <NUM> provides two mechanical pathways to adjust the rotational position of endoscope <NUM>, with each mechanical pathway resulting in a different rate of rotation of endoscope <NUM>, as will be described below.

With reference to <FIG>, surgical instrument holder <NUM> of surgical assembly <NUM> functions to support instrument drive unit <NUM> and to actuate a rotation of motor assembly <NUM> of instrument drive unit <NUM>. Surgical instrument holder <NUM> includes a back member or carriage <NUM>, and an outer member or housing <NUM> extending laterally (e.g., perpendicularly) from an end of carriage <NUM>. In some embodiments, housing <NUM> may extend at various angles relative to carriage <NUM> and from various portions of carriage <NUM>. Carriage <NUM> has a first side 108a and a second side 108b, opposite first side 108a. First side 108a of carriage <NUM> is detachably connectable to rail <NUM> of robotic arm <NUM> and enables surgical instrument holder <NUM> to slide or translate along rail <NUM> of robotic arm <NUM>. Second side 108b of carriage <NUM> is configured to non-rotatably support a housing or outer shell <NUM> of instrument drive unit <NUM>.

Carriage <NUM> of surgical instrument holder <NUM> supports or houses a motor, such as, for example, canister motor "M" therein. Motor "M" receives controls and power from control device <NUM> to ultimately rotate internal motor assembly <NUM> of instrument drive unit <NUM>. In some embodiments, carriage <NUM> may include a printed circuit board (not shown) in electrical communication with motor "M" to control an operation of motor "M" of carriage <NUM>. Carriage <NUM> has a rotatable drive shaft (not shown) extending from motor "M" and longitudinally through carriage <NUM>. The drive shaft of carriage <NUM> has a gear or coupling member (not shown) configured for operable engagement with a gear or coupling member (not shown) of motor assembly <NUM> of instrument drive unit <NUM> to transfer a rotation from motor "M" of surgical instrument holder <NUM> to motor assembly <NUM> of instrument drive unit <NUM>, as will be described in detail below. In some embodiments, motor "M" of surgical instrument holder <NUM> may drive the rotation of motor assembly <NUM> of instrument drive unit <NUM> by any suitable drive mechanism, for example, a gear assembly, a rack and pinion, pulley friction drive, hydraulics, pneumatics, a cable, belt, or the like.

Housing <NUM> of surgical instrument holder <NUM> defines a channel (not shown) therethrough configured to rotatably receive and support instrument drive unit <NUM> therein. Housing <NUM> has a generally oblong semicircular shape, but in some embodiments, housing <NUM> may assume a variety of shapes, such as, for example, C-shaped, U-shaped, V-shaped, hook-shaped, or the like.

With continued reference to <FIG>, instrument drive unit <NUM> of surgical assembly <NUM> includes an outer housing <NUM> and an inner housing or motor assembly <NUM> rotatably disposed within outer housing <NUM>. Outer housing <NUM> is engaged to second side 108b of carriage <NUM> of surgical instrument holder <NUM> and houses various components of instrument drive unit <NUM>. In some embodiments, outer housing <NUM> may be permanently or removably attached to second side 108b of carriage <NUM>. Outer housing <NUM> of instrument drive unit <NUM> has a generally cylindrical configuration, but in some embodiments, outer housing <NUM> may assume a variety of configurations, such as, for example, squared, elongate, tubular, or the like.

Outer housing <NUM> of instrument drive unit <NUM> is configured and dimensioned to receive motor assembly <NUM>, a motor pack or the like therein. Upon coupling instrument drive unit <NUM> to surgical instrument holder <NUM>, a drive assembly (not shown) of surgical instrument holder <NUM> operably engages motor assembly <NUM> of instrument drive unit <NUM> such that actuation of motor "M" of surgical instrument holder <NUM> effects a rotation of motor assembly <NUM> within outer housing <NUM> of instrument drive unit <NUM>. For example, it is contemplated that the gear of drive shaft (not shown) extending from motor "M" of surgical instrument holder <NUM> is in operable engagement with a toothed inner or outer surface (not shown) of motor assembly <NUM> such that rotation of the gear attached to motor "M" of surgical instrument holder <NUM> rotates motor assembly <NUM>. In some embodiments, surgical instrument holder <NUM> may have a pulley system that transfers rotational forces output by motor "M" of surgical instrument holder <NUM> into rotation of motor assembly <NUM>. It is envisioned that any suitable mechanism may be provided to transfer the rotational forces output by motor "M" of surgical instrument holder <NUM> into a rotation of motor assembly <NUM>.

Motor assembly <NUM> may include four motors, for example, canister motors or the like, each having a drive shaft (not explicitly shown) having a non-circular transverse cross-sectional profile (e.g., substantially D-shaped, or the like). In some embodiments, the drive shaft may have a circular transverse cross-sectional profile. The four motors are arranged in a rectangular formation such that respective drive shafts thereof are all parallel to one another and all extending in a common direction. A drive shaft <NUM> of one motor <NUM> of motor assembly <NUM> has a drive coupler, such as, for example, a crown gear (not shown) configured to operably couple to drive assembly <NUM> (See <FIG>) of adapter assembly <NUM>. As motor <NUM> of motor assembly <NUM> is actuated, rotation of drive shaft <NUM> of motor <NUM> is transferred to drive assembly <NUM> of adapter assembly <NUM> to ultimately rotate endoscope <NUM> about its longitudinal axis "X," as will be described below.

With reference to <FIG>, surgical assembly <NUM> includes the adapter assembly <NUM> that selectively intercouples instrument drive unit <NUM> and endoscope <NUM> to transfer rotational motion originating from instrument drive unit <NUM> into rotational motion of endoscope <NUM> about its longitudinal axis "X. " Adapter assembly <NUM> generally includes a proximal housing <NUM>, a distal housing <NUM> rotatably coupled to proximal housing <NUM>, and a drive assembly <NUM> disposed within proximal housing <NUM> and configured to rotate distal housing <NUM> relative to proximal housing <NUM>.

Proximal housing <NUM> of adapter assembly <NUM> has an elongate tubular configuration and has a proximal portion 122a and a distal portion 122b. Proximal portion 122a of proximal housing <NUM> has a mechanical interface, such as, for example, a female or male mating feature <NUM>, configured to non-rotatably couple to a corresponding mating feature (not shown) of motor assembly <NUM> of instrument drive unit <NUM>. As such, when adapter assembly <NUM> is coupled to instrument drive unit <NUM>, a rotation of motor assembly <NUM> of instrument drive unit <NUM> results in a rotation of adapter assembly <NUM> and any surgical instrument attached thereto.

