Alignment and engagement for teleoperated actuated surgical instrument
An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument. A shaft receiving slot is positioned in the adapter control surface to receive an elongate tube of the surgical instrument when the adapter control surface receives the instrument control surface of the surgical instrument. The elongate tube may couple a proximal control mechanism of the surgical instrument to an end effector. The instrument sterile adapter may include a convex curved surface substantially perpendicular to and facing the adapter control surface to receive a corresponding concave curved surface on the instrument control surface. A bullet portion on the convex curved surface may engage a bullet receiving feature in the corresponding concave curved surface on the instrument control surface.
1. An instrument sterile adapter for coupling a surgical instrument and an instrument carriage, the instrument sterile adapter comprising:
a control interface portion comprising:
an adapter control surface configured to abut an instrument control surface of the surgical instrument in a mounted state of the surgical instrument to the instrument sterile adapter; and
a carriage engaging surface opposite the adapter control surface and configured to abut a control surface of the instrument carriage in a mounted state of the instrument sterile adapter to the instrument carriage;
one or more adapter couplers connected to the control interface portion, the one or more adapter couplers comprising:
first adapter control features at the adapter control surface configured to engage with carriage control features of the instrument carriage in the mounted state of the instrument sterile adapter to the instrument carriage, and
second adapter control features at the carriage engaging surface configured to engage with instrument control features of the surgical instrument in the mounted state of the surgical instrument to the instrument sterile adapter; and
a shaft receiving slot in the control interface portion, wherein the shaft receiving slot defines a passage extending through the control interface portion from the adapter control surface to the carriage engaging surface and is configured to receive an instrument shaft of the surgical instrument in the mounted state of the surgical instrument with the instrument sterile adapter such that the instrument shaft extends through the control interface portion via the passage.
2. The instrument sterile adapter of claim 1 , further comprising a transverse portion extending to the adapter control surface and coupled to the control interface portion opposite the shaft receiving slot.
3. The instrument sterile adapter of claim 2 ,
wherein the transverse portion is configured to engage with the surgical instrument as the surgical instrument is mounted on the instrument sterile adapter to progressively guide the surgical instrument toward an installed position on the instrument sterile adapter.
4. The instrument sterile adapter of claim 3 ,
wherein the transverse portion is configured to, in a state of engagement with the surgical instrument, constrain motion of the surgical instrument to only rotation about a first axis and translation parallel to the first axis, wherein the first axis is parallel to and offset from the instrument shaft.
5. The instrument sterile adapter of claim 4 ,
wherein the shaft receiving slot is configured to, in a state of the transverse portion being engaged with the surgical instrument, limit rotation of the surgical instrument about the first axis.
6. The instrument sterile adapter of claim 5 ,
wherein the transverse portion comprises:
an engagement surface configured to initially engage with the surgical instrument as the surgical instrument is mounted to the instrument sterile adapter; and
a guide element configured to engage with the surgical instrument subsequent to the engagement surface engaging with the surgical instrument as the surgical instrument is mounted to the instrument sterile adapter; and
wherein the shaft receiving slot is configured to, in a state of the engagement surface of the transverse portion being engaged with the surgical instrument, limit rotation of the surgical instrument about the first axis to a first range of orientations that permit the surgical instrument to engage with the guide element.
7. The instrument sterile adapter of claim 6 ,
wherein the guide element is configured to, in a state of engagement with the surgical instrument, further limit rotation of the surgical instrument about the first axis to a second range of orientations that is smaller than the first range.
8. The instrument sterile adapter of claim 7 , further comprising:
one or more locating features configured to engage with the surgical instrument subsequent to the guide element engaging with the surgical instrument as the surgical instrument is mounted to the instrument sterile adapter,
wherein the guide element is configured to guide the surgical instrument into engagement with the locating features and the locating features are configured to further limit the rotation of the surgical instrument about the first axis to position the surgical instrument in the installed position.
9. The instrument sterile adapter of claim 7 ,
wherein the engagement surface of the transverse portion comprises a curved surface configured to engage with a complementary curved surface of the surgical instrument; and
wherein the guide element comprises a bullet feature protruding from the curved surface and extending parallel to the first axis.
10. The instrument sterile adapter of claim 2 , wherein the transverse portion comprises a curved surface.
11. The instrument sterile adapter of claim 10 , wherein the curved surface comprises a convex curved surface configured to receive a corresponding concave surface of the surgical instrument in the mounted state of the surgical instrument with the instrument sterile adapter, the convex surface being convex from a perspective at the adapter control surface.
12. The instrument sterile adapter of claim 11 , further comprising a bullet portion on the convex curved surface configured to engage a bullet receiving feature in the corresponding concave curved surface as the surgical instrument is mounted to the instrument sterile adapter on the instrument control surface.
13. The instrument sterile adapter of claim 12 , wherein the bullet portion comprises a tapered leading portion.
14. The instrument sterile adapter of claim 1 , wherein the adapter control surface further comprises a locating pin configured to engage a locating slot in the instrument control surface as the surgical instrument is mounted to the instrument sterile adapter.
15. The instrument sterile adapter of claim 1 , further comprising a locating slot in the adapter control surface configured to engage a locating pin of the instrument control surface as the surgical instrument is mounted to the instrument sterile adapter.
16. The instrument sterile adapter of claim 1 , wherein the adapter control surface further comprises a plurality of landing pads configured to, in the mounted state of the surgical instrument, support the instrument control surface.
17. The instrument sterile adapter of claim 1 , further comprising latch arms extending from the adapter control surface and configured to engage latch receptacles in the instrument control surface as the surgical instrument is mounted to the instrument sterile adapter.