Drive transfer
A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.
1. A surgical drive assembly locatable on a distal end of a surgical robot arm for transferring drive between the robot arm and an instrument attachable to the robot arm, the drive assembly comprising:
a drive assembly interface and a drive assembly interface element which is movable relative to the drive assembly interface, the drive assembly interface element comprising:
a body;
an interface protrusion; and
a buttress portion between the body and the interface protrusion for resisting bending of the drive assembly interface element, in which the buttress portion is provided on the sides of the drive assembly interface element towards and away from a direction in which the drive assembly interface element is movable.
2. A surgical drive assembly as claimed in claim 1 , in which the buttress portion is made of a stronger and/or stiffer material than the body.
3. A surgical drive assembly as claimed in claim 1 , in which the buttress portion comprises titanium.
4. A surgical robot arm comprising:
a surgical drive assembly as claimed in claim 1 ; and
an interface structure for detachably interfacing the surgical robot arm to the instrument, the interface structure comprising:
a main body; and
a drive transfer element which is moveable relative to the main body;
the drive assembly interface element being engageable with the drive transfer element so as to transfer drive between the surgical robot arm and the instrument.
5. A surgical robot arm as claimed in claim 4 , in which the drive transfer element comprises a recess, the drive transfer element recess being releasably engageable with the interface protrusion of the drive assembly interface element.
6. A surgical robot arm as claimed claim 4 , in which the main body comprises an aperture within which the drive transfer element is movable.
7. A surgical robot arm as claimed in claim 6 , in which the main body comprises a retention feature for retaining the drive transfer element so that the drive transfer element is movable within the aperture.
8. A surgical robot arm as claimed in claim 7 , in which the retention feature comprises a lip or channel along at least a portion of the length of the aperture within which at least a portion of the extending portion of the drive transfer element is receivable and along which the received portion of the drive transfer element is movable.
9. A surgical robot arm as claimed in claim 4 , in which the interface structure comprises a cover which covers a portion of the main body.
10. A surgical robot arm as claimed in claim 9 , in which the main body comprises an aperture within which the drive transfer element is movable, and the cover covers a part of the main body that comprises the aperture.
11. A surgical system comprising a surgical robot arm as claimed in claim 4 and a surgical instrument, the surgical instrument comprising an instrument interface element being engageable with the drive transfer element so as to transfer drive between the robot arm and the instrument.
12. A surgical system as claimed in claim 11 , in which the instrument interface element comprises the interface recess.