Sterile channel pre-drape assembly
An apparatus includes a sterile channel pre-drape assembly comprising a plurality of legs radiating from a common center region. Each of the plurality of legs has one or more sterile interior surfaces and one or more outer surfaces. The sterile interior surfaces of a pair of the plurality of legs define a sterile channel that is bounded by the outer surfaces of the pair of the plurality of legs. The sterile channel pre-drape assembly also includes an attachment element affixed to the sterile channel pre-drape assembly. The attachment element is configured to attach the sterile channel pre-drape assembly to a portion of a surgical system.
1. An apparatus comprising:
a sterile channel pre-drape assembly comprising a plurality of legs radiating in differing radial directions from a common center region, each of the plurality of legs comprising a pair of opposing and facing sterile interior surfaces and a pair of oppositely facing outer surfaces, wherein the pair of sterile interior surfaces defines a sterile channel,
wherein the interior and outer surfaces of each of the plurality of legs extend generally along a proximal-distal direction that is perpendicular to the differing radial directions; and
a sterile drape sleeve extending between an open proximal end and a distal end, the open proximal end of the sterile drape sleeve surrounded by wall portions of the sleeve,
wherein the wall portions of the sleeve are configured to be received in two sterile channels of a pair of adjacent legs of the plurality of legs of the sterile channel pre-drape assembly, and
wherein, with the wall portions of the sterile drape sleeve received in the two sterile channels, the sterile drape sleeve extends distally from the sterile channel pre-drape assembly.
2. The apparatus of claim 1 , further comprising:
an attachment element coupled to the sterile channel pre-drape assembly and
in a position such that each of the plurality of legs is open to receive wall portions of a sterile drape sleeve in the channels defined by the plurality of legs.
3. The apparatus of claim 1 :
wherein in the attached state of the sterile channel pre-drape assembly to the attachment element, each of the plurality of legs is positioned in a respective space between adjacent instrument manipulator assemblies such that respective outer surfaces of each leg is adjacent a respective one of the adjacent instrument manipulator assemblies.
4. The apparatus of claim 1 , wherein the attachment element is affixed to the sterile channel pre-drape assembly at the common center region.
5. The apparatus of claim 1 , wherein in an attached state of the sterile channel pre-drape assembly to the attachment element, the sterile channels of the sterile channel pre-drape assembly are open to receive a plurality of sterile drape sleeves in differing pairs of the sterile channels.
6. The apparatus of claim 1 , further comprising:
a plurality of sterile drape sleeves, each of the plurality of sterile drape sleeves configured to individually drape one or more of a plurality of co-located instrument manipulator assemblies in a position of each sterile drape sleeve received in two sterile channels of differing pairs of adjacent legs of the plurality of legs of the sterile channel pre-drape assembly in the attached state of the sterile channel pre-drape assembly to a manipulator portion of the surgical system.
7. The apparatus of claim 1 , wherein each of one or more of the plurality of legs comprises a first closed end and a second open end, wherein the interior surfaces of each channel flare outwardly away from each other in a direction from the first end to the second end.
8. The apparatus of claim 1 , the sterile drape sleeve further comprising:
an instrument sterile adapter attached to the distal end of the sterile drape sleeve.
9. The apparatus of claim 1 , the sterile drape sleeve further comprising:
a flexible membrane mechanical interface attached to the distal end of the sterile drape sleeve.
10. The apparatus of claim 1 , wherein the plurality of legs comprises four legs radiating from the common center region.
11. The apparatus of claim 1 , wherein each leg comprises a trapezoidal cross section in a plane parallel to a longitudinal axis of the sterile channel pre-drape assembly, the longitudinal axis passing through the common center region.
12. The apparatus of claim 1 , wherein each of the plurality of legs comprises a folded sheet of material defining the interior and outer surfaces.
13. The apparatus of claim 1 , wherein the plurality of legs radiate in differing directions from the common center region.
14. The apparatus of claim 1 , wherein an angle between each pair of adjacent legs of the plurality of legs is uniform.