Draping system for robotic medical procedure systems

Abstract

A draping system for a robot drive having an elongated drive body and an articulated support arm supporting the elongated drive body, wherein the draping system comprises: a first tubular drape configured to cover a first portion of the elongated drive body; a second tubular drape configured to cover a second portion of the elongated drive body — the second tubular drape is separate from the first tubular drape —; and a third drape configured to cover the articulated support arm, wherein the third drape is separate from the first tubular drape and the second tubular drape.

Description

Technology Field

[0001] One or more exemplary embodiments generally relate to sterile draping systems for robotic medical procedure systems and / or methods for draping robotic medical procedure systems. Background Technology

[0002] Catheters, guidewires, and other elongated medical devices (EMDs) can be used in minimally invasive medical procedures to diagnose and / or treat diseases of various vascular systems. Exemplary medical procedures include neurovascular intervention (NVI), percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve navigating a guidewire through the vascular system to advance a catheter to deliver treatment. Robotic catheter-based procedure systems can be used to assist physicians in performing medical procedures such as those mentioned above.

[0003] One or more exemplary embodiments provide a draping system for draping a robotic medical procedure system (e.g., T-shaped) for use in a medical procedure. The robotic medical procedure system comprises, among other things, a drive body and a positioning system (also referred to herein as a support arm). According to at least one exemplary embodiment, the draping system is configured such that a channel, located on the lower side of the drive body and allowing linear modules to move during use, remains exposed after draping. The draping system also allows a disposable device to be attached to the drive body after draping. In at least one exemplary embodiment, the draping system is attached relatively rigidly to help prevent the disposable device from snagging and / or tearing. The draping system can be deployed relatively quickly (e.g., within about 3 minutes).

[0004] According to at least one exemplary embodiment, the draping system includes three distinct (individual) drapes covering the robotic medical procedure system from the left, right, and bottom. The left (distal) drape and the right (proximal) drape are tubular or tubular in shape to slide over the left (distal) and right (proximal) ends of the drive body, whereas the bottom (arm) drape is a flatter drape that wraps upward around the support arm. Perforated tape may be used to temporarily maintain the tubular shape of the distal and proximal drapes when draping the drive body. After the drive body is draped with individual drapes among the distal and proximal drapes, the perforated tape is torn to expose the channel beneath the drive body. The draping system also includes front plates and bottom plates having fasteners (e.g., magnets, snaps, etc.) that can keep the drapes away from movable device modules. The arm drape supports the support arm beneath the drive body. It is clipped onto the arm and then wrapped upward around the parts of the support arm located further away from the drive body.

[0005] At least one exemplary embodiment provides a draping system for a robot drive having an elongated drive body and an articulating support arm supporting the elongated drive body, wherein the draping system comprises: a first tubular drape configured to cover a first portion of the elongated drive body; a second tubular drape configured to cover a second portion of the elongated drive body — the second tubular drape is separate from the first tubular drape —; and a third drape configured to cover the articulating support arm, wherein the third drape is separate from the first tubular drape and the second tubular drape.

[0006] At least one other exemplary embodiment provides a sterile barrier for a robot drive having an elongated drive body and an articulated support arm supporting the elongated drive body, wherein the sterile barrier comprises: a first tubular drape, the first tubular drape having a first rigid plate, a second rigid plate, and a first perforated tape extending along the length of the first tubular drape, the first perforated tape being temporarily adhered to the first rigid plate and the second rigid plate to maintain the tubular shape of the first tubular drape, and the first tubular drape is configured to cover a first portion of the elongated drive body when unfolded.

[0007] According to one or more exemplary embodiments, the first tubular drape may be configured to slide from a first end of the elongated drive body onto the elongated drive body to cover a first portion of the elongated drive body. The second tubular drape may be configured to slide from a second end of the elongated drive body onto the elongated drive body to cover a second portion of the elongated drive body, the second end being opposite the first end in the longitudinal direction of the elongated drive body.

