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 drive assembly locatable at or towards a distal end of a surgical robot arm, the drive assembly comprising a drive assembly interface which is engageable with a surgical instrument comprising an end effector so as to transfer drive between the drive assembly and the instrument, the drive assembly interface comprising a drive assembly interface element movable relative to the drive assembly interface and engageable with a corresponding instrument interface element provided on the instrument; the drive assembly comprising a sensor for sensing the position of the drive assembly interface element; wherein the drive assembly is configured to drive the drive assembly interface element to an interfacing position for engaging with the instrument interface element prior to the surgical instrument being attached to the drive assembly interface, and the sensor is configured to determine whether the drive assembly interface element is in its interfacing position,
wherein the drive assembly is arranged so that when the drive assembly interface element is located in the interfacing position prior to the surgical instrument being attached to the drive assembly interface, the drive assembly interface element and the instrument interface element are correspondingly at cooperating positions within their respective travel.
2. A drive assembly as claimed in claim 1 , in which the sensor senses when the drive assembly interface element passes a threshold position.
3. A drive assembly as claimed in claim 1 , in which the sensor comprises at least one of a magnetic sensor, a light sensor, a capacitive sensor, an inductive sensor, an acoustic sensor and a microswitch.
4. A drive assembly as claimed in claim 1 , in which the drive assembly interface element is movable relative to the drive assembly interface to transfer drive between the drive assembly and the instrument.
5. A drive assembly as claimed in claim 1 , in which the drive assembly interface element is movable along a path.
6. A drive assembly as claimed in claim 5 , in which the interfacing position is located at the centre of travel of the path.
7. A drive assembly as claimed in claim 5 , in which the interfacing position is located towards or at one end of the path.
8. A drive assembly as claimed in claim 1 , in which the drive assembly interface comprises a plurality of drive assembly interface elements, each drive assembly interface element being movable relative to the drive assembly interface along a respective path, and drivable to a respective interfacing position.
9. A drive assembly as claimed in claim 8 , in which at least two drive assembly interface elements are aligned with one another when in their respective interfacing positions.
10. A drive assembly as claimed in claim 8 , in which each drive assembly interface element has associated therewith a respective sensor for sensing the position of that drive assembly interface element.
11. A drive assembly as claimed in claim 10 , in which each sensor is configured to determine whether the respective drive assembly interface element is in its respective interfacing position.
12. A drive assembly as claimed in claim 1 , in which the sensor comprises a first sensor part provided in a body of the drive assembly interface, and a second sensor part provided on the drive assembly interface element, such that the first sensor part and the second sensor part move relative to one another as the drive assembly interface element moves relative to the body of the drive assembly interface.
13. A surgical robot arm comprising:
a drive assembly as claimed in claim 1 ; and
an interface structure for detachably interfacing the surgical robot arm to the surgical instrument, the interface structure comprising:
a main body; and
a drive transfer element which is movable relative to the main body;
the drive assembly interface element being engageable with the drive transfer element so as to transfer drive between the robot arm and the instrument.
14. A surgical robot arm as claimed in claim 13 , in which the drive transfer element comprises a recess, the drive transfer element recess being releasably engageable with an interface protrusion of the drive assembly interface element.
15. A surgical robot arm as claimed claim 13 , in which the main body comprises an aperture within which the drive transfer element is movable.
16. A surgical robot arm as claimed in claim 15 , 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.
17. A surgical robot arm as claimed in claim 16 , 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.
18. A surgical robot arm as claimed in claim 13 , in which the interface structure comprises a cover which covers a portion of the main body.
19. A surgical robot arm as claimed in claim 18 , 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.
20. A surgical system comprising a surgical robot arm as claimed in claim 13 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.
21. A surgical system as claimed in claim 20 , in which the instrument interface element comprises the interface recess.