Sterile barrier between surgical instrument and teleoperated actuator
An instrument sterile drape includes a plastic sheet and a pouch sealed to a first opening in the plastic sheet. The pouch is shaped to fit around a carriage that includes actuators. An instrument sterile adapter (ISA) is coupled to a second opening in the pouch. The ISA includes a bottom plate and a top plate located on opposite sides of the pouch and joined together. A stiffener may be coupled to the pouch around the second opening to provide a relatively inelastic area that corresponds to a portion of the pouch that is retained between the bottom plate and the top plate. Portions of the bottom plate may project through the top plate to provide a datum plane to receive a surgical instrument. The ISA may contain loose pins that depress sensing pins in the carriage when a surgical instrument is mounted.
1. An instrument sterile drape comprising:
a plastic sheet;
a pouch sealed to a first opening in the plastic sheet, the pouch shaped to fit around a carriage that includes actuators; and
an instrument sterile adapter (ISA) coupled to a second opening in the pouch, the ISA including a bottom plate located on a first side of the pouch and a top plate located on an opposing second side of the pouch and joined to the bottom plate with a portion of the pouch retained between the bottom plate and the top plate.
2. The instrument sterile drape of claim 1 wherein the plastic sheet is a single layer of thermoplastic polyurethane about 100 micrometers (0.004 inch) thick in the form of a tube and the plastic sheet includes a lubricant.
3. The instrument sterile drape of claim 1 wherein the pouch is shaped to provide a loose form fit around the carriage.
4. The instrument sterile drape of claim 1 wherein the pouch is made from a polyurethane.
5. The instrument sterile drape of claim 1 wherein the top plate is joined to the bottom plate by passing pins between the top and bottom plates and through the pouch and heat staking the pins to form a permanent assembly.
6. The instrument sterile drape of claim 5 further comprising a stiffener coupled to the pouch around the second opening to provide a relatively inelastic area that corresponds to a portion of the pouch that is retained between the bottom plate and the top plate.
7. The instrument sterile drape of claim 6 wherein the stiffener is cut from a sheet that includes a layer of thermoplastic urethane (TPU) and a layer of polyethylene terephthalate glycol-modified (PETG).
8. The instrument sterile drape of claim 1 wherein the bottom plate includes a pocket with a third opening in a first surface of the bottom plate furthest from the top plate, and the top plate includes a fourth opening in a second surface of the top plate furthest from the bottom plate; and the ISA further includes a presence pin loosely retained in the pocket, a portion of the presence pin extending through the fourth opening.
9. The instrument sterile drape of claim 8 wherein at least a portion of the pocket is housed within a protrusion that extends from the first surface of the bottom plate.
10. The instrument sterile drape of claim 9 wherein the protrusion is a cylindrical protrusion and an end of the cylindrical protrusion furthest from the first surface is chamfered.
11. A method for assembling an instrument sterile drape, the method comprising:
creating a first opening in a plastic sheet;
forming a pouch to fit around a carriage that includes actuators;
sealing the pouch to the first opening in the plastic sheet;
creating a second opening in the pouch;
placing a bottom plate over the second opening on a first side of the pouch;
placing a top plate over the second opening on a second side of the pouch opposite the first side; and
joining the bottom plate and the top plate to retain a portion of the pouch between the bottom plate and the top plate.
12. The method of claim 11 wherein the plastic sheet is a single layer of thermoplastic polyurethane about 100 micrometers (0.004 inch) thick in the form of a tube and the plastic sheet includes a lubricant.
13. The method of claim 11 wherein the pouch is formed to provide a loose form fit around the carriage.
14. The method of claim 11 wherein the top plate is joined to the bottom plate by passing pins between the top and bottom plates and through the pouch and heat staking the pins to form a permanent assembly.
15. The method of claim 11 further comprising joining a stiffener to the pouch around the second opening in the pouch to provide a relatively inelastic area.
16. The method of claim 15 further comprising:
co-extruding a sheet that includes a layer of thermoplastic urethane (TPU) and a layer of polyethylene terephthalate glycol-modified (PETG);
cutting the stiffener from the sheet; and
joining the stiffener to the pouch by heat sealing.
17. The method of claim 11 further comprising applying an adhesive adjacent the second opening to retain the pouch between the top and bottom plates.