Surgical drape for transferring drive
A surgical robotic drape for enveloping a portion of a surgical robot that comprises an instrument having at least one joint, and a robotic arm comprising a drive assembly configured to provide mechanical drive for selectively actuating the at least one joint, the instrument and drive assembly each having a plurality of interfaces for coupling mechanical drive from the drive assembly to the instrument, the drape comprising: a covering for enveloping the surgical robot drive assembly to define a sterile boundary thereover; and a plurality of interface elements each configured to engage with both a drive assembly interface and an instrument interface to couple the drive assembly to the instrument to thereby transfer mechanical drive provided by the drive assembly through the drape to selectively actuate the at least one joint of the instrument, the plurality of interface elements being attached to the covering in a spatial arrangement so that each of the plurality of interface elements is separated from each of the other plurality of interface elements by material of the covering.
1. A surgical robotic drape configured to envelope a portion of a surgical robot to define a sterile boundary thereover, the surgical robot comprising an instrument comprising three joints and an end effector at the distal end of the instrument, and a robotic arm comprising a drive assembly configured to provide linear mechanical drive so as to selectively actuate the three joints, a proximal end of the instrument being located at the distal end of the robotic arm, and the proximal end of the instrument opposing the distal end of the robotic arm in a first direction, the proximal end of the instrument having a plurality of instrument interfaces, and the drive assembly having a plurality of drive assembly interfaces configured to couple linear mechanical drive from the drive assembly to the instrument, the drape comprising:
a plurality of interface elements, each of the plurality of interface elements configured to engage with both one of the plurality of drive assembly interfaces within the sterile boundary of the drape and one of the plurality of instrument interfaces outside the sterile boundary of the drape to couple the drive assembly to the instrument to thereby transfer linear mechanical drive provided by the drive assembly linearly through a material of the drape to selectively actuate a respective joint of the instrument, the plurality of interface elements being attached to the material of the drape in a spatial arrangement so that each of the plurality of interface elements is separated from each of other of the plurality of interface elements by the material of the drape, the material of the drape is deformable, and
a planar extent of the drape extending in a second direction, perpendicular to the first direction;
wherein a portion of the material of the drape separating the plurality of interface elements is configured to be deformed to change the spatial arrangement of the interface elements by the drive assembly, the drive assembly is configured to provide linear mechanical drive, for selectively actuating the three joints, in the second direction, parallel to the planar extent of the drape, between the distal end of the robotic arm and the proximal end of the instrument.
2. A surgical robotic drape as claimed in claim 1 , wherein the material of the drape is flexible such that each of the plurality of interface elements is not spatially fixed with respect to each of the other of the plurality of interface elements.
3. A surgical robotic drape as claimed in claim 1 , wherein the material of the drape is flexible thereby permitting the spatial arrangement of the interface elements to be adjusted.
4. A surgical robotic drape as claimed in claim 1 , wherein the material of the drape is flexible thereby permitting spatial movement of each of the plurality of interface elements relative to one another to alter the spatial arrangement thereof.
5. A surgical robotic drape as claimed in claim 1 , wherein the spatial arrangement of the interface elements with respect to each other is dependent on the configuration of the drape.
6. A surgical robotic drape as claimed in claim 1 , wherein each interface element comprises a first interfacing surface to engage one of the plurality of drive assembly interfaces and a second interfacing surface to engage one of the plurality of instrument interfaces.
7. A surgical robotic drape as claimed in claim 6 , wherein each of the interface elements is configured to releasably engage with one of the plurality of drive assembly interfaces and one of the plurality of instrument interfaces, and each interface element is configured so that its first interfacing surface is configured to engage a complementary surface of the one of the plurality of drive assembly interfaces and its second interfacing surface is configured to engage a complementary surface of the one of the plurality of instrument interfaces so that it requires a greater force to disengage the interface element from the one of the plurality of drive assembly interfaces than from the one of the plurality of instrument interfaces.
8. A surgical robotic drape as claimed in claim 6 , wherein at least one of the interface elements is configured so that its first interfacing surface comprises surface features configured to engage a complementary surface of one of the plurality of drive assembly interfaces.
9. A surgical robotic drape as claimed in claim 6 , wherein at least one of the interface elements is configured so that its second interfacing surface comprises surface features configured to engage a complementary surface of one of the plurality of instrument interfaces.
10. A surgical robotic drape as claimed in claim 6 , wherein at least one of the interface elements is configured so that its first interfacing surface comprises surface features configured to engage a complementary surface of a one of the plurality of drive assembly interfaces and its second interfacing surface comprises surface features configured to engage a complementary surface of one of the plurality of instrument interfaces.
11. A surgical robotic drape as claimed in claim 8 , wherein the surface features of the first interfacing surface are configured to mate with a complementary surface of one of the plurality of drive assembly interfaces to thereby secure the drape to the robotic arm.