Proximal portion 122a of proximal housing <NUM> has a hollow interior <NUM> for the passage of various cables of an endoscope. Proximal portion 122a of proximal housing <NUM> defines a pair of openings 130a, 130b that extend from an inner surface 132a to an outer surface 132b thereof. Openings 130a, 130b are circumferentially spaced from one another and are each configured as access holes for receipt of a finger of a clinician. In this way, a clinician can access the hollow interior <NUM> of proximal housing <NUM> using, for example, his or her thumb and pointer finger to pinch a cable coupling <NUM> or <NUM> of endoscope <NUM> to selectively decouple cable coupling <NUM> or <NUM> or attach cable coupling <NUM> or <NUM> from/to endoscope <NUM>. This allows for the removal of cable couplings <NUM>, <NUM> of endoscope <NUM> prior to autoclaving, servicing, or generally assembly of adapter assembly <NUM> or endoscope <NUM>.

Proximal portion 122a of proximal housing <NUM> defines another pair of openings 134a, 134b that extend between inner and outer surfaces 132a, 132b. Openings 134a, 134b are configured for the passage of cables, for example, a light or fiber optic cable <NUM> and a communications cable <NUM> of endoscope <NUM>, from hollow interior <NUM> of proximal housing <NUM> to an exterior of proximal housing <NUM> of adapter assembly <NUM>. In some embodiments, proximal portion 122a may have more than two openings for the passage of cables, or only one opening for the passage of one cable.

Distal portion 122b of proximal housing <NUM> defines a distal opening <NUM> therethrough that is in line with a longitudinal axis defined by proximal housing <NUM>. Distal portion 122b of proximal housing <NUM> defines a pair of annular cutouts 138a, 138b formed in inner surface 132a thereof. Annular cutouts 138a, 138b are longitudinally spaced from one another and rotatably retain respective first and second bearings 140a, 140b of drive assembly <NUM>. In some embodiments, first and second bearings 140a, 140b may be substituted with bushings.

With reference to <FIG>, distal housing <NUM> of adapter assembly <NUM> has a proximal portion 124a rotatably received in distal opening <NUM> of proximal housing <NUM>, and a distal portion 124b. Proximal portion 124a of distal housing <NUM> has the first and second bearings 140a, 140b disposed thereabout. As such, first and second bearings 140a, 140b are disposed between inner surface 132a of proximal housing <NUM> and an outer surface of distal housing <NUM> to facilitate rotation of distal housing <NUM> relative to proximal housing <NUM>. Distal housing <NUM> of adapter assembly <NUM> has a generally elongated tubular configuration and defines a channel <NUM> longitudinally therethrough. Channel <NUM> is configured to non-rotatably receive and retain a proximal portion <NUM> (e.g., a handle portion) of endoscope <NUM>.

Distal housing <NUM> of adapter assembly <NUM> includes a first half section 144a and a second half section 144b. First and second half sections 144a, 144b of distal housing <NUM> are removably connected to one another so that proximal portion <NUM> of endoscope <NUM> may be encapsulated by distal housing <NUM> when first and second half sections 144a, 144b are connected to one another, and removed from or inserted within distal housing <NUM> when first and second half sections 144a, 144b of distal housing <NUM> are disconnected from one another. Upon connecting endoscope <NUM> to distal housing <NUM>, endoscope <NUM> is fixed therein and not easily removable. In some embodiments, distal housing <NUM> may be monolithically formed from a pliable material that conforms to proximal portion <NUM> of endoscope <NUM> such that endoscope <NUM> can be selectively inserted into or removed from distal housing <NUM>. Distal housing <NUM> defines an opening <NUM> extending between an inner surface 148a and an outer surface 148b thereof. Opening <NUM> of distal housing <NUM> has an elliptical shape and is configured to align with control buttons <NUM> on proximal portion <NUM> of endoscope <NUM> upon receipt of endoscope <NUM> into distal housing <NUM>.

Distal housing <NUM> has a ring gear <NUM> non-rotatably disposed about proximal portion 124a thereof. Ring gear <NUM> has teeth <NUM> extending radially from a periphery thereof that operably engage teeth of a gear <NUM> (<FIG>) of drive assembly <NUM>, as will be described in detail below. In some embodiments, ring gear <NUM> may be secured to a top surface of distal housing <NUM> instead of being non-rotatably disposed about outer surface 148b of distal housing <NUM>. It is further contemplated that teeth <NUM> of ring gear <NUM> extend inwardly instead of radially outward.

With reference to <FIG>, drive assembly <NUM> of adapter assembly <NUM> is configured to transfer rotation of drive shaft <NUM> (<FIG>) of instrument drive unit <NUM> into rotation of distal housing <NUM> of adapter assembly <NUM> relative to proximal housing <NUM> of adapter assembly <NUM>. Drive assembly <NUM> includes a first drive shaft <NUM> having a proximal end 162a and a distal end 162b. Proximal end 162a of first drive shaft <NUM> has an input <NUM> configured for detachable operable engagement with the gear (not shown) of drive shaft <NUM> (<FIG>) of motor <NUM> of instrument drive unit <NUM> such that actuation of motor <NUM> of instrument drive unit <NUM> results in rotation of first drive shaft <NUM> of drive assembly <NUM>. Input <NUM> of drive assembly <NUM> is in the form of a gear, such as, for example, a crown gear. Distal end 162b of first drive shaft <NUM> has a gear, such as, for example, a spur gear <NUM> that is rotatably supported on a proximal mounting plate 168a of proximal housing <NUM>. Proximal mounting plate 168a is fixed within proximal portion 122a of proximal housing <NUM> and is prevented from rotating therein. Proximal mounting plate 168a defines a bore <NUM> therethrough. Proximal mounting plate <NUM> has a robotic system identification connector <NUM> that interfaces with a corresponding connector (not shown) of instrument drive unit <NUM>. Connector <NUM> of adapter assembly <NUM> may be a magnetic, resistive or digital interface for identification, use, and/or life management, which can be read by a surgical system and/or feedback display.

Drive assembly <NUM> includes a second drive shaft <NUM> extending longitudinally through hollow interior <NUM> of proximal housing <NUM> and is laterally offset from first drive shaft <NUM>. Second drive shaft <NUM> has a proximal end 172a extending through bore <NUM> of proximal mounting plate 168a, and a distal end 172b extending through a bore <NUM> of a distal mounting plate 168b, located distally from proximal mounting plate 168a. Distal mounting plate 168b, similar to proximal mounting plate 168a, is fixed within proximal housing <NUM> and prevented from rotating therein. Proximal end 172a of second drive shaft <NUM> has a gear, such as, for example, a spur gear <NUM>, in operable engagement with spur gear <NUM> of first drive shaft <NUM> such that rotation of first drive shaft <NUM> results in rotation of second drive shaft <NUM>. Distal end 172b of second drive shaft <NUM> has an output <NUM> in the form of a gear in operable engagement with teeth <NUM> of ring gear <NUM> of distal housing <NUM> such that rotation of second drive shaft <NUM> results in rotation of distal housing <NUM> relative to proximal housing <NUM>.

It is contemplated that drive assembly <NUM> of adapter assembly <NUM> may be substituted with any suitable mechanism that transfers rotational motion originating from motor <NUM> of instrument drive unit <NUM> into rotation of distal housing <NUM> of adapter assembly <NUM> relative to proximal housing <NUM> of adapter assembly <NUM>.

