Latch to secure teleoperated surgical instrument to actuator
An instrument sterile adapter ( 310 ) couples a surgical instrument ( 120 ) and an instrument carriage ( 130 ). The instrument sterile adapter ( 310 ) includes an instrument plate ( 430 ) that provides a first surface to receive the surgical instrument ( 120 ) and a latch plate ( 400 ) joined to the instrument plate ( 430 ). The latch plate ( 400 ) includes a second surface to receive the instrument carriage ( 130 ) and latch structures. Each latch structure has a carriage latch arm ( 410 ) that extends away from the second surface of the latch plate ( 400 ) and an instrument latch arm ( 405 ) joined to the carriage latch arm ( 410 ). The instrument latch arm ( 405 ) extends through the instrument plate ( 430 ) and away from the first surface of the instrument plate ( 430 ). A connecting member ( 425 ) flexibly connects the carriage latch arm ( 410 ) and the instrument latch arm ( 405 ) to a remainder of the latch plate ( 400 ). The connecting member ( 425 ) may be perpendicular to the latch arms ( 405 ). The latch arms ( 405 ) may engage fixed locking surfaces in the instrument carriage ( 130 ) and the surgical instrument ( 120 ).
1. An instrument sterile adapter for coupling a surgical instrument and an instrument carriage, the instrument sterile adapter comprising:
an instrument plate that provides a first surface to receive the surgical instrument;
a latch plate joined to the instrument plate, the latch plate including a second surface to receive the instrument carriage and a plurality of latch structures, each latch structure including
a carriage latch arm that extends away from the second surface of the latch plate,
an instrument latch arm joined to the carriage latch arm, the instrument latch arm extending through the instrument plate and away from the first surface of the instrument plate, and
a connecting member joined to the carriage latch arm and the instrument latch arm, the connecting member flexibly connecting the carriage latch arm and the instrument latch arm to a remainder of the latch plate.
2. The instrument sterile adapter of claim 1 wherein the connecting member is joined at a junction of and perpendicular to the carriage latch arm and the instrument latch arm.
3. The instrument sterile adapter of claim 1 wherein the carriage latch arm includes a carriage latch receiver to engage a first fixed locking surface in the instrument carriage, and the instrument latch arm includes an instrument latch receiver to engage a second fixed locking surface in the surgical instrument.
4. The instrument sterile adapter of claim 3 wherein the carriage latch receiver is a first aperture in the carriage latch arm and the instrument latch receiver is a second aperture in the instrument latch arm.
5. The instrument sterile adapter of claim 3 wherein the carriage latch arm and the instrument latch arm are sufficiently rigid that engaging the instrument latch receiver to the second fixed locking surface prevents disengaging the carriage latch receiver from the first fixed locking surface.
6. The instrument sterile adapter of claim 1 wherein the connecting member is sufficiently flexible to rotate the carriage latch arm and allow the carriage latch arm to pass over a first fixed locking surface in the instrument carriage and then resume an original shape of the connecting member and cause the carriage latch arm to engage the first fixed locking surface.
7. The instrument sterile adapter of claim 1 wherein the instrument latch arm is sufficiently flexible to pass over a second fixed locking surface in the surgical instrument and then resume an original shape of the instrument latch arm to engage the second fixed locking surface.
8. The instrument sterile adapter of claim 7 wherein the instrument latch arm can receive a force that bends the connecting member sufficiently to cause the carriage latch arm to rotate and allow the carriage latch arm pass over a first fixed locking surface in the instrument carriage.
9. The instrument sterile adapter of claim 1 further comprising a plastic sheet and a flexible pouch sealed to a first opening in the plastic sheet, the flexible pouch having a portion captured between the latch plate and the instrument plate.
10. A method forming a latch mechanism in an instrument sterile adapter for coupling a surgical instrument and an instrument carriage, the method comprising:
forming an instrument plate that provides a first surface to receive the surgical instrument;
forming a latch plate that provides a second surface to receive the instrument carriage and a plurality of latch structures, each latch structure including
a carriage latch arm that extends away from the second surface of the latch plate,
an instrument latch arm joined to the carriage latch arm, the instrument latch arm extending through the instrument plate and away from the first surface of the instrument plate, and
a connecting member joined to the carriage latch arm and the instrument latch arm, the connecting member flexibly connecting the carriage latch arm and the instrument latch arm to a remainder of the latch plate; and
joining the latch plate to the instrument plate.
11. The method of claim 10 further comprising joining the connecting member to the carriage latch arm and the instrument latch arm perpendicular to a junction of the carriage latch arm and the instrument latch arm.
12. The method of claim 10 further comprising:
forming a carriage latch receiver in the carriage latch arm, the carriage latch receiver to engage a first fixed locking surface in the instrument carriage, and
forming an instrument latch receiver in the instrument latch arm, the instrument latch receiver to engage a second fixed locking surface in the surgical instrument.
13. The method of claim 12 wherein:
forming the carriage latch receiver includes forming a first aperture in the carriage latch arm; and
forming the instrument latch receiver includes forming a second aperture in the instrument latch arm.
14. The method of claim 12 wherein the carriage latch arm and the instrument latch arm are formed to be sufficiently rigid that engaging the instrument latch receiver to the second fixed locking surface prevents disengaging the carriage latch receiver from the first fixed locking surface.
15. The method of claim 10 wherein the connecting member is formed to be sufficiently flexible to rotate the carriage latch arm and allow the carriage latch arm to pass over a first fixed locking surface in the instrument carriage and then resume an original shape of the connecting member and cause the carriage latch arm to engage the first fixed locking surface.
16. The method of claim 10 wherein the instrument latch arm is formed to be sufficiently flexible to pass over a second fixed locking surface in the surgical instrument and then resume an original shape of the instrument latch arm to engage the second fixed locking surface.
17. The method of claim 10 further comprising:
forming a first opening in a plastic sheet;
sealing a flexible pouch to the first opening in the plastic sheet; and
capturing a portion of the flexible pouch between the latch plate and the instrument plate.