Sterile barrier between surgical instrument and teleoperated actuator
An instrument sterile drape includes a plastic sheet and a pouch sealed to a first opening in the plastic sheet. The pouch is shaped to fit around a carriage that includes actuators and may be shaped to provide a loose form fit around the carriage. A stiffener is coupled to the pouch around a second opening in the pouch to provide an area that is less elastic than the remainder of the pouch. An instrument sterile adapter (ISA) may be coupled to the second opening in the pouch. The ISA may include a bottom plate and a top plate located on opposite sides of the pouch and joined together. Portions of the bottom plate may project through the top plate to provide a datum plane to receive a surgical instrument. The ISA may contain loose pins that depress sensing pins in the carriage when a surgical instrument is mounted.
1. An instrument sterile drape comprising:
a plastic sheet comprising a first opening;
a pouch sealed to the first opening in the plastic sheet, the pouch shaped to fit around a carriage that includes a control surface configured to engage with and transmit actuation force to an instrument, wherein the pouch comprises a second opening;
an instrument sterile adapter (ISA) coupled to the second opening of the pouch, the ISA engageable with the control surface of the carriage; and
a stiffener joined to the pouch and at least partially encircling the second opening, wherein the stiffener provides an area of the pouch that is less elastic than the remainder of the pouch.
2. The instrument sterile drape of claim 1 wherein:
the plastic sheet is a single layer of thermoplastic polyurethane about 100 micrometers (0.004 inch) thick in the form of a tube; and
the plastic sheet includes a lubricant.
3. The instrument sterile drape of claim 1 wherein the pouch is shaped to provide a loose form fit around the carriage.
4. The instrument sterile drape of claim 1 wherein the pouch is made from a polyurethane.
5. The instrument sterile drape of claim 1 wherein the stiffener is cut from a sheet that includes a layer of thermoplastic urethane (TPU) and a layer of polyethylene terephthalate glycol-modified (PETG).
6. The instrument sterile drape of claim 1 wherein the ISA further comprises a bottom plate located on a first side of the pouch and a top plate located on an opposing second side of the pouch and joined to the bottom plate.
7. The instrument sterile drape of claim 6 wherein the top plate is joined to the bottom plate by pins extending between the top and bottom plates and through the pouch and the stiffener.
8. The instrument sterile drape of claim 6 wherein:
the bottom plate includes a pocket with a third opening in a first surface of the bottom plate furthest from the top plate, the top plate includes a fourth opening in a second surface of the top plate furthest from the bottom plate; and
the ISA further includes a presence pin loosely retained in the pocket, a portion of the presence pin extending through the fourth opening.
9. The instrument sterile drape of claim 8 wherein at least a portion of the pocket is housed within a protrusion that extends from the first surface of the bottom plate.
10. The instrument sterile drape of claim 9 wherein the protrusion is a cylindrical protrusion and an end of the cylindrical protrusion furthest from the first surface is chamfered.
11. The instrument sterile drape of claim 6 wherein:
the bottom plate includes a mounting surface that provides a first datum plane for mounting the ISA on the control surface of the carriage and a plurality of landing pads that extend through the top plate to provide a second datum plane for a surgical instrument coupled to the ISA such that the bottom plate controls a distance between the carriage and the surgical instrument.
12. The instrument sterile drape of claim 11 wherein the plurality of landing pads and the mounting surface are opposing parallel surfaces on the bottom plate.
13. The instrument sterile drape of claim 1 , wherein the plastic sheet extends the sterile barrier from the carriage in a direction away from the ISA.
14. A method for assembling an instrument sterile drape, the method comprising:
creating a first opening in a plastic sheet;
forming a pouch to fit around a carriage that includes a control surface configured to engage with and transmit actuation force to an instrument, the pouch including a first opening to receive the carriage and a second opening;
sealing the first opening of the pouch to the first opening in the plastic sheet;
coupling an instrument sterile adapter (ISA) to the second opening of the pouch, the ISA engageable with the control surface of the carriage; and
joining a stiffener to the pouch so as to at least partially encircle the second opening in the pouch to provide an area of the pouch that is less elastic than the remainder of the pouch.
15. The method of claim 14 wherein the plastic sheet is a single layer of thermoplastic polyurethane about 100 micrometers (0.004 inch) thick in the form of a tube and the plastic sheet includes a lubricant.
16. The method of claim 14 wherein the pouch is formed to provide a loose form fit around the carriage.
17. The method of claim 14 further comprising:
cutting the stiffener from a sheet that includes a layer of thermoplastic urethane (TPU) and a layer of polyethylene terephthalate glycol-modified (PETG); and joining the stiffener to the pouch by heat sealing.
18. The method of claim 14 further comprising:
placing a bottom plate of the ISA over the second opening on a first side of the pouch;
placing a top plate of the ISA over the second opening on a second side of the pouch opposite the first side; and
joining the bottom plate and the top plate to couple the ISA to the pouch.
19. The method of claim 18 wherein the top plate is joined to the bottom plate by passing pins between the top and bottom plates and through the pouch and the stiffener.
20. The method of claim 18 further comprising applying an adhesive to the stiffener to retain the pouch between the top and bottom plates.
21. The method of claim 14 further comprising:
joining a bottom plate of the ISA to a top plate located on an opposite side of the second opening of the pouch;
the bottom plate including a mounting surface that provides a first datum plane for mounting the ISA on the control surface of the carriage; and
extending a plurality of landing pads that are included in the bottom plate through the pouch and the top plate to provide a second datum plane for a surgical instrument coupled to the ISA such that the bottom plate controls a distance between the carriage and the surgical instrument.