Sterile drape interface for robotic surgical instrument
First Claim
1. A surgical apparatus comprising:
- a sterile sheet that covers at least a portion of a robotic surgical manipulator;
a substantially rigid frame coupled to the sterile sheet;
an instrument interface; and
a diaphragm that connects the instrument interface to the frame, the diaphragm allowing the instrument interface to move with two degrees of rotational freedom when the instrument interface is positioned at least in part between a drive plate of the robotic surgical manipulator and a gimbal assembly of a surgical instrument attached to the robotic surgical manipulator.
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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.
1374 Citations
19 Claims
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1. A surgical apparatus comprising:
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a sterile sheet that covers at least a portion of a robotic surgical manipulator; a substantially rigid frame coupled to the sterile sheet; an instrument interface; and a diaphragm that connects the instrument interface to the frame, the diaphragm allowing the instrument interface to move with two degrees of rotational freedom when the instrument interface is positioned at least in part between a drive plate of the robotic surgical manipulator and a gimbal assembly of a surgical instrument attached to the robotic surgical manipulator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method comprising:
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covering a robotic surgical manipulator at least in part by a sterile sheet that comprises a substantially rigid frame; and positioning an instrument interface at least in part between a drive plate of the robotic surgical manipulator and a two degree of freedom gimbal assembly of a surgical instrument coupled to the robotic surgical manipulator, the instrument interface being connected to the frame by a diaphragm that allows the instrument interface to move with two rotational degrees of freedom. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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Specification