Latch to secure teleoperated surgical instrument to actuator
An instrument sterile adapter couples a surgical instrument and an instrument carriage. The instrument sterile adapter includes an instrument plate that provides a first surface to receive the surgical instrument and a latch plate joined to the instrument plate. The latch plate includes a second surface to receive the instrument carriage and latch structures. Each latch structure has a carriage latch arm that extends away from the second surface of the latch plate and an instrument latch arm joined to the carriage latch arm. The instrument latch arm extends through the instrument plate and away from the first surface of the instrument plate. A connecting member flexibly connects the carriage latch arm and the instrument latch arm to a remainder of the latch plate. The connecting member may be perpendicular to the latch arms. The latch arms may engage fixed locking surfaces in the instrument carriage and the surgical instrument.
1. An instrument sterile adapter comprising:
a plate portion
a latch structure comprising:
a carriage latch arm connected to an extending away from a first side of the plate portion, the carriage latch arm engageable with an instrument carriage to latch the instrument sterile adapter to the instrument carriage, and
an instrument latch arm connected to and extending away from a second side of the plate portion, opposite the first side, the instrument latch arm engageable with a medical instrument to latch the instrument sterile adapter to the medical instrument, and
a connecting member connecting the carriage latch arm and the instrument latch arm to the plate portion of the instrument sterile adapter;
wherein in an engaged state of the carriage latch arm with the instrument carriage and in an engaged state of the instrument latch arm with the medical instrument, the carriage latch arm is not disengageable from the instrument carriage.
2. The instrument sterile adapter of claim 1 , wherein:
in the engaged state of the instrument latch arm with a medical instrument and in the engaged state of the carriage latch arm with the instrument carriage, the instrument latch arm is urged toward the medical instrument in response to motion of the carriage latch arm toward a disengaged state from the instrument carriage.
3. The instrument sterile adapter of claim 2 , wherein:
the connecting member is elastically deformable; and
movement of the carriage latch arm into the engaged state with the instrument carriage elastically deforms the connecting member.
4. The instrument sterile adapter of claim 2 , wherein:
the connecting member is elastically deformable; and
in the engaged state of the carriage latch arm with the instrument carriage, movement of the instrument latch arm causes the connecting member to elastically deform and the carriage latch arm to move toward the disengaged state from the instrument carriage.
5. The instrument sterile adapter of claim 2 , wherein:
in the engaged state of the carriage latch arm with the instrument carriage, the carriage latch arm engages a first fixed locking surface in the instrument carriage; and
in the engaged state of the instrument latch arm with the medical instrument, the instrument latch arm engages a second fixed locking surface in the medical instrument.
6. The instrument sterile adapter of claim 2 , wherein:
the carriage latch arm comprises a first aperture and the instrument latch arm comprises a second aperture;
in the engaged state of the carriage latch arm with the instrument carriage, a first fixed locking surface of the instrument carriage engages the first aperture of the carriage latch arm; and
in the engaged state of the instrument latch arm with the medical instrument, a second fixed locking surface of the medical instrument engages the second aperture of the instrument latch arm.
7. The instrument sterile adapter of claim 2 , wherein:
the instrument latch arm is elastically deformable; and
in the engaged state of the carriage latch arm with the instrument carriage, movement of the instrument latch arm into the engaged state with the medical instrument elastically deforms the instrument latch arm.
8. The instrument sterile adapter of claim 2 , wherein:
the instrument sterile adapter further comprises a plastic sheet having an opening through the plastic sheet, a plate that supports the latching structure, and a flexible pouch sealed to the opening in the plastic sheet; and
the flexible pouch comprises a portion captured by the plate.
9. The instrument sterile adapter of claim 1 , wherein:
movement of one of the carriage latch arm and the instrument latch arm in a first direction urges movement of the other of the carriage latch arm and the instrument latch arm in a second direction opposite the first direction.
10. The instrument sterile adapter of claim 9 , wherein:
the connecting member is elastically deformable; and
movement of the carriage latch arm and the instrument latch arm in opposite directions elastically deforms the connecting member.
11. The instrument sterile adapter of claim 9 , wherein:
in a disengaged state of the instrument latch arm from the medical instrument and the engaged state of the carriage latch arm with the instrument carriage, movement of the instrument latch arm inwardly toward a centerline of the instrument sterile adapter causes an end of the carriage latch arm to move outwardly away from the centerline toward a disengaged state from the instrument carriage.
12. The instrument sterile adapter of claim 9 , wherein:
in the engaged state of the instrument latch arm with the medical instrument and in the engaged state of the carriage latch arm with the instrument carriage, the carriage latch arm is prevented from being moved to a disengaged state from the instrument carriage as a result of the instrument latch arm being prevented from moving in a first direction.
13. The instrument sterile adapter of claim 12 , wherein:
in the engaged state of the instrument latch arm with the medical instrument, the medical instrument prevents movement of the instrument latch arm in the first direction.
14. The instrument sterile adapter of claim 9 , wherein:
in the engaged state of the carriage latch arm with the instrument carriage, movement of the instrument latch arm outwardly away from a centerline of the instrument sterile adapter elastically deforms the instrument latch arm.
15. A method for latching the instrument sterile adapter of claim 1 to the instrument carriage and to the medical instrument and then unlatching the instrument sterile adapter from the medical instrument and the instrument carriage, the method comprising:
latching the instrument sterile adapter to the instrument carriage by engaging the carriage latch arm of the instrument sterile adapter with the instrument carriage;
latching the instrument sterile adapter to the medical instrument by engaging the instrument latch arm of the instrument sterile adapter with the medical instrument;
unlatching the instrument sterile adapter from the medical instrument by disengaging the instrument latch arm from the medical instrument; and
unlatching the instrument sterile adapter from the instrument carriage by disengaging the carriage latch arm from the instrument carriage;
wherein the connecting member of the instrument sterile adapter elastically deforms during the engaging of the carriage latch arm with the instrument carriage and during the disengaging of the carriage latch arm from the instrument carriage; and
wherein the instrument latch arm elastically deforms during the engaging the instrument latch arm with the medical instrument and during the disengaging the instrument latch arm from the medical instrument.
16. The method of claim 15 , wherein:
unlatching the instrument sterile adapter from the instrument carriage further comprises using the instrument latch arm to apply a force to the connecting member, the force causing the connecting member to deform.
17. The method of claim 16 , wherein:
using the instrument latch arm to apply the force to the connecting member is prevented while the instrument latch arm is engaged with the medical instrument.
18. The method of claim 17 , wherein:
using the instrument latch arm to apply the force to the connecting member is prevented by presence of the medical instrument in the engaged state with the instrument latch arm.