[0008] The first tubular drape may include a first perforated tape temporarily adhered along the length of the first tubular drape to maintain the tubular shape of the first tubular drape.

[0009] The first perforated tape may be configured to be removed after the first tubular drape is unfolded on the elongated drive body.

[0010] The robot drive may include one or more movable drive modules configured to move along the length of the slender drive body through a channel formed along the length of the bottom wall of the slender drive body, and the removal of the first perforated tape may expose the channel.

[0011] The first tubular drape may include a first rigid plate and a second rigid plate extending along the length of the first tubular drape. The first perforated tape may be temporarily adhered to the first rigid plate and the second rigid plate to maintain the tubular shape of the first tubular drape.

[0012] The first tubular drape may include a flexible drape body, and the first rigid plate and the second rigid plate may be bonded to the individual edges of the flexible drape body.

[0013] The second tubular drape may have a third rigid plate, a fourth rigid plate, and a second perforated tape extending along the length of the second tubular drape. The second perforated tape may be temporarily adhered to the third rigid plate and the fourth rigid plate to maintain the tubular shape of the second tubular drape.

[0014] The second tubular drape may include a flexible drape body, and the third rigid plate and the fourth rigid plate may be bonded to the individual edges of the flexible drape body.

[0015] The third drape may be a non-tubular drape.

[0016] The third drape may include a C-shaped clip configured to be securely and removablely attached to a part of the arm supporting the elongated drive body, and a lower arm drape portion configured to wrap around the supporting arm.

[0017] At least one other exemplary embodiment provides a method for draping a robot drive having an elongated drive body and an articulated support arm supporting the elongated drive body, the method comprising: sliding a first tubular drape over a first portion of the elongated drive body; sliding a second tubular drape over a second portion of the elongated drive body — the second tubular drape is separate from the first tubular drape —; and covering the articulated support arm with a third drape, wherein the third drape is separate from the first tubular drape and the second tubular drape.

[0018] (i) the step of sliding the first tubular drape onto the first portion may include the step of sliding the first tubular drape onto the first portion from the first longitudinal end of the elongated drive body; or (ii) at least one of the step of sliding the second tubular drape onto the second portion may include the step of sliding the second tubular drape onto the second portion from the second longitudinal end of the elongated drive body. The second longitudinal end may be on the opposite side of the first longitudinal end.

[0019] The robot drive may include one or more movable drive modules configured to move along the length of the slender drive body through a channel formed along the length of the bottom wall of the slender drive body. The method may further include the steps of: moving one or more movable drive modules to a second longitudinal end of the slender drive body before sliding a first tubular drape over a first portion; and moving one or more movable drive modules to a first longitudinal end of the slender drive body before sliding a second tubular drape over a second portion.

[0020] Before moving one or more movable drive modules to a first longitudinal end, the method may further include the step of removing a first perforation tape from a first tubular drape to expose at least a portion of the channel.

[0021] The first tubular drape may include a first rigid plate and a second rigid plate extending along the length of the first tubular drape, and the method may include the step of removably fixing the first rigid plate to a first side of an elongated drive body, and the step of removably fixing the second rigid plate to a second side of an elongated drive body, wherein the second side is close to the first side.

[0022] The second tubular drape may have a third rigid plate and a fourth rigid plate extending along the length of the second tubular drape, and the method may include the steps of removably fixing the third rigid plate to a first side of the elongated drive body, and removably fixing the fourth rigid plate to a second side of the elongated drive body.

[0023] The third drape may include a c-shaped clip and a lower arm drape portion, and the covering step may include the step of removingly attaching the c-shaped clip to a part of the articulated support arm, and the step of wrapping the lower arm drape portion around the articulated support arm.

[0024] The scope of protection sought for various exemplary embodiments is set forth in independent claims. If there are exemplary embodiments and / or features described herein that do not fall within the scope of the independent claims, they should be interpreted as examples useful for understanding the various embodiments.

