Latch to secure teleoperated surgical instrument to actuator
An instrument sterile adapter ( 310 ) couples a surgical instrument ( 120 ) and an instrument carriage ( 130 ). The instrument sterile adapter ( 310 ) includes an instrument plate ( 430 ) that provides a first surface to receive the surgical instrument ( 120 ) and a latch plate ( 400 ) joined to the instrument plate ( 430 ). The latch plate ( 400 ) includes a second surface to receive the instrument carriage ( 130 ) and latch structures. Each latch structure has a carriage latch arm ( 410 ) that extends away from the second surface of the latch plate ( 400 ) and an instrument latch arm ( 405 ) joined to the carriage latch arm ( 410 ). The instrument latch arm ( 405 ) extends through the instrument plate ( 430 ) and away from the first surface of the instrument plate ( 430 ). A connecting member ( 425 ) flexibly connects the carriage latch arm ( 410 ) and the instrument latch arm ( 405 ) to a remainder of the latch plate ( 400 ). The connecting member ( 425 ) may be perpendicular to the latch arms ( 405 ). The latch arms ( 405 ) may engage fixed locking surfaces in the instrument carriage ( 130 ) and the surgical instrument ( 120 ).
1. An instrument sterile adapter comprising:
means for latching the instrument sterile adapter to an instrument carriage;
means for latching the instrument sterile adapter to a surgical instrument; and
means for preventing the means for latching the instrument sterile adapter to an instrument carriage from being unlatched from an instrument carriage when the means for latching the instrument sterile adapter to a surgical instrument is latched to a surgical instrument.
2. The instrument sterile adapter of claim 1 wherein the means for preventing the means for latching the instrument sterile adapter to an instrument carriage from being unlatched from the instrument carriage requires the means for latching the instrument sterile adapter to a surgical instrument to move toward a latched surgical instrument to unlatch the means for latching the instrument sterile adapter to an instrument carriage.
3. The instrument sterile adapter of claim 1 wherein the means for latching the instrument sterile adapter to an instrument carriage engages a first fixed locking surface in an instrument carriage, and the means for latching the instrument sterile adapter to a surgical instrument engages a second fixed locking surface in a surgical instrument.
4. The instrument sterile adapter of claim 1 wherein the means for latching the instrument sterile adapter to an instrument carriage includes a first aperture that engages a first fixed locking surface in an instrument carriage, and the means for latching the instrument sterile adapter to a surgical instrument includes a second aperture that engages a second fixed locking surface in a surgical instrument.
5. The instrument sterile adapter of claim 1 wherein the means for preventing the means for latching the instrument sterile adapter to an instrument carriage from being unlatched from the instrument carriage is elastically deformed when latching the instrument sterile adapter to an instrument carriage.
6. The instrument sterile adapter of claim 1 wherein the means for latching the instrument sterile adapter to a surgical instrument is elastically deformed when latching the instrument sterile adapter to a surgical instrument.
7. The instrument sterile adapter of claim 1 wherein the means for latching the instrument sterile adapter to a surgical instrument applies a force to elastically deform the means for preventing the means for latching the instrument sterile adapter to an instrument carriage from being unlatched from the instrument carriage when unlatching the instrument sterile adapter from an instrument carriage.
8. The instrument sterile adapter of claim 1 further comprising a plastic sheet and a flexible pouch sealed to a first opening in the plastic sheet, the flexible pouch having a portion captured by a plate that supports the means for latching the instrument sterile adapter to an instrument carriage, the means for latching the instrument sterile adapter to a surgical instrument, and the means for preventing the means for latching the instrument sterile adapter to an instrument carriage from being unlatched from the instrument carriage.
9. An instrument sterile adapter comprising:
first means for latching that latches the instrument sterile adapter to an instrument carriage, the first means for latching comprising a carriage latch arm to engage the instrument carriage;
means for supporting the first means for latching; and
second means for latching that latches the instrument sterile adapter to a surgical instrument.
10. The instrument sterile adapter of claim 9 wherein the means for supporting the first means for latching is elastically deformed when the first means for latching is being latched to an instrument carriage.
11. The instrument sterile adapter of claim 9 wherein the second means for latching is elastically deformed when the second means for latching is being latched to a surgical instrument.
12. The instrument sterile adapter of claim 9 wherein the means for supporting the first means for latching is elastically deformed by a force applied to the second means for latching to unlatch the first means for latching from an instrument carriage.
13. The instrument sterile adapter of claim 12 wherein the force applied to the second means for latching is prevented from elastically deforming the means for supporting the first means for latching by a surgical instrument latched to the instrument sterile adapter.
14. A method for latching an instrument sterile adapter to an instrument carriage and to a surgical instrument and then unlatching the instrument sterile adapter from the surgical instrument and the instrument carriage, the method comprising:
latching the instrument sterile adapter to an instrument carriage with a first means for latching by elastically deforming a means for supporting the first means for latching;
latching the instrument sterile adapter to a surgical instrument by elastically deforming a second means for latching;
unlatching the instrument sterile adapter from the surgical instrument by elastically deforming the second means for latching; and
unlatching the instrument sterile adapter from the instrument carriage by elastically deforming the means for supporting the first means for latching to unlatch the first means for latching.
15. The method of claim 14 wherein unlatching the instrument sterile adapter from the instrument carriage further comprises applying a force to the means for supporting the first means for latching with the second means for latching.
16. The method of claim 15 wherein applying a force to the means for supporting the first means for latching with the second means for latching is prevented when the second means for latching is latched to a surgical instrument.
17. The method of claim 15 wherein applying a force to the means for supporting the first means for latching with the second means for latching is prevented by the presence of a latched surgical instrument.