Fluid actuation of instruments through a sterile barrier
A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.
1. A surgical barrier for covering a non-sterile component of a surgical system and for transferring motion between a drive system of the non-sterile component and a surgical instrument, wherein the drive system is of a type including a drive member, and the surgical instrument is of a type having at least one mechanical instrument actuator moveable to cause a movement of the surgical instrument, the surgical barrier including:
a surgical drape including a first surface and a second surface opposed to the first surface, the surgical drape removably positionable covering a non-sterile component of a surgical system with the first surface contacting a drive member of the non-sterile component and with the second-surface contacting at least one mechanical instrument actuator of a surgical instrument;
the surgical drape further including at least one manifold disposed between the first surface and the second surface, said manifold containing a volume of fluid, the manifold shaped such that movement of the drive member deforms at least a portion of the first surface, driving the volume of fluid through the manifold in a first fluid direction to deform at least a portion of the second surface to thereby move the mechanical instrument actuator contacting the drape and cause movement of the instrument.
2. The surgical barrier of claim 1 , wherein said at least a portion of the second surface is expandable such that driving the volume of fluid through the manifold in the first fluid direction expands said at least a portion of the second surface.
3. The surgical barrier of claim 2 , wherein said at least a portion of the second surface is a bellows configured such that driving the volume of fluid through the manifold in the first fluid direction expands the bellows.
4. The surgical barrier of claim 1 , wherein said at least a portion of the second surface is an elastic portion such that driving the volume of fluid through the manifold in the first fluid direction in the first fluid direction elastically expands the elastic.
5. The surgical barrier of claim 1 , where said at least a portion of the second surface is a piston at least partially disposed in the manifold.
6. The surgical barrier of claim 1 , wherein said at least a portion of the second surface is engageable to the at least one mechanical instrument actuator.
7. The surgical barrier of claim 1 , wherein the manifold is an arcuate manifold, and wherein the first fluid direction is a circumferential direction.
8. A surgical barrier for covering non-sterile components of a surgical system, including:
a surgical drape including a first surface positionable covering a non-sterile component of a surgical system and a second surface opposed to the first surface;
a surgical instrument having at least one mechanical instrument actuator positionable in contact with the surgical drape, the at least one mechanical instrument actuator moveable in a first mechanical instrument actuator direction to cause a first movement of the surgical instrument;
the surgical drape including at least one manifold, a volume of fluid disposed within the manifold, and an output member at least partially disposed in the manifold, the manifold shaped such that driving fluid through the manifold in a first fluid direction drives the output member in contact with said mechanical instrument actuator to advance said mechanical instrument actuator in a first mechanical instrument actuator direction causing movement of the instrument.
9. The surgical barrier of claim 8 , wherein the output member is at least partially disposed in the manifold.
10. The surgical barrier of claim 9 , wherein the output member is a piston.
11. A method of using a surgical drape to transfer motion between a drive system of the non-sterile component and a surgical instrument, the method comprising:
providing a surgical system including a non-sterile component having a drive system with a drive member, and further providing a surgical instrument having at least one mechanical instrument actuator moveable to cause a movement of the surgical instrument;
providing a sterile surgical drape having a first surface, a second surface opposed to the first surface, and a fluid manifold disposed between the first and second surfaces;
positioning the sterile surgical drape on the non-sterile component of surgical system with the first surface contacting the drive member;
positioning the surgical instrument with the mechanical instrument actuator contacting the second surface;
moving the drive member against the first surface to deform at least a portion of the first surface and to drive the volume of fluid through the manifold in a first fluid direction, wherein driving the fluid in the first direction deforms at least a portion of the second surface thereby moving the mechanical instrument actuator and causing movement of the instrument.
12. The method of claim 11 , wherein;
deforming at least a first portion of the first surface comprises compressing said at least a portion of the first surface; and
deforming at least a portion of the second surface comprises expanding at least a portion of the second surface.