Sterile adapter for a linearly-actuating instrument driver
A robotic surgical system may include an actuator including a plurality of linearly displaceable drive members, where at least one drive member actuates at least one degree of freedom of a surgical instrument, and a sterile adapter interposed between the actuator and the surgical instrument. The sterile adapter includes a flexible barrier and a plurality of extensible covers integrally formed with the flexible barrier, and the plurality of extensible covers are arranged to receive the plurality of drive members. In some variations, the system may include an interlocked arrangement coupling the actuator and the surgical instrument across the sterile adapter, the interlocked arrangement urging the actuator and the surgical instrument together when the actuator actuates the at least one degree of freedom of the surgical instrument.
1. A surgical robotic system, comprising:
an actuator comprising at least one linearly displaceable drive member housed in an instrument mount interface;
a surgical instrument having at least one degree of freedom actuated by the at least one linearly displaceable drive member, a portion of the surgical instrument being received in a cavity of the instrument mount interface;
a sterile adapter interposed between the actuator and the surgical instrument, wherein the sterile adapter comprises a frame coupled to the instrument mount interface, a flexible barrier and an extensible cover integrally formed with the flexible barrier, wherein the extensible cover is arranged to receive the at least one linearly displaceable drive member, and the flexible barrier extends below the frame and below the extensible cover into the cavity of the instrument mount interface; and
an interlocked arrangement coupling the actuator and the surgical instrument across the sterile adapter, wherein the interlocked arrangement urges the actuator and the surgical instrument together when the actuator actuates the at least one degree of freedom of the surgical instrument.
2. The system of claim 1 , wherein the frame has a height measured as distance between the instrument mount interface and an instrument base of the surgical instrument that is at least as tall as the difference between a fully recessed position of the at least one linearly displaceable drive member and a fully extended position of the at least one linearly displaceable drive member.
3. The system of claim 2 , wherein the flexible barrier conforms to the cavity; and the surgical instrument prevents decoupling of the actuator and the sterile adapter.
4. The system of claim 1 , wherein the flexible barrier is co-injection molded with the frame.
5. The system of claim 1 , wherein the extensible cover transitions between a rest state and a fully extended state in accordance with linear displacement of the at least one linearly displaceable drive member received in the extensible cover.
6. The system of claim 1 , wherein the extensible cover comprises an elastomeric material.
7. The system of claim 1 , wherein the extensible cover comprises an enclosed distal end; and wherein the enclosed distal end is reinforced.
8. The system of claim 7 , wherein the enclosed distal end is thicker than a wall of the extensible cover.
9. The system of claim 7 , wherein the enclosed distal end comprises a harder material than a wall of the extensible cover.
10. The system of claim 1 , further comprising a sterile drape coupled to the sterile adapter.
11. The system of claim 1 , wherein the interlocked arrangement comprises a first portion coupled to the actuator and a second portion coupled to the surgical instrument.
12. The system of claim 11 , wherein the first portion comprises a first interlocking member and the second portion comprises a second interlocking member configured to engage with the first interlocking member.
13. The system of claim 11 , wherein the second portion of the interlocked arrangement comprises a latch.
14. The system of claim 13 , wherein the surgical instrument comprises a handle operatively coupled to the latch for releasably coupling the actuator and the surgical instrument.
15. The system of claim 14 , wherein the latch is pivotable, and wherein the handle is operatively coupled to a fulcrum of the latch.
16. The system of claim 1 , wherein the interlocked arrangement is configured such that when the actuator actuates the at least one degree of freedom of the surgical instrument and causes a reaction force, the interlocked arrangement leverages the reaction force into a compression force.
17. A sterile adapter for use in a surgical robotic system, the sterile adapter comprising:
a frame configured to be coupled to an instrument mount interface in which an actuator that comprises a linearly displaceable drive member is housed, the linearly displaceable drive member being configured to actuate a degree of freedom of a surgical instrument when the surgical instrument is coupled to the instrument mount interface; and
a flexible barrier, and an extensible cover integrally formed with the flexible barrier, wherein the extensible cover is arranged to receive the linearly displaceable drive member of the actuator, the flexible barrier being configured to extend below the frame and below the extensible cover into a cavity of the instrument mount interface in which a portion of the surgical instrument is received when the surgical instrument is coupled to the instrument mount interface.
18. The sterile adapter of claim 17 wherein the frame has a height measured as distance between the instrument mount interface and an instrument base of the surgical instrument that is at least as tall as the difference between a fully recessed position of the linearly displaceable drive member and a fully extended position of the linearly displaceable drive member.
19. The sterile adapter of claim 18 wherein flexible barrier conforms to the cavity.