12. A surgical robotic drape as claimed in claim 1 , wherein each interface element is mounted directly to the drape.
13. A surgical robotic drape as claimed in claim 1 , wherein the plurality of interface elements comprise: a first subset of interface elements each configured to engage one of the plurality of drive assembly interfaces and one of the plurality of instrument interfaces to thereby transfer mechanical drive through the drape to actuate a first joint of the instrument; a second subset of interface elements each configured to engage another of the plurality of drive assembly interfaces and another of the plurality of instrument interfaces to thereby transfer mechanical drive through the drape to actuate a second joint of the instrument; a third subset of interface elements each configured to engage a further one of the plurality of drive assembly interfaces and a further one of the plurality of instrument interfaces to thereby transfer mechanical drive through the drape to actuate a third joint of the instrument.
14. A surgical robotic drape as claimed in claim 13 , wherein the drape comprises a first, a second, and a third pocket each formed from the drape, each pocket configured to receive a respective lug protruding from a proximal portion of the instrument, the drape being configured so that the first subset of interface elements are attached to the first pocket, the second subset of interface elements are attached to the second pocket, and the third subset of interface elements are attached to the third pocket.
15. A surgical robotic drape as claimed in claim 14 , wherein the first subset of interface elements are configured to engage respective instrument interfaces located on a first lug, the second subset of interface elements are configured to engage respective instrument interfaces located on a second lug and the third subset of interface elements are configured to engage respective instrument interfaces located on a third lug.
16. A surgical robotic drape as claimed in claim 1 , wherein the drape comprises a first, a second, and a third pocket each formed from the drape, each pocket configured to receive a respective lug protruding from a proximal portion of the instrument, each pocket having at least one interface element attached thereto configured to engage a one of the plurality of drive assembly interfaces and one of the plurality of instrument interfaces located on the respective lug to thereby transfer mechanical drive through the drape to actuate a respective joint of the instrument.
17. A surgical robotic system configured to perform robotic surgery, the robotic system comprising:
a surgical robot comprising an instrument comprising three joints, and a robotic arm comprising a drive assembly configured to provide linear mechanical drive so as to selectively actuate the three joints, a proximal end of the instrument being located at a distal end of the robotic arm, and the proximal end of the instrument opposing the distal end of the robotic arm in a first direction, and the proximal end of the instrument having a plurality of instrument interfaces and the drive assembly having a plurality of drive assembly interfaces configured to couple linear mechanical drive from the drive assembly to the instrument; and
a surgical robotic drape configured to envelope a portion of the surgical robot to define a sterile boundary thereover, the surgical robotic drape comprising:
a plurality of interface elements, each of the plurality of interface elements engaging with both one of the plurality of drive assembly interfaces within the sterile boundary of the drape and one of the plurality of instrument interfaces outside the sterile boundary of the drape to couple the drive assembly to the instrument to thereby transfer linear mechanical drive provided by the drive assembly linearly through material of the drape to selectively actuate a respective joint of the instrument, the plurality of interface elements being attached to the material of the drape in a spatial arrangement so that each of the plurality of interface elements is separated from each of other of the plurality of interface elements by the material of the drape; and
a planar extent of the drape extending in a second direction, perpendicular to the first direction;
wherein the drive assembly is configured to provide linear mechanical drive, for selectively actuating the three joints, in the second direction, parallel to the planar extent of the drape, between the distal end of the robotic arm and the proximal end of the instrument.
18. The surgical robotic drape of claim 1 , wherein the plurality of interface elements are studs mounted to the surgical robotic drape.
19. The surgical robotic drape of claim 1 , comprising a pocket formed by the material of the drape, wherein an interface element of the plurality of interface elements is a stud mounted to the pocket.
20. A surgical robotic drape configured to envelope a portion of a surgical robot to define a sterile boundary thereover, the drape comprising:
a plurality of interface elements, each of the plurality of interface elements configured to engage with both one of a plurality of drive assembly interfaces of the surgical robot within the sterile boundary of the drape and one of a plurality of instrument interfaces of an instrument outside the sterile boundary of the drape to couple a surgical robot drive assembly to the instrument to thereby transfer mechanical drive provided by the drive assembly through a material of the drape to selectively actuate a respective joint of the instrument, the plurality of interface elements being attached to the material of the drape in a spatial arrangement so that each interface element of the plurality of interface elements is separated from each of the other of the plurality of interface elements by the material of the drape, the material of the drape is deformable,
wherein a portion of the material of the drape separating the plurality of interface elements is configured to be deformed by motion of at least one interface element of the plurality of interface elements to change the spatial arrangement of the interface elements as a drive assembly of the surgical robot urges motion of at least one interface element of the plurality of interface elements.