With reference to <FIG>, surgical assembly <NUM> includes an endoscope, such as, for example, a standalone endoscope <NUM>. It is contemplated that a plurality of different types of endoscopes may be able to fit within distal housing <NUM> of adapter assembly <NUM> other than endoscope <NUM> illustrated in <FIG>. Alternately, it is contemplated that a variety of different distal housings <NUM> for adapter assembly <NUM> may be available or provided which are specifically configured to interconnect a specific endoscope to robotic surgical system <NUM>. Endoscope <NUM> generally includes a proximal portion <NUM> having manual control buttons <NUM>, and an endoscopic tube housing <NUM> extending distally from proximal portion <NUM>. Endoscope <NUM> may further include a light source coupling <NUM> and a communications and power coupling <NUM>. Light source coupling <NUM> is configured for detachable engagement of a light source cable <NUM>. Communications and power coupling <NUM> is configured for detachable engagement of a communications cable <NUM>.

In operation, carriage <NUM> of surgical instrument holder <NUM> is attached to rail <NUM> of robotic arm <NUM> (<FIG>). Instrument drive unit <NUM> is positioned within the channel (not shown) of surgical instrument holder <NUM> and supported on side 108b of carriage <NUM> of surgical instrument holder <NUM>. Proximal portion 122a of proximal housing <NUM> of adapter assembly <NUM> is non-rotatably coupled to motor assembly <NUM> of instrument drive unit <NUM> and motor <NUM> of instrument drive unit <NUM> is operably coupled to input <NUM> of drive assembly <NUM> of adapter assembly <NUM>. Cables <NUM>, <NUM> of endoscope <NUM> are guided through hollow interior <NUM> of proximal housing <NUM> of adapter assembly <NUM> and out through openings 134a, 134b of proximal housing <NUM> of adapter assembly <NUM>, and proximal portion <NUM> of endoscope <NUM> is secured within distal housing <NUM> of adapter assembly <NUM>. With proximal portion <NUM> of endoscope <NUM> retained within distal housing <NUM> of adapter assembly <NUM>, endoscope <NUM> may be manipulated, for example, rotated, to a selected rotational position about its longitudinal axis "X.

In particular, endoscope <NUM> may be rotated at a first rate or a second rate, slower than the first rate, depending on how precise the clinician needs to be with positioning the endoscope <NUM> in a surgical site. To move endoscope <NUM> at the faster rate, a clinician operating manual input devices <NUM>, <NUM> of surgical system <NUM>, may actuate motor <NUM> of motor assembly <NUM> of instrument drive unit <NUM>. Actuation of motor <NUM> of instrument drive unit <NUM> rotates the gear (not shown) thereof, which rotates input <NUM> of drive assembly <NUM> of adapter assembly <NUM> due to input <NUM> of drive assembly <NUM> being operably engaged to the gear of instrument drive unit <NUM>. Rotation of input <NUM> rotates first drive shaft <NUM> of drive assembly <NUM>, and in turn rotates second drive shaft <NUM> of drive assembly <NUM> due to gears <NUM>, <NUM> of respective first and second drive shafts <NUM>, <NUM> being in meshing engagement. Since gear <NUM> of second drive shaft <NUM> is in operable engagement with ring gear <NUM> of distal housing <NUM>, rotation of second drive shaft <NUM> of drive assembly <NUM> effects rotation of distal housing <NUM> relative to proximal housing <NUM>. With endoscope <NUM> retained within distal housing <NUM>, endoscope <NUM> rotates about its longitudinal axis "X" as distal housing <NUM> rotates. It is contemplated that by actuating motor <NUM> of motor assembly <NUM>, distal housing <NUM> and endoscope <NUM> can be rotated up to about <NUM> degrees, in either direction, relative to proximal housing <NUM>.

To move endoscope <NUM> at the second, slower rate, a clinician operating manual input devices <NUM>, <NUM> of surgical system <NUM>, may actuate motor "M" of surgical instrument holder <NUM>. Actuation of motor "M" of surgical instrument holder <NUM> drives a rotation of the motor shaft (not shown) thereof, which transfers its rotational motion to motor assembly <NUM> of instrument drive unit <NUM>. Since motor assembly <NUM> of instrument drive unit <NUM> is non-rotatably connected to proximal portion 122a of proximal housing <NUM> of adapter assembly <NUM>, rotation of motor assembly <NUM> of instrument drive unit <NUM> causes proximal housing <NUM> of adapter assembly <NUM> to rotate and in turn rotates distal housing <NUM> of adapter assembly <NUM> and endoscope <NUM> about its longitudinal axis "X. " It is contemplated that distal housing <NUM> of adapter assembly <NUM> and endoscope <NUM> can be rotated up to about <NUM> degrees, in either direction, by motor "M" of surgical instrument holder <NUM>. In some embodiments, endoscope <NUM> may be moved at the first, faster rate via the actuation of motor "M" of surgical instrument holder <NUM> rather than the actuation of motor <NUM> of instrument drive unit <NUM>, and endoscope <NUM> may be moved at the second, slower rate via the actuation of motor <NUM> of instrument drive unit <NUM> rather than motor "M" of surgical instrument holder <NUM>.

In addition to endoscope <NUM> being rotatable at two rates by adapter assembly <NUM>, adapter assembly <NUM> may include a mechanical feature (not shown) used to increase the rotational angle while maintaining the clocking position of cables <NUM>, <NUM> and buttons <NUM> of endoscope <NUM>.

With reference to <FIG>, another embodiment of an adapter assembly <NUM> is provided, similar to adapter assembly <NUM> described above with reference to <FIG>. Adapter assembly <NUM> selectively intercouples instrument drive unit <NUM> (<FIG>) and an endoscope, for example, endoscope <NUM> (<FIG>), to transfer rotational motion originating from instrument drive unit <NUM> into rotational motion of endoscope <NUM> about its longitudinal axis "X. " Adapter assembly <NUM> generally includes a proximal housing <NUM>, a distal housing <NUM> rotatably coupled to proximal housing <NUM>, and a drive assembly <NUM> disposed within proximal housing <NUM> and configured to rotate distal housing <NUM> relative to proximal housing <NUM>.

In some embodiments, the endoscope <NUM> may be rotated in such a manner that the cables <NUM>, <NUM> thereof do not swing close to the rail <NUM>.

Proximal housing <NUM> of adapter assembly <NUM> has a mechanical interface, such as, for example, a female or male mating feature <NUM>, configured to non-rotatably couple to a corresponding mating feature (not shown) of motor assembly <NUM> (<FIG>) of instrument drive unit <NUM>. As such, when adapter assembly <NUM> is coupled to instrument drive unit <NUM>, a rotation of motor assembly <NUM> of instrument drive unit <NUM> results in a rotation of adapter assembly <NUM> and any surgical instrument attached thereto, for example, endoscope <NUM>. A proximal end 322a of proximal housing <NUM> has a plurality of openings 334a, 334b defined therein configured for passage of proximal ends of a light cable <NUM> and a communications cable <NUM> of endoscope <NUM>. Proximal housing <NUM> has a wire holder <NUM> configured to store cables <NUM>, <NUM> of endoscope <NUM> therein when cables <NUM>, <NUM> are not passed through openings 334a, 334b.

