Drape interface structure
A drape interface structure including a frame defining an opening, a membrane spanning the opening of the frame, and a drive transfer element attached to the membrane and adapted to convey motion through the membrane. The membrane is of a material that can deform to form a plastically deformed region in the membrane in response to an initial movement of the drive transfer element relative to the frame, such that subsequent movements of the drive transfer element in the membrane have reduced resistance from the membrane.
1 . A drape interface structure comprising:
a frame defining an opening;
a membrane spanning the opening of the frame;
a drive transfer element attached to the membrane and adapted to convey motion through the membrane;
wherein the membrane is of a material that can deform to form a plastically deformed region in the membrane in response to an initial movement of the drive transfer element relative to the frame, such that subsequent movements of the drive transfer element in the membrane have reduced resistance from the membrane; and
wherein the membrane can deform, in response to the initial movement of the drive transfer element, to form the plastically deformed region such that the membrane surrounding the plastically deformed region is not plastically deformed.
2 . A drape interface structure as claimed in claim 1 , comprising one or more further drive transfer elements, each further drive transfer element being attached to the membrane and adapted to convey motion through the membrane, and optionally wherein the one or more further drive transfer elements are adapted to convey motion through the membrane along respective drive paths, and the respective drive paths of the drive transfer elements are parallel to one another, and optionally wherein the membrane can deform to form respective further plastically deformed regions in the membrane in response to an initial movement of each of the further drive transfer elements relative to the frame, such that subsequent movements of each of the further drive transfer elements in the membrane have reduced resistance from the membrane.
3 . A drape interface structure as claimed in claim 2 , wherein the membrane can deform, in response to the initial movement of each of the drive transfer elements, to form the respective plastically deformed regions such that the respective plastically deformed regions do not overlap, or wherein the membrane can deform, in response to the initial movement of each of the drive transfer elements, to form the respective plastically deformed regions such that the respective plastically deformed regions do overlap.
4 . A drape interface structure as claimed in claim 1 , wherein a material of the drive transfer element comprises a non-elastomeric material.
5 . A drape interface structure as claimed in claim 4 , wherein the material of the drive transfer element comprises polyethylene and/or wherein a material of the frame comprises polyethylene.
6 . A drape interface structure as claimed in claim 1 , wherein the membrane is substantially taut such that the drive transfer element is held in the membrane.
7 . A drape interface structure as claimed in claim 1 , wherein the membrane can deform, in response to the initial movement of the drive transfer element a distance along a drive path, to form the plastically deformed region having a length along the drive path of at least half of the distance moved along the drive path, and optionally wherein the membrane can deform, in response to the initial movement of the drive transfer element along a drive path, to form the plastically deformed region having a width perpendicular to the drive path of at least the width of the drive transfer element.
8 . A drape interface structure as claimed in claim 1 , wherein the membrane can deform such that the subsequent movements of the drive transfer element in the membrane have substantially no resistance from the membrane.
9 . A drape interface structure as claimed in claim 1 , wherein the membrane can deform such that the subsequent movements of the drive transfer element in the plastically deformed region have reduced resistance from the membrane.
10 . A drape interface structure as claimed in claim 1 , wherein the drive transfer element comprises a recess on a first side of the membrane and a protrusion on the second side of the membrane, and optionally wherein the drive transfer element recess is engageable with an interface protrusion, and the drive transfer element protrusion is engageable with an interface recess.
11 . A drape interface structure as claimed in claim 1 , wherein the frame comprises a securing fitting configured to secure the frame to a robot arm.
12 . A drape interface structure as claimed in claim 1 , wherein the drive path is linear.
13 . A drape interface structure as claimed in claim 1 , wherein the frame and the drive transfer element are heat welded to the membrane.
14 . A drape interface structure as claimed in claim 1 , wherein a material of the membrane is a thermoplastic polymer, and optionally wherein the thermoplastic polymer material of the membrane comprises one or more of high-density polyethylene or linear low-density polyethylene.
15 . A drape interface structure comprising:
a frame defining an opening;
a membrane spanning the opening of the frame;
a drive transfer element attached to the membrane and adapted to convey motion along a drive path through the membrane;
wherein the membrane is configured to have a lower resistance on movement of the drive transfer element in a direction along the drive path and a higher resistance on movement of the drive transfer element in a direction not along the drive path, and
wherein the membrane comprises a material and/or structure that is configured to have a lower resistance on movement of the drive transfer element in a direction along the drive path and a higher resistance on movement of the drive transfer element in a direction not along the drive path.
16 . A drape interface structure as claimed in claim 15 , wherein the membrane comprises an anisotropic material.
17 . A drape interface structure as claimed in claim 15 , wherein the membrane is configured to have a highest resistance on movement of the drive transfer element in a direction perpendicular to the drive path, and optionally wherein the membrane is configured to have an increasing resistance on movement of the drive transfer element with respect to an angle of the direction of movement of the drive transfer element from the drive path.
18 . A drape interface structure as claimed in claim 15 , comprising one or more further drive transfer elements, each further drive transfer element being attached to the membrane and adapted to convey motion through the membrane along a respective drive path, and optionally wherein respective drive paths of the drive transfer elements are parallel to one another, and optionally wherein the membrane is configured to have a lower resistance on movement of each of the further drive transfer elements in a direction along the respective drive paths and a higher resistance on the movement of each of the further drive transfer elements in a direction not along the respective drive paths.