Sterile adapter drive disks for use in a robotic surgical system
Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.
1. A sterile adapter for use in a robotic surgical system, the sterile adapter comprising:
a frame;
a plate assembly coupled to the frame; and
at least one rotatable coupler supported by the plate assembly and configured to rotate relative to the plate assembly and the frame, and to communicate torque from an output drive of a tool driver to an input drive of a surgical tool;
wherein the coupler comprises a tool driver side having a first face comprising a first engagement feature configured to engage the output drive of the tool driver, and wherein the coupler further comprises a tool side having a second face comprising a second engagement feature configured to engage the input drive of the surgical tool, the first and second engagement features being different in shape.
2. The sterile adapter of claim 1 , wherein at least one of the engagement features comprises an arcuate channel.
3. The sterile adapter of claim 1 , wherein at least one of the engagement features comprises an arcuate ridge.
4. The sterile adapter of claim 1 , wherein the first and second engagement features extend in opposite axial directions.
5. The sterile adapter of claim 4 , wherein the first engagement feature comprises an arcuate recess and the second engagement feature comprises a recess substantially centered on an axis of rotation of the rotatable coupler.
6. The sterile adapter of claim 1 , wherein the rotatable coupler comprises an outer flange.
7. The sterile adapter of claim 6 , wherein the plate assembly includes a first plate and a second plate, and the outer flange of the rotatable coupler is disposed between the first plate and the second plate.
8. The sterile adapter of claim 1 , wherein the first face of the rotatable coupler comprises a plurality of first drive features configured to engage driving features of the output drive of the tool driver, and wherein the second face of the rotatable coupler comprises a plurality of second drive features configured to engage driven features of the input drive of the surgical tool.
9. The sterile adapter of claim 8 , wherein the first drive features and second drive features equidistant from an axis of rotation.
10. The sterile adapter of claim 9 , wherein the first drive features and the second drive features are rotationally offset from each other.
11. The sterile adapter of claim 10 , wherein the first drive features and the second drive features are rotationally offset from each other by about 90 degrees.
12. The sterile adapter of claim 1 , wherein the frame defines a generally planar opening and the plate assembly is movable within the opening.
13. The sterile adapter of claim 1 , wherein the frame is configured to couple to a sterile drape.
14. A drive coupler for communicating torque from a tool driver to a surgical tool, the drive coupler comprising:
a body configured to be interposed between an output drive of the tool driver and an input drive of the surgical tool, wherein the body comprises:
a first face defining a first recess and a first set of pin holes for engaging with the output drive of the tool driver; and
a second face defining a second recess and a second set of pin holes for engaging with the input drive of the surgical tool;
wherein the first recess and the second recess are different in shape.
15. The drive coupler of claim 14 , wherein the first and second recesses extend in opposite axial directions.
16. The drive coupler of claim 14 , wherein the first recess comprises an arcuate channel and the second recess is substantially centered on an axis of rotation of the rotatable coupler.
17. The drive coupler of claim 14 , wherein the body comprises an outer flange.
18. The drive coupler of claim 14 , wherein the first set of pin holes and the second set of pin holes are equidistant from an axis of rotation.
19. The drive coupler of claim 18 , wherein the first set of pin holes and the second set of pin holes are rotationally offset from each other.
20. The drive coupler of claim 19 , wherein the first set of pin holes and the second set of pin holes are rotationally offset from each other by about 90 degrees.