[0025] Regardless of grammatical usage, individuals with male, female, or other gender identities are included within the term. Brief explanation of the drawing

[0026] Exemplary embodiments will be more fully understood from the detailed description and accompanying drawings given below in this specification, and similar elements are represented by similar reference numerals, which are given merely as examples and are not a limitation of this disclosure.

[0027] FIG. 1 is a perspective view of part of an exemplary catheter-based procedure system according to exemplary embodiments.

[0028] Figure 2 is a view from the proximal end of the robotic drive of the catheter-based procedure system shown in Figure 1.

[0029] FIG. 3 is an inner plan view of a distal drape according to exemplary embodiments.

[0030] Fig. 4 is a front perspective view of the distal drape shown in Fig. 3.

[0031] Figure 5 is an exploded view of the distal rigid front plate, distal rigid bottom plate, and distal perforated tape of the distal drape shown in Figures 3 and 4.

[0032] FIG. 6 is a rear perspective view of a part of a catheter-based procedure system with the distal drape shown in FIG. 3 and FIG. 4 deployed thereon.

[0033] FIG. 7 is a drawing from the distal end of a catheter-based surgical system in which the distal drape shown in FIG. 3 and FIG. 4 is deployed thereon.

[0034] FIG. 8 is an inner plan view of a proximal drape according to exemplary embodiments.

[0035] Fig. 9 is a front perspective view of the proximal drape shown in Fig. 8.

[0036] Figure 10 is an exploded view of the proximal rigid front plate, proximal rigid bottom plate, and proximal perforation tape of the proximal drape shown in Figures 8 and 9.

[0037] FIG. 11 is a rear perspective view of a part of a catheter-based procedure system to which the proximal drape shown in FIG. 8 and FIG. 9 is applied.

[0038] FIG. 12 is an inner plan view of an arm drape according to exemplary embodiments.

[0039] Fig. 13 is a perspective view of the arm drape shown in Fig. 12.

[0040] Figure 14 is a drawing of an arm drape partially attached to a positioning system of a catheter-based procedure system.

[0041] FIG. 15 is a cross-sectional view of an exemplary embodiment of a rigid front plate and a rigid bottom plate deployed on a robot drive.

[0042] FIG. 16 is a cross-sectional view of another exemplary embodiment of a rigid front plate and a rigid bottom plate deployed on a robot drive.

[0043] FIG. 17 is a perspective view of an exemplary embodiment of a draping system deployed on a catheter-based procedure system (10).

[0044] FIG. 18 illustrates a drive module moving through a channel on the floor wall of a robot drive.

[0045] FIGS. 19a through 19k illustrate a method for deploying a draping system described herein in connection with one or more exemplary embodiments onto a catheter-based procedure system.

[0046] FIG. 20 is a drawing of the first longitudinal wall side of a catheter-based procedure system draped with a draping system according to one or more exemplary embodiments.

[0047] It should be noted that these drawings are intended to illustrate the general characteristics of the methods, structures, and / or materials used in specific exemplary embodiments and to supplement the written description provided below. However, these drawings are not to actual scale and may not accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be interpreted as defining or limiting the range of values ​​or characteristics included by the exemplary embodiments. The use of similar or identical reference numbers in the various drawings is intended to indicate the presence of similar or identical elements or features. Specific details for implementing the invention

[0048] Various exemplary embodiments will now be described in more detail with reference to the accompanying drawings, in which some exemplary embodiments are illustrated.

[0049] Detailed exemplary embodiments are disclosed herein. However, specific structural and functional details disclosed herein are merely representative for the purpose of illustrating exemplary embodiments. However, exemplary embodiments may be implemented in many alternative forms and should not be construed as being limited only to the embodiments presented herein.