Distal housing <NUM> has a proximal portion 324a and a distal portion 324b. Proximal portion 324a of distal housing <NUM> is rotatably connected to a distal end 322b of proximal housing <NUM>. Proximal portion 324a of distal housing <NUM> is configured to retain cable couplers <NUM>, <NUM> of endoscope <NUM> therein. In particular, proximal portion 324a of distal housing <NUM> has a latch lock mechanism <NUM> that allows for the selective removal and insertion of endoscope <NUM> into adapter assembly <NUM>. Latch lock mechanism <NUM> includes a latch <NUM> that is pivotably connected to proximal portion 324a of distal housing <NUM>, and a lock <NUM>. Latch <NUM> has a male mating feature or projection <NUM> that is configured to interface with a corresponding female mating feature or recess (not shown) defined in lock <NUM>.

Latch <NUM> of latch lock mechanism <NUM> is pivotable between a locked configuration, as shown in <FIG>, and an unlocked configuration, as shown in <FIG>. In the locked configuration, male mating feature <NUM> of latch <NUM> is engaged to the female mating feature of lock <NUM>, thereby encapsulating couplers <NUM>, <NUM> of endoscope <NUM> within proximal portion 324a of distal housing <NUM> and inhibiting removal of endoscope <NUM> therefrom. In the unlocked configuration, latch <NUM> is spaced from lock <NUM> allowing for either the removal of endoscope <NUM> from adapter assembly <NUM> or the insertion of endoscope <NUM> into adapter assembly <NUM>. In some embodiments, any suitable locking mechanism may be provided on distal portion 324b of adapter assembly <NUM> or any portion of adapter assembly <NUM> to aid in the selective securement of endoscope <NUM> within adapter assembly <NUM>.

Distal portion 324b of distal housing <NUM> has a generally elongate configuration and a hollow interior <NUM> configured for receipt of an endoscope, for example, endoscope <NUM>. Hollow interior <NUM> has a generally non-circular shape, for example, rectangular, for non-rotatably retaining endoscope <NUM> therein. Due to the shape of hollow interior <NUM> of distal portion 324b of distal housing <NUM>, a rotation of distal housing <NUM> of adapter assembly <NUM> causes endoscope <NUM> to rotate therewith.

Distal housing <NUM> of adapter assembly <NUM> further includes an inner housing <NUM> seated within distal portion 324b of distal housing <NUM>. Inner housing <NUM> has a curved wall <NUM> that extends longitudinally within distal housing <NUM> and is configured to cup or partially surround an outer surface of proximal portion <NUM> of endoscope <NUM>. Inner housing <NUM> also includes a base <NUM> having a generally squared shape that prevents inner housing <NUM> from rotating within and relative to distal housing <NUM>. Base <NUM> prevents endoscope <NUM> from sliding distally out of adapter assembly <NUM>. Distal housing <NUM> includes a biasing member, for example, a compression spring <NUM>, disposed between base <NUM> and a distal end of distal housing <NUM> to allow base <NUM> to move between a lower position relative to the distal end of distal housing <NUM> and a higher position relative to the distal end of the distal housing <NUM> to facilitate insertion of endoscope <NUM> in base <NUM>.

Base <NUM> of inner housing <NUM> defines a bore <NUM> therethrough configured for receipt of endoscope <NUM>. Bore <NUM> of base <NUM> of inner housing <NUM> has a cone-shaped upper portion 356a, and a cylindrical lower portion 356b that extends distally from upper portion 356a. Upper portion 356a of bore <NUM> of base <NUM> is configured to receive a cone-shaped or tapered distal end 202b of proximal portion <NUM> of endoscope <NUM>, and lower portion 356b of bore <NUM> is configured to house a cylindrical proximal end 204a of tube <NUM> of endoscope <NUM>. This configuration of bore <NUM> accommodates length variability in a variety of endoscopes. It is contemplated that a plurality of different sized inner housings may be provided with each configured to retain a particularly sized endoscope. In some embodiments, inner housing <NUM> may be pivotable in relation to distal portion 324b of distal housing <NUM> to facilitate insertion of endoscope <NUM> into bore <NUM> of inner housing <NUM>.

With specific reference to <FIG>, drive assembly <NUM> of adapter assembly <NUM> is configured to transfer rotation of drive shaft <NUM> (<FIG>) of instrument drive unit <NUM> into rotation of distal housing <NUM> of adapter assembly <NUM> relative to proximal housing <NUM> of adapter assembly <NUM>. Drive assembly <NUM> includes a first drive shaft <NUM> having a proximal end 362a and a distal end 362b. Proximal end 362a of first drive shaft <NUM> has an input <NUM> in the form of a gear, such as, for example, a crown gear. Input <NUM> is configured for detachable operable engagement with the gear (not shown) of drive shaft <NUM> (<FIG>) of motor <NUM> of instrument drive unit <NUM> such that actuation of motor <NUM> of instrument drive unit <NUM> results in rotation of first drive shaft <NUM> of drive assembly <NUM>. Distal end 362b of first drive shaft <NUM> has a gear, such as, for example, a spur gear <NUM>.

Drive assembly <NUM> includes a second drive shaft <NUM> extending longitudinally through proximal housing <NUM> and proximal portion 324a of distal housing <NUM> and is laterally offset from first drive shaft <NUM>. Second drive shaft <NUM> has a proximal end 372a, and a distal end 372b extending between proximal housing <NUM> and proximal portion 324a of distal housing <NUM>. Proximal end 372a of second drive shaft <NUM> has a gear, such as, for example, a spur gear <NUM>, in operable engagement with spur gear <NUM> of first drive shaft <NUM> such that rotation of first drive shaft <NUM> results in rotation of second drive shaft <NUM>. Distal end 372b of second drive shaft <NUM> is disposed within proximal portion 324a of distal housing <NUM> and is fixed to a surface thereof such that rotation of second drive shaft <NUM> results in a rotation of distal housing <NUM> relative to proximal housing <NUM>.

