Sterile interface for articulated surgical instruments
A sterile interface for a surgical platform is provided, optionally to be used with a mechanical telemanipulator. The sterile interface is configured to allow for transmission of motion without dimensional inconsistencies between a non-sterile surgical platform and a sterile surgical instrument that are related to one another in a master-slave configuration. The sterile interface is configured to allow for multiple changes of sterile surgical instruments during a surgical procedure without contaminating the sterile field. The sterile interface allows for interchangeable sterile articulated surgical instruments to be attached to the surgical platform without coming into contact with non-sterile portions of the surgical platform.
1. A sterile interface comprising:
a surgical platform comprising a housing;
a flexible sleeve;
an articulated surgical instrument comprising a proximal hub at a proximal region and an end-effector at a distal region; and
a rigid connector comprising a core configured to permit transmission of motion from the surgical platform to the end-effector therethrough, a first ring, and a second ring configured to lock together to lock the flexible sleeve at the housing of the surgical platform and to lock with the proximal hub of the articulated surgical instrument, the core concentric with and extending between the first ring and the second ring, the rigid connector releasably coupled to the flexible sleeve,
wherein the rigid connector allows the articulated surgical instrument to be removably coupled via the rigid connector to the housing of the surgical platform and remain sterile, such that the articulated surgical instrument is attachable to the surgical platform without contacting non-sterile components of the surgical platform.
2. The sterile interface of claim 1 , wherein the attachment of the articulated surgical instrument to the surgical platform includes connection of mechanical transmission that delivers motion from the surgical platform to the articulated surgical instrument.
3. The sterile interface of claim 2 , wherein the rigid connector comprises at least one miniature cup configured to transmit the motion from the surgical platform to at least one articulation of the articulated surgical instrument, by having a geometry that can be mated with both a mechanical transmission element from the surgical platform and a mechanical transmission element of the articulated surgical instrument.
4. The sterile interface of claim 3 , wherein the at least one miniature cup is removable from the rigid connector so that it can be independently attached and detached from the surgical platform.
5. The sterile interface of claim 4 , wherein the at least one miniature cup is removable from the surgical platform due to a deformable mechanism, threaded surface or magnets.
6. The sterile interface of claim 3 , wherein the rigid connector comprises at least two miniature cups with concentric circular trajectories.
7. The sterile interface of claim 2 , wherein the rigid connector is configured to be attached and detached from the surgical platform.
8. The sterile interface of claim 7 , wherein the rigid connector comprises axi-asymmetric features or geometries that prevent users from inserting the articulated surgical instrument in an incorrect axial direction.
9. The sterile interface of claim 1 , wherein the flexible sleeve is configured to be selectively attached to and detached from the rigid connector.
10. The sterile interface of claim 9 , wherein the rigid connector is configured to be sterilized after each procedure.
11. The sterile interface of claim 1 , wherein the flexible sleeve covers all moving links of the surgical platform.
12. The sterile interface of claim 1 , wherein the surgical platform comprises at least one mechanical telemanipulator with a master-slave configuration.
13. The sterile interface of claim 1 , further comprising a rotating ring and a fixation ring, the fixation ring configured to engage the rotating ring to capture a portion of the flexible sleeve therebetween, the rotating ring configured to freely rotate around the rigid connector.
14. The sterile interface of claim 1 , further comprising a deformable circumferential flange and a fixation ring, the fixation ring configured to engage the deformable circumferential flange to capture a portion of the flexible sleeve therebetween.
15. A sterile interface comprising:
a surgical platform comprising a housing;
a flexible sleeve;
an articulated surgical instrument comprising a proximal hub at a proximal region and an end-effector at a distal region;
a rigid connector comprising a core configured to permit transmission of motion from the surgical platform to the end-effector therethrough, a first ring, and a second ring configured to lock together to lock the flexible sleeve at the housing of the surgical platform and to lock with the proximal hub of the articulated surgical instrument, the core extending between the first ring and the second ring, the rigid connector releasably coupled to the flexible sleeve;
a rotating ring configured to freely rotate around the rigid connector; and
a fixation ring configured to engage the rotating ring to capture a portion of the flexible sleeve therebetween,
wherein the rigid connector allows the articulated surgical instrument to be removably coupled via the rigid connector to the housing of the surgical platform and remain sterile, such that the articulated surgical instrument is attachable to the surgical platform without contacting non-sterile components of the surgical platform.