[0050] It should be understood that there is no intention to limit the exemplary embodiments to the specific forms disclosed. On the contrary, the exemplary embodiments include all modifications, equivalents, and alternatives that fall within the scope of this disclosure. Similar numbers refer to similar elements throughout the description of the drawings.

[0051] As discussed in this specification, the terms “one or more” and “at least one” may be used interchangeably.

[0052] It will be recognized that a number of exemplary embodiments may be used in combination.

[0053] As will be apparent from the following discussion, unless otherwise specifically stated, discussions throughout this disclosure using terms such as “accessing,” “determining,” “storing,” “assigning,” “adjusting,” “combining,” “summing,” “adding,” “optimizing,” “minimizing,” “producing,” “generating,” “identifying,” “setting,” “increasing,” “evaluating,” “calculating,” etc., are recognized as referring to operations and processes of a controller, computer system, or similar electronic computing device or processor. A controller, computer system, or similar electronic computing device manipulates and transforms data represented as physical (electronic) quantities within computer system memories, registers, or other such information storage, transmission, or display (display) devices.

[0054] One or more exemplary embodiments will be discussed herein in relation to robotic catheter-based procedure systems, catheters (or microcatheters), and guidewires. However, exemplary embodiments are not to be limited to the examples discussed herein. Rather, one or more exemplary embodiments may be applicable to other robotic medical devices or procedure systems.

[0055] FIG. 1 is a perspective view of an exemplary catheter-based surgical system (10) according to an exemplary embodiment. FIG. 2 is a view from the proximal end of a robotic drive of the catheter-based surgical system (10).

[0056] The catheter-based procedure system (10) can be used to perform catheter-based medical procedures, including percutaneous intervention procedures such as percutaneous coronary intervention (PCI), neurovascular intervention (NVI) and / or peripheral vascular intervention (PVI).

[0057] Catheter-based medical procedures may include diagnostic catheterization procedures in which one or more catheters or other EMDs are used to assist in the diagnosis of a patient's disease. For example, during a catheter-based diagnostic procedure, a contrast agent may be injected into one or more arteries through the catheter, and an image of the patient's vascular system, including various vascular networks, is taken.

[0058] Catheter-based medical procedures may also include catheter-based therapeutic procedures in which a catheter (or other EMD) is used to treat a disease (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, thrombectomy, treatment of arteriovenous malformations, treatment of aneurysms, etc.).

[0059] Now, referring to FIGS. 1 and 2, the catheter-based procedure system (10) includes, among other elements, a bedside unit (20) and a control station (not shown). The bedside unit (20) includes a robotic drive (24) and a positioning system (22) positioned close to the patient (12). The patient (12) is supported on a patient table (18). The positioning system (22) is used to position and support the robotic drive (24). In the exemplary embodiment shown in FIG. 1, the positioning system (22) includes an articulated arm, which further includes rotational joints (22a, 22b, 22c) and arms (22e, 22d) extending between the rotational joints. The rotary joint (22c) is arranged on an attachment mechanism that attaches to a patient table (18), base, or cart (as shown in FIG. 1). The rotary joint (22a) is attached to a robot drive (24). The positioning system (22) can be moved (together with the robot drive (24)) to an unobstructed location so that the patient (12) can be placed on the patient table (18). Once the patient (12) is positioned on the patient table (18), the positioning system (22) can be used to position or position the robot drive (24) relative to the patient (12) for a procedure.

[0060] The patient table (18) is movably supported by a pedestal (17) that is attached to the floor and / or ground. The patient table (18) can move with respect to the pedestal (17) in a number of degrees of freedom, e.g., roll, pitch, and yaw.

