Sterile barrier assembly, mounting system, and method for coupling surgical components
A sterile barrier assembly, mounting system, and method for kinematically coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.
1. A mounting system for coupling first and second surgical components, said mounting system comprising:
a first mounting portion associated with the first surgical component;
a second mounting portion associated with the second surgical component; and
a protective covering having a plurality of kinematic couplers configured to engage said mounting portions and provide a kinematic coupling between said mounting portions through said protective covering to constrain six degrees of freedom of movement between the surgical components.
2. The mounting system of claim 1 wherein said protective covering includes an interface and a drape attached to said interface, said interface including said plurality of kinematic couplers.
3. The mounting system of claim 2 wherein said plurality of kinematic couplers are further defined as a plurality of balls.
4. The mounting system of claim 3 wherein said plurality of balls are further defined as three balls configured to constrain the six degrees of freedom of movement between the surgical components.
5. The mounting system of claim 3 wherein said balls comprise ceramic.
6. The mounting system of claim 3 wherein said balls comprise at least one of silicon carbide or tungsten carbide.
7. The mounting system of claim 3 wherein said balls comprise steel.
8. The mounting system of claim 3 wherein one or more of said plurality of balls have optically transparent portions for transmitting data.
9. The mounting system of claim 2 wherein each of said plurality of kinematic couplers are arranged to laterally move relative to one another.
10. The mounting system of claim 2 wherein said interface includes a plurality of electrical terminals.
11. The mounting system of claim 2 wherein said drape comprises a ring defining an opening for receiving said interface and a flaccid portion attached to said ring.
12. The mounting system of claim 1 including a preloading mechanism having a preloading element, said preloading mechanism configured to clamp said mounting portions together through said protective covering.
13. The mounting system of claim 12 wherein said preloading mechanism includes a tensioner operatively coupled to said preloading element for tensioning said preloading element and clamping said mounting portions together.
14. The mounting system of claim 13 wherein said tensioner includes a cam shaft and a lever rotatably fixed to said cam shaft, said cam shaft rotatable between tensioned and untensioned positions.
15. The mounting system of claim 12 wherein said preloading mechanism includes one of a first catch or a first latch associated with said first mounting portion and one of a second catch or a second latch associated with said second mounting portion.
16. The mounting system of claim 12 wherein said preloading element includes a load member.
17. The mounting system of claim 1 wherein said first mounting portion includes a first plurality of contact surfaces for engaging said plurality of kinematic couplers and said second mounting portion includes a second plurality of contact surfaces for engaging said plurality of kinematic couplers, said contact surfaces shaped to cooperate with said plurality of kinematic couplers to constrain the six degrees of freedom of movement between the surgical components.
18. The mounting system of claim 17 wherein said first mounting portion includes a first plurality of receptacles having said first plurality of contact surfaces and said second mounting portion includes a second plurality of receptacles having said second plurality of contact surfaces.
19. The mounting system of claim 17 wherein said first plurality of contact surfaces are configured to provide only six contact points with said plurality of kinematic couplers.
20. The mounting system of claim 17 wherein each of said second plurality of contact surfaces have conical configurations.
21. The mounting system of claim 1 including a support mechanism for supporting said protective covering on said first mounting portion when coupling the first and second surgical components.
22. The mounting system of claim 1 wherein said protective covering comprises at least one of a first latch or a first catch for engaging said first mounting portion and at least one of a second latch or a second catch for engaging said second mounting portion.
23. The mounting system of claim 1 wherein said first mounting portion is associated with a robotic arm and said second mounting portion is associated with an end effector.
24. A method for coupling first and second surgical components, said method comprising the steps of:
placing a sterile barrier assembly having a plurality of kinematic couplers and a drape on the first surgical component;
placing the second surgical component on the sterile barrier assembly; and
preloading a preloading element to kinematically couple the surgical components together through the sterile barrier assembly with the plurality of kinematic couplers;
wherein the plurality of kinematic couplers are configured to engage a first mounting portion associated with the first surgical component and a second mounting portion associated with the second surgical component and provide a kinematic coupling between the mounting portions through the sterile barrier to constrain six degrees of freedom of movement between the surgical components.
25. The method of claim 24 , wherein the step of preloading a preloading element to kinematically couple the surgical components includes clamping the first mounting portion associated with the first surgical component and the second mounting portion associated with the second surgical component through the drape.
26. The method of claim 24 , further comprising the step of coupling a tensioner to the preloading element for tensioning said preloading element.
27. The method of claim 24 , further comprising the step of supporting the drape on the first mounting portion associated with the first surgical component when coupling the first and second surgical components.
28. The method of claim 24 , further comprising the step of applying a preloading force to preloading element.