Low friction instrument driver interface for robotic systems

Abstract

A medical robotic system includes a base having a first opening, and a first protrusion next to the first opening, a first rotary member configured for detachably coupling to a component of the medical robotic system in a manner such that the first rotary member is rotatable relative to the base and at least a part of the first rotary member is located in the first opening of the base when the first rotary member is coupled to the system component, and a cover coupled to the base, wherein the first rotary member comprises a first end, a second end, a body extending between the first and second ends, and a flange disposed circumferentially around a part of the body, the flange having a first circumferential slot for receiving the first protrusion.

1 . A medical robotic system, comprising:
 a base having a first opening, and a first protrusion next to the first opening;   a first rotary member configured for detachably coupling to a component of the medical robotic system, the first rotary member rotatable relative to the base and at least a part of the first rotary member is located in the first opening of the base; and   a cover coupled to the base;   wherein the first rotary member comprises a first end, a second end, a body extending between the first and second ends, and a flange disposed circumferentially around a part of the body, the flange having a first circumferential slot for receiving the first protrusion.   
     
     
         2 . The medical robotic system of  claim 1 , wherein the base has a second opening, and the system further comprises a second rotary member that is at least partially located in the opening. 
     
     
         3 . The medical robotic system of  claim 1 , further comprising the component, wherein the component comprises an instrument driver configured for actuating the first rotary member when the first end of the first rotary member is coupled to the instrument driver. 
     
     
         4 . The medical robotic system of  claim 3 , wherein the instrument driver is configured to actuate the first rotary member in response to a command signal received from a user interface. 
     
     
         5 . The medical robotic system of  claim 3 , wherein the instrument driver comprises an actuatable member for actuating the first rotary member, and a sensor for sensing a characteristic that corresponds with an amount of force or torque being applied to the actuatable member. 
     
     
         6 . The medical robotic system of  claim 5 , wherein the sensor comprises a force sensor. 
     
     
         7 . The medical robotic system of  claim 1 , wherein the first end of the first rotary member comprises a slot for mating with an actuatable member of the component. 
     
     
         8 . The medical robotic system of  claim 1 , wherein the first end of the first rotary member comprises a protrusion for mating with an actuatable member of the component. 
     
     
         9 . The medical robotic system of  claim 1 , wherein the base, the first rotary member, and the cover are respective parts of a sterile adaptor, the sterile adaptor further comprising a flexible sheet coupled to the base. 
     
     
         10 . The medical robotic system of  claim 9 , wherein the cover has a first opening sized and configured for allowing the second end of the first rotary member to extend therethrough when the first rotary member is coupled to the component. 
     
     
         11 . The medical robotic system of  claim 9 , further comprising:
 a splayer assembly having a first splayer rotary member; and   an instrument driver,   wherein the second end of the first rotary member is configured to detachably couple to the first splayer rotary member, and the first end of the first rotary member is configured to detachably couple to the instrument driver.   
     
     
         12 . The medical robotic system of  claim 11 , wherein the second end of the first rotary member extends through an opening at the cover, and comprises a plurality of keys configured for mating with corresponding slots in the first splayer rotary member. 
     
     
         13 . The medical robotic system of  claim 11 , wherein when the first rotary member of the sterile adaptor is coupled to the first slayer rotary member, the instrument driver is configured to actuate the first rotary member in response to a command signal received from a user interface to thereby rotate the first splayer rotary member. 
     
     
         14 . The medical robotic system of  claim 1 , wherein the base has a second protrusion, and the flange has a second circumferential slot for receiving the second protrusion. 
     
     
         15 . A medical robotic system, comprising:
 an instrument driver having an actuatable element;   a sensor coupled to the instrument driver; and   a device configured for detachably coupling to the instrument driver, the device comprising:
 a base having a first opening, and 
 a rotary member configured for detachably coupling to the actuatable element of the instrument driver, wherein the rotary member is rotatable relative to the base, and at least a portion of the rotary member is located within the first opening of the base; 
   wherein when the device is coupled to the instrument driver, the actuatable element is configured to rotate the rotary member in response to a command signal received from a user interface; and   wherein the sensor is configured to sense a characteristic that corresponds with an amount of force or torque being applied to the actuatable element in order to rotate the rotary member.   
     
     
         16 . The medical robotic system of  claim 15 , wherein
 the base comprises a protrusion next to the first opening; and   the rotary member comprises a first end, a second end, a body extending between the first and second ends, and a flange disposed circumferentially around at least a portion of the body, the flange having a first circumferential slot for receiving the protrusion.   
     
     
         17 . The medical robotic system of  claim 16 , wherein the base has a second protrusion, and the flange has a second circumferential slot for receiving the second protrusion. 
     
     
         18 . The medical robotic system of  claim 15 , wherein the sensor comprises a force sensor. 
     
     
         19 . The medical robotic system of  claim 15 , wherein the rotary member has a slotted end configured for mating with the actuatable member of the instrument driver. 
     
     
         20 . The medical robotic system of  claim 15 , wherein the rotary member comprises a protrusion configured for mating with the actuatable member of the instrument driver. 
     
     
         21 . The medical robotic system of  claim 15 , wherein the base and the rotary member are respective parts of a sterile adaptor, the sterile adaptor further comprising a flexible sheet coupled to the base. 
     
     
         22 . The medical robotic system of  claim 21 , further comprising a splayer assembly having a splayer rotary member, wherein the rotary member has a first end configured for detachably coupling to the actuatable element of the instrument driver, and a second end configured for detachably coupling to the splayer rotary member. 
     
     
         23 . The medical robotic system of  claim 22 , wherein the second end of the rotary member comprises a plurality of keys configured for mating with corresponding slots in the splayer rotary member. 
     
     
         24 . The medical robotic system of  claim 22 , wherein when the sterile adaptor rotary member is coupled to the splayer rotary member and to the actuatable element, the instrument driver is configured to actuate the actuatable element to thereby indirectly rotate the splayer rotary member through the sterile adaptor rotary member. 
     
     
         25 . The medical robotic system of  claim 22 , wherein the splayer assembly further comprises:
 an elongate member having a distal end, a proximal end, and a lumen extending between the distal and proximal ends of the elongate member; and   a first control wire having a distal end coupled to the distal end of the elongate member, and a proximal end coupled to the splayer rotary member.   
     
     
         26 . A method of steering a distal end of an elongate member, comprising:
 determining a desired bending to be achieved by the distal end of the elongate member;   determining an amount of tension to be applied to a steering wire located within the elongate member based on the desired bending to be achieved;   using an actuatable element to apply a torque to turn a rotary member that is detachably coupled to the actuatable element, the steering wire having one end is secured to the rotary member and another end secured to the elongate member, wherein the application of the torque by the actuatable element causes tension to be applied to the steering wire; and   using a sensor coupled to the actuatable element to sense a characteristic that corresponds with an amount of force or torque being applied by the actuatable element to turn the rotary member.   
     
     
         27 . The method of  claim 26 , wherein the act of using the actuatable element to apply the torque comprises increasing the amount of force or torque being applied by the actuatable element until the sensed characteristic indicates that the amount of tension at the steering wire has been achieved. 
     
     
         28 . The method of  claim 26 , wherein the sensor is coupled indirectly to the actuatable element through a mechanical component.