[0061] Generally, the robot drive (24) may be equipped with appropriate transcutaneous intervention devices and accessories (e.g., guidewires, various types of catheters including balloon catheters, stent delivery systems, stent retrievers, embolization coils, liquid embolizers, aspiration pumps, devices for delivering contrast agents and drugs, hemostasis valve adapters, syringes, stopcocks, inflatation devices, etc.) to enable a user or operator to perform catheter-based medical procedures through the robot system by operating various controls, such as controls and inputs located at the control station. The robot drive (24) includes a plurality of device modules (32a-32d) mounted on a rail or linear member. Each of the device modules (32a-32d) can be used to drive an EMD, such as a catheter or a guidewire. For example, a robotic drive (24) can be used to automatically feed the guidewire into a diagnostic catheter and into a guide catheter within the patient's (12) artery. One or more devices, such as the EMD, are inserted into the patient's (12) body (e.g., a blood vessel) from the insertion point (16), for example, through an introductory sheath.

[0062] The catheter-based procedure system (10) also includes an imaging system (14). The imaging system (14) may be any medical imaging system (e.g., non-digital X-ray, digital X-ray, CT, MRI, ultrasound, etc.) that can be used with the catheter-based medical procedure. In an exemplary embodiment, the imaging system (14) is a digital X-ray imaging device that communicates with a control station. In one embodiment, the imaging system (14) may include a C-arm that allows the imaging system (14) to rotate partially or completely around the patient (12) to acquire images in different angular positions (e.g., sagittal views, caudal views, anterior-posterior views, etc.) with respect to the patient (12). In one exemplary embodiment, the imaging system (14) may be a fluoroscopic system comprising a C-arm having an X-ray source (13) and a detector (15), also known as an image intensifier.

[0063] The imaging system (14) may be configured to take X-ray images of appropriate areas of the patient (12) during the procedure. For example, the imaging system (14) may be configured to take one or more X-ray images of the head to diagnose neurovascular conditions. The imaging system (14) may also be configured to take one or more X-ray images (e.g., real-time images) during a catheter-based medical procedure to assist a user or operator in properly positioning a guidewire, guide catheter, microcatheter, stent retriever, coil, stent, balloon, etc. during the procedure. Images or images may be displayed on a display. For example, images may be displayed on a display to enable a user or operator to accurately move the guide catheter or guidewire to an appropriate position.

[0064] To clarify the directions, a Cartesian coordinate system with X, Y, and Z axes is introduced. The positive X-axis is oriented in the longitudinal (axial) distal direction, that is, from the proximal end to the distal end, in other words, from proximal to distal. The Y-axis and Z-axis lie in the transverse plane relative to the X-axis, the positive Z-axis is oriented upward, that is, in the opposite direction of gravity, and the Y-axis is automatically determined by the right-hand rule.

[0065] Referring still to FIGS. 1 and 2, the robot drive (24) comprises a drive body (100) (also referred to as an elongated drive body) having a top wall (102), a proximal wall (104), a distal wall (106), a first longitudinal wall (108), and a second longitudinal wall (110) opposite the first longitudinal wall (108). When the robot drive (24) is in a position of use on the patient table (18), the top wall (102) is the wall furthest from the patient table (18), and the proximal wall (104) is the wall closest to the foot side of the patient table (18). The distal wall (106) is the wall closest to the head side of the patient table (18). The first longitudinal wall (108) and the second longitudinal wall (110) are the wall closest to and farthest from the bed rail closest to the base (support arm) of the positioning system (22). The drive body (100) further includes a bottom wall (114) closest to the patient table (18) when the robot drive (24) is in the use position. The bottom wall (114) has a slot (116) extending longitudinally between the proximal wall (104) and the distal wall (106).

[0066] A distal handle (25) may be arranged or formed on the first longitudinal wall (108) as shown in FIG. 1. A proximal handle (26) may be arranged or formed at the proximal end of the drive body (100). As shown in FIG. 1, the proximal handle (26) may extend from the first longitudinal wall (108) to the second longitudinal wall (110) passing around the proximal wall (104).

