Interfacing a surgical robotic arm and instrument
An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.
1. A surgical instrument for use in robotic surgery, the surgical instrument comprising:
a shaft;
a surgical end effector at a distal end of the shaft; and
an interfacing portion at a proximal end of the shaft for interfacing a surgical robot arm via an interface structure, the interfacing portion comprising:
a body configured to engage a first fastener of the interface structure; and
an engagement portion, the engagement portion displaceable relative to the body in a direction transverse to an axial direction of the shaft and having a displaceable range, the displaceable range having a first end closest to the shaft and a second end farthest from the shaft, wherein the engagement portion is biased towards adopting a position at the second end of the displaceable range farthest from the shaft, wherein the engagement portion comprises a plurality of nibs, each nib configured to engage with a first fastener of the interface structure when the engagement portion adopts the position at the second end of its displaceable range farthest from the shaft.
2. A surgical instrument as claimed in claim 1 , wherein the engagement portion is configured to disengage with each of the first fasteners of the interface structure when the engagement portion adopts a position at the first end of the displaceable range closest to the shaft.
3. A surgical instrument as claimed in claim 1 , wherein the engagement portion is spring loaded so as to bias its position towards the second end of the displaceable range farthest from the shaft.
4. A surgical instrument as claimed in claim 1 , wherein the engagement portion comprises a first recess and the body comprises a second recess, the first recess being coaxial with the second recess and the and first and second recesses being transverse to the axial direction of the shaft, the surgical instrument further comprising a pin housed partially in the first recess and partially in the second recess, so as to constrain motion of the engagement portion relative to the body in a direction transverse to the axial direction of the shaft.
5. A surgical instrument as claimed in claim 1 , wherein the surgical robot arm comprises a drive assembly having drive assembly interface elements and wherein the interfacing portion comprises instrument interface elements configured to engage with the drive assembly interface elements of the surgical robot arm.
6. A surgical instrument as claimed in claim 1 , wherein the surgical robot arm comprises a drive assembly interface and wherein the interface structure is attached to a drape, the drape being configured to provide an interface between the drive assembly interface of the surgical robot arm and an instrument interface of the surgical instrument.
7. A surgical instrument as claimed in claim 1 , wherein the surgical instrument comprises a sterile instrument interface and the surgical robot arm comprises a drive assembly having a drive assembly interface and wherein the interface structure prevents the drive assembly interface from directly touching the sterile instrument interface to maintain a sterile barrier between the drive assembly interface and the sterile instrument interface.