In operation, carriage <NUM> (<FIG>) of surgical instrument holder <NUM> is attached to rail <NUM> of robotic arm <NUM>. Instrument drive unit <NUM> is positioned within the channel (not shown) of surgical instrument holder <NUM> and supported on side 108b of carriage <NUM> of surgical instrument holder <NUM>. Proximal portion 322a of proximal housing <NUM> of adapter assembly <NUM> is non-rotatably coupled to motor assembly <NUM> of instrument drive unit <NUM> and motor <NUM> of instrument drive unit <NUM> is operably coupled to input <NUM> of drive assembly <NUM> of adapter assembly <NUM>. Tube <NUM> of endoscope <NUM> is slidably received within bore <NUM> of inner housing <NUM> of adapter assembly <NUM> to seat endoscope <NUM> in inner housing <NUM> of adapter assembly <NUM>. With latch lock mechanism <NUM> in the unlocked configuration, proximal portion <NUM> of endoscope <NUM> is pivoted, in a direction indicated by arrow "A" in <FIG>, so that couplers <NUM>, <NUM> of endoscope <NUM> are received within proximal portion 324a of distal housing <NUM> of adapter assembly <NUM>. Cables <NUM>, <NUM> of endoscope <NUM> are guided through proximal housing <NUM> of adapter assembly <NUM> and out through openings 334a, 334b of proximal housing <NUM> of adapter assembly <NUM>. With endoscope <NUM> disposed within adapter assembly <NUM>, latch lock mechanism <NUM> is then locked. With endoscope <NUM> retained within adapter assembly <NUM>, endoscope <NUM> may be manipulated, for example, rotated, to a selected rotational position about its longitudinal axis "X.

In particular, endoscope <NUM> may be rotated at a first rate or a second rate, slower than the first rate, depending on how precise the clinician needs to be with positioning the endoscope <NUM> in a surgical site. To move endoscope <NUM> at the first, faster rate, a clinician operating manual input devices <NUM>, <NUM> of surgical system <NUM>, may actuate motor <NUM> of motor assembly <NUM> of instrument drive unit <NUM>. Actuation of motor <NUM> of instrument drive unit <NUM> rotates the gear (not shown) thereof, which rotates input <NUM> of drive assembly <NUM> of adapter assembly <NUM> due to input <NUM> of drive assembly <NUM> being operably engaged to the gear of instrument drive unit <NUM>. Rotation of input <NUM> rotates first drive shaft <NUM> of drive assembly <NUM>, and in turn rotates second drive shaft <NUM> of drive assembly <NUM> due to gears <NUM>, <NUM> of respective first and second drive shafts <NUM>, <NUM> being in meshing engagement. Since distal end 372b of second drive shaft <NUM> is fixed to distal housing <NUM>, rotation of second drive shaft <NUM> of drive assembly <NUM> effects rotation of distal housing <NUM> relative to proximal housing <NUM>. With endoscope <NUM> retained within distal housing <NUM>, endoscope <NUM> rotates about its longitudinal axis "X" as distal housing <NUM> rotates. It is contemplated that by actuating motor <NUM> of motor assembly <NUM>, distal housing <NUM> and endoscope <NUM> can be rotated up to about <NUM> degrees, in either direction, relative to proximal housing <NUM>.

To move endoscope <NUM> at the second, slower rate, a clinician operating manual input devices <NUM>, <NUM> of surgical system <NUM>, may actuate motor "M" of surgical instrument holder <NUM>. Actuation of motor "M" of surgical instrument holder <NUM> drives a rotation of the motor shaft (not shown) thereof, which transfers its rotational motion to motor assembly <NUM> of instrument drive unit <NUM>. Since motor assembly <NUM> of instrument drive unit <NUM> is non-rotatably connected to proximal portion 322a of proximal housing <NUM> of adapter assembly <NUM>, rotation of motor assembly <NUM> of instrument drive unit <NUM> causes proximal housing <NUM> of adapter assembly <NUM> to rotate and in turn rotates distal housing <NUM> of adapter assembly <NUM> and endoscope <NUM> about its longitudinal axis "X. " It is contemplated that distal housing <NUM> of adapter assembly <NUM> and endoscope <NUM> can be rotated up to about <NUM> degrees, in either direction, by motor "M" of surgical instrument holder <NUM>.

With reference to <FIG>, another embodiment of a surgical assembly <NUM> will be described herein. The surgical assembly <NUM> includes an endoscope, such as, for example, the stand alone endoscope <NUM> of <FIG>, and an adapter assembly <NUM> configured for receipt of endoscope <NUM>. It is contemplated that a plurality of different types of endoscopes may be able to fit within an elongate housing <NUM> of adapter assembly <NUM> other than endoscope <NUM> illustrated in <FIG>. Alternately, it is contemplated that a variety of different elongate housings <NUM> of adapter assembly <NUM> may be available or provided which are specifically configured to interconnect a specific endoscope to robotic surgical system <NUM> (<FIG>).

With reference to <FIG>, adapter assembly <NUM> selectively intercouples surgical instrument holder <NUM> and endoscope <NUM> to transfer rotational motion originating from surgical instrument holder <NUM> into rotational motion of endoscope <NUM> about its longitudinal axis "X. " Adapter assembly <NUM> generally includes an elongate housing <NUM> and a locking collar <NUM> non-rotatably coupled to elongate housing <NUM>. Elongate housing <NUM> has a proximal end 422a having locking collar <NUM> non-rotatably attached thereto, and a distal end 422b. Elongate housing <NUM> of adapter assembly <NUM> has a generally cylindrical configuration and defines a channel <NUM> longitudinally therethrough. Channel <NUM> is configured to non-rotatably receive and retain proximal portion <NUM> of endoscope <NUM> therein.

Elongate housing <NUM> of adapter assembly <NUM> includes a first half section 444a and a second half section 444b. First and second half sections 444a, 444b of elongate housing <NUM> are removably connected to one another so that proximal portion <NUM> of endoscope <NUM> may be encapsulated by elongate housing <NUM> when first and second half sections 444a, 444b are connected to one another, and removed from or inserted within elongate housing <NUM> when first and second half sections 444a, 444b of elongate housing <NUM> are disconnected from one another. In some embodiments, elongate housing <NUM> may be monolithically formed from a pliable material that conforms to proximal portion <NUM> of endoscope <NUM> such that endoscope <NUM> can be selectively inserted into or removed from elongate housing <NUM>. Elongate housing <NUM> defines an opening <NUM> extending between an inner surface and an outer surface thereof. Opening <NUM> of elongate housing <NUM> has an elliptical shape and is configured to align with control buttons <NUM> on proximal portion <NUM> of endoscope <NUM> upon receipt of endoscope <NUM> into elongate housing <NUM>.

Locking collar <NUM> of adapter assembly <NUM> is receivable within surgical instrument holder <NUM> to be drivingly coupled to a motor "M" (<FIG>) of surgical instrument holder <NUM> such that an actuation of motor "M" effects rotation of adapter assembly <NUM>. Locking collar <NUM> includes an annular member <NUM> and a pair of surface features 428a, 428b extending distally therefrom. Annular member <NUM> of locking collar <NUM> is non-rotatably disposed about proximal end 422a of elongate housing <NUM> to transfer rotation caused by actuation of "M" of surgical instrument holder <NUM> to elongate housing <NUM> and in turn to endoscope <NUM>. Annular member <NUM> defines a circular bore <NUM> therethrough configured for the passage of various cables of an endoscope, for example, endoscope <NUM>. Annular member <NUM> of locking collar <NUM> has an inner surface <NUM> having a mating feature, for example, threading <NUM>, configured for mating or threading engagement with a corresponding mating feature <NUM> of an inner member <NUM> of surgical instrument holder <NUM>.

