Sterile adapter for a robotic surgery system, assembly, system and method
A sterile adapter for a robotic surgery system includes a frame, a proximal coupling device suitable to form a connection with a non-sterile robotic manipulator system, a distal cavity suitable to form a connection with a surgical instrument suitable to perform robotic surgery to a patient anatomy, and a membrane having a proximal non-sterile side and a distal sterile side opposite to the proximal non-sterile side. The membrane is between the proximal coupling device and the distal cavity, and membrane is stretchable to transmit a plurality of pushing actions from the proximal non-sterile side to the distal sterile side. The frame is rigid to transmit a roll action.
1 . A sterile adapter for a robotic surgery system, suitable to transmit a plurality of linear actuation actions and a roll action from a non-sterile robotic manipulator system to a sterile surgical instrument having a backend portion and a shaft extending from said backend portion, the sterile adaptor comprising:
a frame for transmitting the roll action from the non-sterile robotic manipulator system to the sterile surgical instrument, the frame comprising:
a proximal coupling device, for coupling with the non-sterile robotic manipulator system; and
a distal coupling device, for coupling with the sterile surgical instrument;
wherein said frame delimits a through opening between said proximal coupling device and said distal coupling device;
a membrane fixed to said frame, for transmitting through the thickness thereof the plurality of localized linear actuation actions from the non-sterile robotic manipulator to the sterile surgical instrument;
wherein:
said membrane is elastically stretchable with the purpose to result elastically biased towards a substantially flat configuration thereof,
said stretchable membrane seals said through opening forming a distal cavity between said stretchable membrane and said distal coupling device;
said distal cavity includes substantially flat lateral guiding surfaces configured to mate with at least one lateral countersurface of said surgical instrument and is suitable for receiving at least a portion of the backend of the sterile surgical instrument;
said distal coupling device comprises at least one abutment surface facing said stretchable membrane and thereby at least partially delimiting said distal cavity; and
said at least one abutment surface is suitable for a portion of the surgical instrument to abut thereon.
2 . The sterile adapter according to claim 1 , wherein said distal cavity includes a lateral opening designed for inserting said sterile surgical instrument into the sterile adapter.
3 . The sterile adapter according to claim 1 , wherein said distal cavity includes a second lateral opening suitable to access the distal cavity with the purpose of pushing said sterile surgical instrument out from said distal cavity of the sterile adapter.
4 . The sterile adapter according to claim 1 , wherein said membrane is in a single flat piece.
5 . The sterile adapter according to claim 1 , wherein said distal coupling device defines a distal seat having a distal through opening that opens distally outside of the distal cavity, and
said distal through opening is substantially aligned with the through opening that is sealed by the stretchable membrane, and is coaxial with the through opening that is sealed by the stretchable membrane.
6 . The sterile adapter according to claim 1 , wherein said at least one abutment surface is beneath the stretchable membrane, and under the encumber of the membrane.
7 . The sterile adapter according to claim 1 , wherein said membrane has shape of a disc.
8 . The sterile adapter according to claim 1 , wherein said membrane is integrally mounted with said frame.