Drape for arms of a robotic surgical system

1 . A robotic surgical system, comprising:

a first robotic arm comprising a first proximal end, a first distal end, a first series of links between the first proximal end and the first distal end, and a first series of joints connecting the first series of links, the first robotic arm being configured to maintain a drape pose in which the first distal end and the first series of links are directed upwards and positioned above the first proximal end;

a second robotic arm comprising a second proximal end, a second distal end, a second series of links between the second proximal end and the second distal end, and a second series of joints connecting the second series of links, the second robotic arm being configured to maintain a drape pose in which the second distal end and the second series of links are directed upwards and positioned above the second proximal end;

a first tube including a first pocket for receiving the first robotic arm, the first tube having a proximal end, a distal end, a drape material extending between the proximal end and the distal end of the first tube, and a first cuff positioned at the proximal end of the first tube, the first cuff being formed of a stiffer material than the drape material of the first tube, the first tube configured to be downwardly draped over the first robotic arm while the first robotic arm is in the drape pose, the first cuff being configured to hold open the proximal end of the first tube to receive the first robotic arm; and

a second tube including a second pocket for receiving the second robotic arm, the second tube having a proximal end, a distal end, a drape material extending between the proximal end and the distal end of the second tube, and a second cuff positioned at the proximal end of the second tube, the second cuff being formed of a stiffer material than the drape material of the second tube, the second tube configured to be downwardly draped over the second robotic arm while the second robotic arm is in the drape pose, the second cuff being configured to hold open the proximal end of the second tube to receive the second robotic arm.

2 . The robotic surgical system of claim 1 , further comprising:

a drape portion coupled to the first and second tubes, the drape portion configured to be draped over an arm support coupled to the first and second robotic arms.

3 . The robotic surgical system of claim 2 , further comprising one or more cards attached to the drape portion.

4 . The robotic surgical system of claim 1 , further comprising a third robotic arm and a third tube, the third tube including a third pocket for receiving a third robotic arm, the third robotic arm comprising a third series of links connected by a third series of joints, the third tube configured to be downwardly draped over the third robotic arm.

5 . The robotic surgical system of claim 1 , wherein the first cuff and the second cuff are formed of polyethylene or polystyrene.

6 . The robotic surgical system of claim 1 , wherein the drape material of the first tube is folded over the first cuff repeatedly in a telescoping or pleated manner, and wherein the drape material of the second tube is folded over the second cuff repeatedly in a telescoping or pleated manner.

7 . The robotic surgical system of claim 1 , wherein a portion of the first tube intermediate the proximal end and the distal end of the first tube has substantially the same diameter as the first cuff, and wherein a portion of the second tube intermediate the proximal end and the distal end of the second tube has substantially the same diameter as the second cuff.

8 . The robotic surgical system of claim 1 , wherein the drape material of the first tube and the drape material of the second tube are formed of an elastomeric material.

9 . The robotic surgical system of claim 1 , wherein the first and second tubes are configured to be unfolded downwardly over the first and second robotic arms simultaneously.

10 . The robotic surgical system of claim 1 , further comprising:

two or more handholds positioned at opposing sides of an assembly that comprises the first and second tubes.

11 . The robotic surgical system of claim 1 , wherein the first robotic arm and the second robotic arm are configured to position the first distal end and the second distal end at a same height as each other while in the drape pose.

12 . The robotic surgical system of claim 1 , wherein the first and second tubes are configured to be unfolded downwardly over the first and second robotic arms consecutively.

13 . A robotic surgical system, comprising:

a first robotic arm comprising a first proximal end, a first distal end, and a first series of links connected by a first series of joints;

a second robotic arm comprising a second proximal end, a second distal end, and a second series of links connected by a second series of joints;

one or more processors;

a computer readable medium storing instructions that, when executed by the one or more processors, cause the first robotic arm and the second robotic arm to be positioned in a drape pose in which the first series of links and the first distal end are directed upwards above the first proximal end and the second series of links and the second distal end are directed upwards above the second proximal end;

a first tube-shaped drape including a first pocket for receiving the first robotic arm, the first tube-shaped drape having a proximal end, a distal end, a first sleeve portion extending between the proximal end and the distal end of the first tube-shaped drape, and a first cuff positioned at the proximal end of the first tube-shaped drape, the first cuff being stiffer than the first sleeve portion, the first tube-shaped drape configured to be downwardly draped over the first robotic arm while the first robotic arm is in the drape pose, the first cuff being configured to hold open the proximal end of the first tube-shaped drape to receive the first robotic arm; and

a second tube-shaped drape including a second pocket for receiving the second robotic arm, the second tube-shaped drape having a proximal end, a distal end, a second sleeve portion extending between the proximal end and the distal end of the second tube-shaped drape, and a second cuff positioned at the proximal end of the second tube-shaped drape, the second cuff being stiffer than the second sleeve portion, the second tube-shaped drape configured to be downwardly draped over the second robotic arm while the second robotic arm is in the drape pose, the second cuff being configured to hold open the proximal end of the second tube-shaped drape to receive the second robotic arm.

14 . The robotic surgical system of claim 13 , further comprising:

an arm support coupled to the first and second robotic arms; and

a drape portion coupled to the first and second tube-shaped drapes, the drape portion configured to be draped over the arm support.

15 . The robotic surgical system of claim 13 , wherein:

the first and second pockets are configured to be aligned with the first and second robotic arms when the first and second robotic arms are in the drape pose.

16 . A method of draping a robotic surgical system, the robotic surgical system comprising a first robotic arm and a second robotic arm, the first robotic arm comprising a first proximal end, a first distal end, a first series of links between the first proximal end and the first distal end, and a first series of joints connecting the first series of links, the second robotic arm comprising a second proximal end, a second distal end, a second series of links between the second proximal end and the second distal end, and a second series of joints connecting the second series of links, the method comprising:

placing the robotic surgical system in a drape pose in which:

each link in the first series of links extends in an upwards direction above the first proximal end of the first robotic arm,

each link in the second series of links extends in an upwards direction above the second proximal end of the second robotic arm, and

the second series of links of the second robotic arm extends parallel to the first series of links of the first robotic arm;

downwardly draping a first tube-shaped drape over the first robotic arm of the robotic surgical system while the robotic surgical system is in the drape pose, the first tube-shaped drape comprising a first pocket for receiving the first robotic arm, the first tube-shaped drape having a proximal end, a distal end, a first sleeve portion extending between the proximal end and the distal end of the first tube-shaped drape, and a first cuff positioned at the proximal end of the first tube-shaped drape, the first cuff being stiffer than the first sleeve portion, the first cuff holding open the proximal end of the first tube-shaped drape as the first tube-shaped drape receives the first robotic arm; and

downwardly draping a second tube-shaped drape over the second robotic arm of the robotic surgical system while the robotic surgical system is in the drape pose, the second tube-shaped drape comprising a second pocket for receiving the second robotic arm, the second tube-shaped drape having a proximal end, a distal end, a second sleeve portion extending between the proximal end and the distal end of the second tube-shaped drape, and a second cuff positioned at the proximal end of the second tube-shaped drape, the second cuff being stiffer than the second sleeve portion, the second cuff holding open the proximal end of the second tube-shaped drape as the second tube-shaped drape receives the second robotic arm.

17 . The method of claim 16 , wherein the first tube-shaped drape and the second tube-shaped drape are downwardly draped over the first and second robotic arms simultaneously.

18 . The method of claim 16 , wherein the first tube-shaped drape and the second tube-shaped drape are downwardly draped over the first and second robotic arms consecutively.