Mounting datum of surgical instrument
An instrument sterile drape includes a plastic sheet and an instrument sterile adapter (ISA) coupled to the plastic sheet. The ISA includes a bottom plate located on a first side of the plastic sheet and a top plate located on a second side of the plastic sheet and joined to the bottom plate. The bottom plate includes a mounting surface that provides a first datum plane for mounting the ISA on a carriage that includes actuators and a plurality of landing pads that extend through the top plate to provide a second datum plane for a surgical instrument coupled to the ISA such that a distance between the carriage and the surgical instrument is controlled only by the bottom plate. The instrument sterile drape may include a pouch shaped to fit around the carriage with the ISA capturing the pouch between the top and bottom plates.
1. An instrument sterile drape comprising:
a plastic sheet; and
an instrument sterile adapter (ISA) coupled to the plastic sheet, the ISA including a bottom plate located on a first side of the plastic sheet and a top plate located on a second side of the plastic sheet and joined to the bottom plate, the bottom plate including a mounting surface that provides a first datum plane for mounting the ISA on a carriage that includes actuators and a plurality of landing pads that extend through the top plate to provide a second datum plane for a surgical instrument coupled to the ISA such that a distance between the carriage and the surgical instrument is controlled only by the bottom 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 of an inch) thick in the form of a tube and the plastic sheet includes a lubricant.
3. The instrument sterile drape of claim 1 further comprising a pouch sealed to a first opening in the plastic sheet, the pouch shaped to fit around the carriage, the pouch including a second opening to which the ISA is coupled with the bottom plate located on a first side of the pouch and the top plate located on an opposing second side of the pouch.
4. The instrument sterile drape of claim 3 wherein the pouch is shaped to provide a loose form fit around the carriage.
5. The instrument sterile drape of claim 3 wherein the pouch is made from a polyurethane.
6. The instrument sterile drape of claim 3 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.
7. The instrument sterile drape of claim 1 wherein the plurality of landing pads and the mounting surface are opposing parallel surfaces on the bottom plate.
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:
providing a plastic sheet;
joining a bottom plate located on a first side of the plastic sheet to a top plate located on an opposite second side of the plastic sheet as part of an instrument sterile adapter (ISA), the bottom plate including a mounting surface that provides a first datum plane for mounting the ISA on a carriage that includes actuators; and
extending a plurality of landing pads that are included in the bottom plate through the plastic sheet and the top plate to provide a second datum plane for a surgical instrument coupled to the ISA such that a distance between the carriage and the surgical instrument is controlled only by the bottom 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 further comprising:
creating a first opening in the plastic sheet;
forming a pouch to fit around the carriage;
sealing the pouch to the first opening in the plastic sheet;
creating a second opening in the pouch; and
joining the bottom plate to the top plate at the second opening in the pouch.
14. The method of claim 13 further comprising:
placing the bottom plate over the second opening on a first side of the pouch;
placing the 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.
15. The method of claim 14 further comprising:
passing pins between the top and bottom plates and through the pouch; and
heat staking the pins to form a permanent assembly.
16. The method of claim 13 wherein the pouch is formed to provide a loose form fit around the carriage.