Surface features 428a, 428b of locking collar <NUM> are male mating members, such as, for example, a pair of arcuate tabs extending distally from annular member <NUM> of locking collar <NUM>. Tabs 428a, 428b are configured for mating receipt within respective recesses 494a, 494b defined in inner member <NUM> of surgical instrument holder <NUM> to assist in the transfer of rotational motion from inner member <NUM> of surgical instrument holder <NUM> to locking collar <NUM> of adapter assembly <NUM>. As such, with annular member <NUM> of locking collar <NUM> of adapter assembly <NUM> matingly engaged to inner member <NUM> of surgical instrument holder <NUM>, a rotation of inner member <NUM> of surgical instrument holder <NUM> causes adapter assembly <NUM> to rotate therewith.

With reference to <FIG>, surgical instrument holder <NUM> of surgical assembly <NUM> functions to support adapter assembly <NUM> therein, and to effect a rotation of adapter assembly <NUM> relative thereto. Surgical instrument holder <NUM>, which is similar to the holder <NUM> of <FIG>, includes a back member or carriage <NUM>, and an outer member or housing <NUM> extending laterally (e.g., perpendicularly) from an end of carriage <NUM>. In some embodiments, outer member <NUM> may extend at various angles relative to carriage <NUM> and from various portions of carriage <NUM>. Carriage <NUM> has a first side 408a and a second side 408b, opposite first side 408a. First side 408a of carriage <NUM> is slidably connected to rail <NUM> of robotic arm <NUM> (<FIG>) to enable surgical instrument holder <NUM> to slide or translate along rail <NUM> (<FIG>) of robotic arm <NUM>. In some embodiments, first side 408a of carriage <NUM> may also be detachably connected to rail <NUM>.

Carriage <NUM> of surgical instrument holder <NUM> supports or houses a motor, such as, for example, a canister motor "M" therein. Motor "M" receives controls and power from control device <NUM> (<FIG>) to ultimately rotate adapter assembly <NUM> and endoscope <NUM> when adapter assembly <NUM>, with endoscope <NUM>, is attached to surgical instrument holder <NUM>. In some embodiments, carriage <NUM> may include a printed circuit board in electrical communication with motor "M" to control an operation of motor "M" of carriage <NUM>. Carriage <NUM> has a rotatable drive shaft extending from motor "M" and longitudinally through carriage <NUM>. The drive shaft of carriage <NUM> is operably coupled to a drive assembly <NUM> of surgical instrument holder <NUM>, which transfers a rotation from motor "M" of surgical instrument holder <NUM> to adapter assembly <NUM> when adapter assembly <NUM> is received in surgical instrument holder <NUM>, as will be described in detail below.

With continued reference to <FIG>, drive assembly <NUM> of surgical instrument holder <NUM> resides within outer member <NUM> of surgical instrument holder <NUM> and is configured to transfer a rotation of the drive shaft of motor "M" of surgical instrument holder <NUM> into rotational motion of adapter assembly <NUM> when adapter assembly <NUM> is operably received within surgical instrument holder <NUM>. In particular, drive assembly <NUM> of surgical instrument holder <NUM> includes a first pulley <NUM> and a second pulley <NUM> each disposed within outer member <NUM>. First pulley <NUM> is non-rotatably coupled to the drive shaft of motor "M" of surgical instrument holder <NUM> such that rotation of the drive shaft effects rotation of first pulley <NUM> relative to outer member <NUM>. First and second pulleys <NUM>, <NUM> may be selectively movable within housing <NUM> to different locations of housing <NUM>. First and second pulleys <NUM>, <NUM> are each in the form of gears, such as, for example, spur gears, having teeth <NUM> extending radially from a periphery thereof. In some embodiments, first and second pulleys <NUM>, <NUM> may have smooth outer surfaces without teeth.

Drive assembly <NUM> further includes a drive strap or belt <NUM> rotatably and/or translatably received within outer member <NUM>. Belt <NUM> is a closed loop and fabricated from a pliable material such that belt <NUM> may be manipulated into any suitable shape. In particular, belt <NUM> takes on the oblong semicircular shape of outer member <NUM> upon being received in outer member <NUM>. In some embodiments, belt <NUM> may be formed from a rigid material and have a permanent oblong semicircular shape corresponding to the shape of outer member <NUM>. Belt <NUM> has teeth <NUM> extending from an inner surface thereof. Belt <NUM> is wrapped around first and second pulleys <NUM>, <NUM> such that teeth <NUM> of belt <NUM> are in operable engagement with teeth <NUM> of first and second pulleys <NUM>, <NUM>. In this way, rotation of first pulley <NUM> caused by actuation of motor "M" of carriage <NUM>, causes belt <NUM> to rotate around first and second pulleys <NUM>, <NUM>. Second pulley <NUM> acts as an idler pulley to guide belt <NUM> around the inner periphery of outer member <NUM>. It is contemplated that second pulley <NUM> may be selectively moved to a plurality of positions to effect the tension on/of belt <NUM>.

In some embodiments, first pulley <NUM> and belt <NUM> do not have teeth for transferring rotational motion between one another. Instead, rotation is transferred between first pulley <NUM> and belt <NUM> via the frictional engagement of a smooth inner surface of belt <NUM> with a smooth outer surface of first pulley <NUM>. It is contemplated that each of the components of drive assembly <NUM> may be removable from housing <NUM> to facilitate assembly, repair, and adjustments of drive assembly <NUM>.

Drive assembly <NUM> further includes a ring gear <NUM> rotatably disposed within outer member <NUM>. Ring gear <NUM> has a plurality of teeth <NUM> extending radially from an outer surface thereof. Teeth <NUM> are in operable engagement with teeth <NUM> of belt <NUM>. As such, rotation of belt <NUM> causes ring gear <NUM> to rotate within and relative to outer member <NUM>.

With continued reference to <FIG>, inner member <NUM> of surgical instrument holder <NUM> is non-rotatably disposed within ring gear <NUM> of drive assembly <NUM> such that rotation of ring gear <NUM> causes inner member <NUM> to rotate therewith. In some embodiments, ring gear <NUM> may be monolithically formed with the outer surface of inner member <NUM>. Inner member <NUM> is configured to non-rotatably receive adapter assembly <NUM> therein and to transfer a rotation of drive assembly <NUM> of surgical instrument holder <NUM> to adapter assembly <NUM>. Inner member <NUM> has a circular configuration corresponding to the circular channel defined through outer member <NUM>.

As illustrated, for example in <FIG>, inner member <NUM> is an assembly of parts including an upper inner member 490a, an intermediate inner member 490b, and a lower inner member 490c. Upper and intermediate inner members 490a, 490b are attached to one another via a snap fit engagement. It is contemplated that inner member <NUM> may be a unitary piece and not be an assembly of parts. In some embodiments, upper and intermediate inner members 490a, 490b may be attached to one another via any suitable fastening arrangement. Upper inner member 490a has a threaded outer surface <NUM> configured for threading engagement with threading <NUM> (<FIG>) of locking collar <NUM> of adapter assembly <NUM>. Intermediate inner member 490b is non-rotatably received within ring gear <NUM> of drive assembly <NUM> of surgical instrument holder <NUM> such that rotation of ring gear <NUM> effects rotation of inner member <NUM> relative to outer member <NUM>.

