Sterile drape interface for robotic surgical instrument
First Claim
1. A sterile drape for covering a robotic surgical manipulator, the sterile drape comprising:
- a sterile sheet that covers at least a portion of the robotic surgical manipulator;
a substantially rigid frame that is bonded to the sterile sheet;
an instrument interface that covers a drive plate of the robotic surgical manipulator, the instrument interface transmitting motion of the drive plate to a first surface of a gimbal assembly of an attached surgical instrument; and
a diaphragm that connects the instrument interface to the frame and provides a barrier between the robotic surgical manipulator and the attached surgical instrument that allows the instrument interface to move within the frame with two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly when the sterile drape is in an operative position.
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Accused Products
Abstract
A robotic surgical system includes a sterile surgical instrument, a robotic surgical manipulator, and a sterile drape covering at least a portion of the robotic surgical manipulator. The surgical instrument has a proximal interface and a distal end effector. The proximal interface includes a gimbal assembly with two intersecting rotational axes coupled to the distal end effector. The robotic surgical manipulator has a drive plate that bears against the gimbal assembly. The drive plate has two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly. The sterile drape includes a sterile sheet covers at least a portion of the robotic surgical manipulator, a frame bonded to the sterile sheet, an instrument interface that covers the drive plate of the robotic surgical manipulator, and a diaphragm that connects the instrument interface to the frame.
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Citations
28 Claims
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1. A sterile drape for covering a robotic surgical manipulator, the sterile drape comprising:
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a sterile sheet that covers at least a portion of the robotic surgical manipulator; a substantially rigid frame that is bonded to the sterile sheet; an instrument interface that covers a drive plate of the robotic surgical manipulator, the instrument interface transmitting motion of the drive plate to a first surface of a gimbal assembly of an attached surgical instrument; and a diaphragm that connects the instrument interface to the frame and provides a barrier between the robotic surgical manipulator and the attached surgical instrument that allows the instrument interface to move within the frame with two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly when the sterile drape is in an operative position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robotic surgical system comprising:
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a sterile surgical instrument having a proximal interface and a distal end effector, the proximal interface including a gimbal assembly with two intersecting rotational axes, the distal end effector having two degrees of motion relative to the proximal interface, the distal end effector coupled to the gimbal assembly; a robotic surgical manipulator having a drive plate with a driving surface that bears against a first surface of the gimbal assembly of the attached surgical instrument, the drive plate having two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly; and a sterile drape covering at least a portion of the robotic surgical manipulator, the sterile drape including a sterile sheet that covers at least a portion of the robotic surgical manipulator, a substantially rigid frame that is bonded to the sterile sheet, an instrument interface that covers the drive plate of the robotic surgical manipulator, and a diaphragm that connects the instrument interface to the frame and provides a barrier between the robotic surgical manipulator and the attached surgical instrument that allows the instrument interface to move within the frame with the two degrees of rotational freedom. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A sterile barrier between a robotic surgical manipulator and a sterile surgical instrument, the sterile barrier comprising:
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a substantially rigid frame; an instrument interface that covers a drive plate of the robotic surgical manipulator, the instrument interface transmitting motion of the drive plate to a first surface of a gimbal assembly of the sterile surgical instrument; and a diaphragm that connects the instrument interface to the frame and provides a barrier between the robotic surgical manipulator and the attached surgical instrument that allows the instrument interface to move within the frame with two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly when the sterile drape is in an operative position. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification