Methods and systems for coupling a surgical tool to a tool driver of a robotic surgical system
Systems and methods are provided for coupling a robotic surgical tool with a tool driver of a robotic surgical system via a sterile barrier disposed between the tool and the tool driver. The sterile barrier can have a housing configured to accommodate proximal portions of a plurality of actuation members of the tool driver when the sterile barrier is coupled to the tool driver. The housing can have at least partially disposed within it substantially cylindrical, longitudinally expandable bellows, each being configured to encompass and mate with a proximal portion of a corresponding one of the plurality of actuation members. In some cases, the sterile barrier can have a plurality of sterile barrier couplers each having a first portion configured to engage with an actuation member of a tool driver, and a second portion configured to engage with a tool actuation member of a surgical tool.
1. A robotic surgical system comprising:
a surgical tool, including:
a plurality of moveable portions arranged about a longitudinal axis, wherein each moveable portion is configured to be axially displaced along the longitudinal axis; and
a plurality of coupling features, wherein each of the plurality of coupling features are arranged radially outward of the plurality of movable portions, and secured to at least one of the plurality of movable portions;
a tool driver, including a plurality of tool driver actuation members arranged about the longitudinal axis;
a plurality of sterile barrier couplers of a sterile barrier, each of the plurality of sterile barrier couplers being configured to reversibly couple the surgical tool and the tool driver of the robotic surgical system via the sterile barrier, each of the plurality of sterile barrier couplers having:
a first portion configured to engage with a proximal end of a corresponding one of the plurality of tool driver actuation members of the tool driver, and
a second portion configured to engage with a corresponding one of the plurality of coupling features of the surgical tool;
wherein the plurality of sterile barrier couplers and the plurality of movable portions are configured to be axially displaced by the plurality of tool driver actuation members along the longitudinal axis.
2. The robotic surgical system of claim 1 , further comprising at least one bellows coupled to and extending distally from each of the plurality of sterile barrier couplers.
3. The robotic surgical system of claim 2 , wherein the first portion of each of the plurality of sterile barrier couplers comprises a first recess configured to receive therein the proximal end of the corresponding one of the plurality of tool driver actuation members, wherein a configuration of the first recess is complementary to a configuration of the proximal end.
4. The robotic surgical system of claim 3 , wherein the second portion of each of the plurality of sterile barrier couplers comprises a second recess configured to receive therein a distal end of the corresponding one of the plurality of coupling features.
5. The robotic surgical system of claim 4 , wherein the second recess is L-shaped and the corresponding one of the plurality of coupling features is correspondingly L-shaped.
6. The robotic surgical system of claim 3 , wherein the first recess comprises a T-shaped locking pocket, and the proximal end of corresponding one of the plurality of tool driver actuation members is generally T-shaped.
7. The robotic surgical system of claim 1 , wherein each of the plurality of sterile barrier couplers further includes a proximal tip having a generally cylindrical lower portion and a proximally tapered, generally conical upper portion.
8. The robotic surgical system of claim 7 , wherein the lower portion of the proximal tip of each of the plurality of sterile barrier couplers further comprises a plurality of chord portions configured to reversibly mate with a removable coupling member.
9. The robotic surgical system of claim 2 , wherein the first portion of each of the plurality of sterile barrier couplers further comprises a lower first portion having an annular recess configured to mate with the at least one bellows.