Upper and intermediate inner members 490a, 490b cooperatively define a recess 494a therein configured for receipt of one of tabs 428a, 428b of adapter assembly <NUM>. Lower inner member 490c is non-rotatably received within intermediate inner member 490b. Lower inner member 490c defines a recess 494b therein that is offset about <NUM> degrees from recess 494a of upper and intermediate inner members 490a, 490b. Recess 494b of lower inner member 490c is configured for receipt of the other tab of tabs 428a, 428b of adapter assembly <NUM> such that upon receipt of adapter assembly <NUM> within surgical instrument holder <NUM>, tabs 428a, 428b of locking collar <NUM> of adapter assembly <NUM> are seated within recesses 494a, 494b of inner member <NUM> of surgical instrument holder <NUM>. In this way, rotation of inner member <NUM> relative to outer member <NUM> causes adapter assembly <NUM> to rotate therewith.

In operation, carriage <NUM> of surgical instrument holder <NUM> is attached to rail <NUM> (<FIG>) of robotic arm <NUM>. Tabs 428a, 428b of locking collar <NUM> of adapter assembly <NUM> are placed within recesses 494a, 494b of inner member <NUM> of surgical instrument holder <NUM> and adapter assembly <NUM> is manually rotated relative to outer member <NUM> to threadingly engage threaded outer surface <NUM> of inner member <NUM> of surgical instrument holder <NUM> with threaded inner surface <NUM> of locking collar <NUM> of adapter assembly <NUM>. Cables <NUM>, <NUM> (<FIG>) of endoscope <NUM> are guided through distal end 422b of elongate housing <NUM> of adapter assembly <NUM> and out through annular member <NUM> of locking collar <NUM> of adapter assembly <NUM>, and proximal portion <NUM> of endoscope <NUM> is secured within channel <NUM> of elongate housing <NUM> of adapter assembly <NUM>. With proximal portion <NUM> of endoscope <NUM> retained within elongate housing <NUM> of adapter assembly <NUM>, endoscope <NUM> may be manipulated, for example, rotated, to a selected rotational position about its longitudinal axis "X.

In particular, to rotate endoscope <NUM> about its longitudinal axis "X," a clinician operating manual input devices <NUM>, <NUM> of surgical system <NUM> (<FIG>), may actuate motor "M" of surgical instrument holder <NUM>. Actuation of motor "M" of surgical instrument holder <NUM> drives a rotation of the motor shaft thereof, which transfers its rotational motion to first pulley <NUM> of drive assembly <NUM>. Since belt <NUM> of drive assembly <NUM> is in operable engagement with first pulley <NUM> of drive assembly <NUM>, and ring gear <NUM> of drive assembly <NUM> is in operable engagement with belt <NUM>, rotation of first pulley <NUM> causes belt <NUM> of drive assembly <NUM> to rotate and in turn causes ring gear <NUM> of drive assembly <NUM> to rotate.

With inner member <NUM> of surgical instrument holder <NUM> non-rotatably received within ring gear <NUM>, rotation of ring gear <NUM> of drive assembly <NUM> within outer member <NUM> of surgical instrument holder <NUM> drives a rotation of inner member <NUM> relative to outer member <NUM>. The rotation of inner member <NUM> within outer member <NUM> of surgical instrument holder <NUM> drives a rotation of adapter assembly <NUM> given that locking collar <NUM> of adapter assembly <NUM> is lockingly engaged to inner member <NUM>. With proximal end <NUM> of endoscope <NUM> non-rotatably coupled to elongate housing <NUM> of adapter assembly <NUM>, rotation of adapter assembly <NUM> of surgical instrument holder <NUM> results in rotation of endoscope <NUM> about its longitudinal axis "X.

With reference to <FIG>, another embodiment of an adapter assembly <NUM> is provided, similar to adapter assembly <NUM> described above with reference to <FIG>. Adapter assembly <NUM> selectively intercouples instrument drive unit <NUM> (<FIG>) and an endoscope, for example, endoscope <NUM> (<FIG>), to transfer rotational motion originating from instrument drive unit <NUM> (<FIG>) into rotational motion of endoscope <NUM> about its longitudinal axis "X. " Adapter assembly <NUM> generally includes a proximal housing <NUM>, and a distal housing <NUM> non-rotatably coupled to proximal housing <NUM>.

Proximal housing <NUM> of adapter assembly <NUM> has a mechanical interface, such as, for example, a female or male mating feature <NUM>, configured to non-rotatably couple to a corresponding mating feature (not shown) of motor assembly <NUM> (<FIG>) of instrument drive unit <NUM>. As such, when adapter assembly <NUM> is coupled to instrument drive unit <NUM>, a rotation of motor assembly <NUM> of instrument drive unit <NUM> results in a rotation of adapter assembly <NUM> and any surgical instrument attached thereto, for example, endoscope <NUM>.

Proximal housing <NUM> of adapter assembly <NUM> has a main body 522a and a latch or door 522b pivotably coupled to main body 522a. Main body 522a defines an arcuate channel <NUM> therein configured for the passage of proximal ends of a light cable <NUM> and a communications cable <NUM> of endoscope <NUM>, or any suitable wire or cable of endoscope <NUM>, for example, a fiber optic cable. With a cable of endoscope <NUM> disposed within the arcuate channel <NUM>, the configuration of the arcuate channel <NUM> is such that the arcuate channel <NUM> bends the cable of endoscope <NUM> and routs the proximal end of the cable of endoscope <NUM> in a distal direction.

Proximal housing <NUM> of adapter assembly <NUM> includes a locking assembly <NUM> disposed in the main body 522a and which is configured to releasably lock the door 522b of proximal housing <NUM> to main body 522a, as will be described herein. Locking assembly <NUM> includes a rotatable member or button <NUM>, a biasing member, for example, a torsion spring <NUM>, and a cap <NUM>. The rotatable member <NUM> is rotatably disposed within main body 522a so as to not project from main body 522a, thereby reducing the likelihood of an inadvertent actuation of rotatable member <NUM>. Rotatable member <NUM> has a finger <NUM> or lock extending laterally therefrom. The torsion spring <NUM> is disposed between rotatable member <NUM> and cap <NUM> and resiliently biases finger <NUM> of rotatable member <NUM> in a downward or distal direction. Cap <NUM> of locking assembly <NUM> maintains rotatable member <NUM> and spring <NUM> within main body 522a.

