Surgical system sterile drape
A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.
1. An assembly for creating a sterile barrier between an instrument and an instrument manipulator in a state of the instrument mounted to the instrument manipulator, the assembly comprising:
a sterile drape sheet portion configured to drape a portion of an instrument manipulator;
a sterile attachment device attached to the sterile drape sheet portion and configured to removably engage with the instrument manipulator, the sterile attachment device comprising:
an inner disk portion and an outer ring portion rotatably coupled to one another,
wherein the inner disk portion is attachable to a rotating portion of the instrument manipulator, and
wherein one or both of the inner disk portion and the outer ring portion is rotatable with respect to the other in an engaged state of the sterile attachment device and the attached sterile drape sheet portion with the instrument manipulator.
2. The assembly of claim 1 , wherein the inner disk portion defines an opening.
3. The assembly of claim 1 , further comprising a sterile membrane interface attached to the inner disk portion and configured to be positioned between an output drive interface of the instrument manipulator and an input drive interface of the instrument in a state of the instrument mounted to the instrument manipulator.
4. The assembly of claim 3 , wherein the sterile membrane interface comprises surface features complementary to input drive members of the instrument and output drive members of the instrument manipulator.
5. The assembly of claim 1 , further comprising a sterile reinforcement structure attached to the sterile drape sheet portion, wherein the sterile reinforcement structure is attachable to a receptacle of the manipulator defining a passage receiving a portion of an instrument shaft in a state of the instrument mounted to the instrument manipulator.
6. The assembly of claim 1 , wherein the sterile drape sheet portion is further configured to drape an arm of the instrument manipulator.
7. The assembly of claim 1 , wherein the inner disk portion and the outer ring portion engage each other via a labyrinth seal arrangement.
8. A system comprising:
an instrument manipulator comprising an output drive interface;
an instrument mountable to the instrument manipulator and comprising an input drive interface and an elongate instrument shaft extending from the input drive interface, wherein the output drive interface is configured to transmit force to the input drive interface in a state of the instrument mounted to the instrument manipulator;
a sterile barrier assembly configured to provide a sterile barrier between the instrument and the instrument manipulator in the mounted state of the instrument to the instrument manipulator, the sterile barrier assembly comprising:
a sterile drape sheet portion configured to drape a portion of an instrument manipulator;
a sterile attachment device attached to the sterile drape sheet portion and configured to removably engage with the instrument manipulator, the sterile attachment device comprising:
an inner disk portion and an outer ring portion rotatably coupled to one another,
wherein the inner disk portion is attachable to a rotating portion of the instrument manipulator, and
wherein one or both of the inner disk portion and the outer ring portion is rotatable with respect to the other in an engaged state of the sterile attachment device and attached sterile drape sheet with the instrument manipulator.
9. The system of claim 8 , wherein the inner disk portion of the sterile attachment device defines an opening.
10. The system of claim 8 , wherein the sterile barrier assembly further comprises a sterile membrane interface attached to the inner disk portion and configured to be positioned between the output drive interface of the instrument manipulator and the input drive interface of the instrument in the state of the instrument mounted to the instrument manipulator.
11. The system of claim 10 wherein the sterile membrane interface comprises surface features complementary to input drive members of the input drive interface of the instrument and output drive members of the output drive interface of the instrument manipulator.
12. The system of claim 8 , wherein the sterile barrier assembly further comprises a sterile reinforcement structure attached to the sterile drape sheet portion, wherein the sterile reinforcement structure is attachable to a receptacle of the manipulator defining a passage receiving a portion of the instrument shaft in a state of the instrument mounted to the instrument manipulator.
13. The system of claim 8 , wherein the instrument manipulator further comprises an arm and the sterile drape sheet portion of the sterile barrier assembly is further configured to drape the arm.
14. The system of claim 8 , wherein the inner disk portion and the outer ring portion of the sterile attachment device engage each other via a labyrinth seal arrangement.