Sterile adapter with integrated wireless interface for use in a robotic surgical system
Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.
1. A robotic surgical system comprising:
a tool driver comprising:
a first housing configured to attach to a surgical tool via a sterile adapter;
at least one output drive coupled to a corresponding rotatable output drive disk each supported by the first housing, the output drive configured to communicate torque to an input drive of the surgical tool through the sterile adapter; and
a first electronic communication device configured to wirelessly communicate with the surgical tool and disposed substantially in a plane of the output drive disk.
2. The system of claim 1 , wherein
the surgical tool comprises:
a second housing configured to couple to the sterile adapter, the second housing comprising a projection and a second electronic communication device configured to wirelessly communicate with the tool driver, the second electronic communication device disposed in the projection; and
an end effector extending from the second housing and operatively coupled to the input drive, wherein the input drive is supported by the second housing and configured to receive torque communicated from the output drive of the tool driver through the sterile adapter.
3. The system of claim 2 , wherein
the sterile adapter comprises:
a frame configured to be interposed between the tool driver and the surgical tool;
a plate assembly coupled to the frame, wherein the frame comprises a communication portion configured to support the projection of the surgical tool substantially in a plane of the plate assembly when the surgical tool is attached to the sterile adapter and the plate assembly is biased toward the tool driver; and
at least one rotatable coupler supported by the plate assembly and configured to communicate torque from the output drive of the tool driver to the input drive of the surgical tool.
4. The system of claim 3 , wherein a proximal end of the frame comprises the communication portion.
5. The system of claim 2 , wherein a proximal end of the surgical tool comprises the projection.
6. The system of claim 1 , wherein a proximal end of the first housing is configured to support the first electronic communication device.
7. The system of claim 1 , wherein the first electronic communication device and the output drive disk are positioned along opposite sides of the first housing.