Door 522b of proximal housing <NUM> has an inwardly-extending projection <NUM> configured to selectively interlock with finger <NUM> of rotatable member <NUM> of locking assembly <NUM>. In particular, projection <NUM> of door 522b has a ramped end <NUM> configured to engage finger <NUM> of rotatable member <NUM>. Projection <NUM> of door 522b also defines a cutout <NUM> therein. In use, as door 522b of proximal housing <NUM> is closed (e.g., door 522b is pivoted towards main body 522a), ramped end <NUM> of projection <NUM> of door 522b engages finger <NUM> of rotatable member <NUM> to lift or raise finger <NUM> of rotatable member <NUM>, which, in turn, rotates rotatable member <NUM> in a first direction (e.g., a clockwise direction). Upon closing door 522b of proximal housing <NUM>, finger <NUM> of rotatable member <NUM> passes over ramped end <NUM> of projection <NUM> to permit the resilient bias of torsion spring <NUM> of locking assembly <NUM> to rotate rotatable member <NUM> in a second direction (e.g., a counter-clockwise direction) to seat or dispose finger <NUM> of rotatable member <NUM> in cutout <NUM> of projection <NUM>. With finger <NUM> of locking assembly <NUM> disposed within cutout 544of projection <NUM>, opening door 522b relative to main housing 522a is resisted or prevented by the coupling of finger <NUM> of main body 522a and projection <NUM> of door 522b.

To disengage the locking assembly <NUM> of main body 522a from the projection <NUM> of door 522b, rotatable member <NUM> may be manually rotated in the first direction against the resilient bias of torsion spring <NUM> of locking assembly <NUM>, thereby raising finger <NUM> of rotatable member <NUM> out of cutout <NUM> of projection <NUM>. With finger <NUM> of rotatable member <NUM> out of engagement with projection <NUM> of door 522b, door 522b may be pivoted away from main body 522a to allow for the insertion or removal of endoscope <NUM> from adapter assembly <NUM>.

Proximal housing 522a further includes a pair of pads 550a, 550b, wherein a first pad 550a of the pair of pads is coupled to main body 522a of proximal housing <NUM> and a second pad 550b of the pair of pads is coupled to the door 522b of proximal housing <NUM>. Pads 550a, 550b are fabricated from a resilient material, for example, silicon or an elastomer. It is contemplated that pads 550a, 550b may be fabricated from any suitable material, for example, flexible or hard materials. Pads 550a, 550b are configured to capture a proximal portion of endoscope <NUM> therebetween when door 522b of proximal housing <NUM> is closed. As such, pads 550a, 550b eliminate backlash and increase stiffness between door 522b and main body <NUM> of proximal housing <NUM>.

With continued reference to <FIG>, distal housing <NUM> of adapter assembly <NUM> has a semi-cylindrical shape (see <FIG>) configured to partially surround endoscope <NUM>. Distal housing <NUM> defines a hollow interior <NUM> having a generally non-circular shape, for example, rectangular, for non-rotatably retaining endoscope <NUM> therein. Due to the shape of hollow interior <NUM> of distal housing <NUM>, a rotation of distal housing <NUM> of adapter assembly <NUM> causes endoscope <NUM> to rotate therewith.

Distal housing <NUM> defines an opening or window <NUM> therein to allow for a clinician to eject endoscope <NUM> from adapter assembly <NUM> by passing a finger or tool through window <NUM> while endoscope <NUM> is disposed within adapter assembly <NUM>. Distal portion <NUM> defines an elongated cutout <NUM> configured to receive control buttons <NUM> of endoscope <NUM>. Distal housing <NUM> defines an opening <NUM> in a distal end thereof that is coaxial with a longitudinal axis defined by the adapter assembly <NUM>.

Distal housing <NUM> includes a flexible ring member <NUM> disposed therein. It is contemplated that ring member <NUM> may be fabricated from any suitable, flexible material, for example, an elastomer. Ring member <NUM> of distal housing <NUM> is configured to cup or partially surround an outer surface of proximal portion <NUM> of endoscope <NUM>. Ring member <NUM> prevents endoscope <NUM> from sliding distally out of adapter assembly <NUM>. Ring member <NUM> defines a bore <NUM> therethrough configured for receipt of endoscope <NUM>. Bore <NUM> of ring member <NUM> is cone-shaped to receive a cone-shaped or tapered distal end 202b of proximal portion <NUM> of endoscope <NUM>.

Adapter assembly <NUM> may include a memory <NUM>, such as, for example, an identification chip (<FIG>), that stores a variety of information regarding various components of system <NUM> (<FIG>). For example, memory <NUM> may store identification information that can be used by system <NUM> to determine the identification of adapter assembly <NUM> or endoscope <NUM> connected to robotic arm <NUM> (<FIG>). Based on the determined identification of an adapter assembly or endoscope, system <NUM> may or may not provide energy to the surgical assembly <NUM> (<FIG>). For example, if the identification information stored in memory <NUM> does not match identification information provided by an adapter assembly, for example, adapter assembly <NUM>, or an endoscope, for example, endoscope <NUM> (e.g., via a RFID tag on the adapter assembly <NUM> or endoscope <NUM>), system <NUM> may not provide energy to any or all components of surgical assembly <NUM>. In some embodiments, the memory <NUM> may also control and monitor the life of the adapter assembly <NUM>.

Each of the adapter assemblies of the present disclosure may be fabricated from a variety of suitable materials, for example, PEEK, PEK, PEKK, PEKEKK, UDEL, RADEL PPS, PPSU, Ultem™, Valox™, and/or various non-conductive materials including thermoplastics or resin-based materials.

Claim 1:
An adapter assembly (<NUM>, <NUM>) for connecting an endoscope (<NUM>) to a robotic surgical system, the adapter assembly comprising:
a proximal housing (<NUM>, <NUM>) having a proximal portion (122a, 322a) and a distal portion (122b, 322b), the proximal portion of the proximal housing configured to be coupled to an instrument drive unit (<NUM>) of a robotic surgical system, the distal portion of the proximal housing defining an opening (<NUM>) therein;
a distal housing (<NUM>, <NUM>) including a proximal portion (124a, 324a) and a distal portion (124b, 324b), the proximal portion of the distal housing being rotatably received within the opening (<NUM>) of the distal portion of the proximal housing, the distal portion of the distal housing defining a channel (<NUM>) longitudinally therethrough, the channel configured for non-rotatable receipt of an endoscope (<NUM>); and
a drive assembly (<NUM>, <NUM>) including an input (<NUM>, <NUM>) configured to be operably coupled to a motor (<NUM>) of a motor assembly (<NUM>) of an instrument drive unit (<NUM>) of a robotic surgical system, and an output (<NUM>) operably coupled to the proximal portion of the distal housing (<NUM>) to rotate the distal housing relative to the proximal housing, wherein the proximal housing is configured to be non-rotatably coupled to the motor assembly (<NUM>) of the instrument drive unit (<NUM>) such that rotation of the motor assembly causes a rotation of each of the proximal and distal housings (<NUM>, <NUM>, <NUM>, <NUM>) of the adapter assembly (<NUM>, <NUM>) and the endoscope (<NUM>).