Hydraulic Instrument Drive System for Minimally Invasive Surgery

Abstract

A robotic surgical system includes a hydraulic drive system and a surgical instrument removably positioned in operative engagement with the hydraulic drive system.

1 - 23 . (canceled) 
     
     
         24 . A surgical system comprising:
 an arm;   a drive module on the arm, the drive module comprising a plurality of hydraulically driven first pistons;   a surgical instrument including a plurality of second pistons, each second piston linearly aligned with a corresponding one of the first pistons, such that hydraulically-driven translation of a first piston results in translation of the corresponding second piston to effect motion of a portion of the surgical instrument.   
     
     
         24 . The system of  claim 24 , wherein the motion is selected from the group consisting of roll, articulation, bending, jaw actuation, or linear translation. 
     
     
         25 . The system of  claim 24 , further including a drape disposed between the first pistons and the second pistons. 
     
     
         26 . The system of  claim 25 , wherein neither the drive pistons nor the driven pistons extend through the drape. 
     
     
         27 . A surgical system comprising:
 an arm;   a drive module on the arm, the drive module comprising a plurality of hydraulically driven rotational elements;   a surgical instrument including a plurality of rotational elements, each second rotational element operatively associated with a corresponding one of the first rotational elements, such that hydraulically-driven rotation of a first rotational element results in translation of the corresponding second rotational element to effect motion of a portion of the surgical instrument.   
     
     
         28 . The system of  claim 28 , wherein the motion is selected from the group consisting of roll, articulation, bending, jaw actuation, or linear translation. 
     
     
         29 - 33 . (canceled) 
     
     
         34 . A hydraulically driven surgical instrument including:
 a housing having a fluid pathway with fluid therein,   a first piston in one end of the fluid pathway and a second piston in a second end of the fluid pathway,   a rotatable element positioned in the fluid pathway, the rotatable splined element coupled to an actuator of a surgical instrument such that advancing the first piston drives the rotatable element in a first direction causing motion of the actuator in a first direction, and advancing the second piston drives the rotatable element in a second direction causing motion of the actuator in a second direction, wherein diameters of the piston and the volume of fluid captured between the fins of the splined element are selected to achieve a desired ratio of input piston travel to rotational output of the splined element.