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 plurality of first fasteners of the interface structure; and
an engagement portion comprising a plurality of nibs, the engagement portion being slidably displaceable relative to the body along the direction of the longitudinal axis of the instrument shaft and having a displaceable range between a disengaged position and an engaged position, wherein the disengaged position is at a first end of the displaceable range closest to the surgical end effector at which each nib is configured to disengage with a respective first fastener of the plurality of first fasteners of the interface structure, and wherein the engaged position is at a second end of the displaceable range farthest from the surgical end effector at which each nib is configured to engage with a respective first fastener of the plurality of first fasteners of the interface structure, wherein in the disengaged position the instrument can be lifted free from the interface structure and in the engaged position the instrument cannot be lifted free from the interface structure.
2. A surgical instrument as claimed in claim 1 , wherein each nib has a plug shape that is configured to engage with a socket formed by a combination of the respective first fastener with which the respective nib is configured to engage and a base portion of the interface structure.
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 surgical end effector.
4. A surgical instrument as claimed in claim 1 , wherein the body comprises at least two recesses, each recess configured to receive at least one first fastener of the plurality of first fasteners of the interface structure.
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.