[0067] As illustrated in FIG. 2, the device module (32d) includes a drive module (118) that is driven along the longitudinal axis of the drive body (100). The drive module (118) includes a connecting stage member (120) (Fig. 18) that extends through a slot (116) and is operably engaged with a drive mechanism that moves the drive module (118) along the longitudinal axis of the drive body (100).

[0068] Before performing a medical procedure using the catheter-based procedure system (10), the system must be draped to provide a sterile barrier between the patient (12) and the non-sterile parts of the system. One or more exemplary embodiments provide a draping system for draping the catheter-based procedure system (10) for use in a medical procedure. According to one or more exemplary embodiments, the draping system is configured such that a channel located on the lower side of the drive body (100) and allowing the drive modules (32a-32d) to move during use remains exposed after draping. The draping system according to one or more exemplary embodiments also allows a disposable device to be attached to the drive body (100) after draping. An example of a disposable device is described in U.S. Patent Application No. 2023 / 0030367, the entire contents of which are incorporated herein by reference. In at least one exemplary embodiment, the draping system is attached relatively firmly to help prevent it from being caught by a consumable device.

[0069] For exemplary purposes, draping systems according to exemplary embodiments will be discussed with respect to catheter-based surgical systems such as the catheter-based surgical system (10) illustrated in FIG. 1. However, exemplary embodiments should not be limited to this example.

[0070] According to at least one exemplary embodiment, the draping system comprises three distinct (individual) drapes covering the catheter-based procedure system from the left, right, and bottom when viewed from the patient or table side (looking at the handle side or longitudinal wall of the drive body) of the catheter-based procedure system. For example, with respect to the catheter-based procedure system (10) illustrated in FIG. 1, the left (distal) drape and the right (proximal) drape are tubular in shape to slide over the proximal and distal ends of the drive body (100), whereas the bottom (arm) drape is a flatter drape that wraps upward around the positioning system (22). Perforated tape may be used to temporarily maintain the tubular shape of the distal drape and the proximal drape when deploying the individual drapes. After the drive body (100) is draped with individual drapes of the distal and proximal drapes, the perforation tape is torn to expose a channel on the bottom wall (114) of the drive body (100). Each of the distal and proximal drapes includes a front plate and a bottom plate having fasteners (e.g., magnets and / or mechanical snaps) that can keep the drapes away from the movable device modules (32a-32d). The arm drape is clipped onto a rotational joint (22a) below the drive body (100) and then wrapped upward around the rest of the positioning system (22). The arm drape is held in position around the positioning system by various hook and loop fasteners.

[0071] An exemplary embodiment of the draping system will now be discussed in more detail below in relation to FIGS. 3 through 18 and FIG. 20. A method of draping the catheter-based procedure system (10) according to the exemplary embodiment will then be described in relation to FIGS. 19a through 19j.

[0072] FIG. 3 is an inner plan view of a distal drape (50) (also referred to as the left or first tubular drape) according to exemplary embodiments. FIG. 4 is a front perspective view of the distal drape (50) shown in FIG. 3. FIG. 5 is an exploded view of the distal rigid front plate, distal rigid bottom plate, and distal perforation tape of the distal drape shown in FIG. 3 and FIG. 4. FIG. 6 is a rear perspective view of a part of a catheter-based procedure system (10) upon which the distal drape (50) is deployed. FIG. 7 is a front view of a catheter-based procedure system upon which the distal drape (50) is deployed.

[0073] Referring to FIGS. 3 through 7, the distal drape (50) comprises a flexible distal drape sheet (501) (also referred to as the flexible distal drape portion or drape body) configured to cover the distal wall (106) and the uppermost wall (102), the first longitudinal wall (108), and the distal portion of the second longitudinal wall (110) of the drive body (100). The distal drape sheet (501) may be formed of a polyethylene material having a thickness of 0.002 inches (0.00508 cm). However, exemplary embodiments are not to be limited to this example.

[0074] The distal drape (50) further comprises a rigid front plate (502) attached to the first bottom edge portion of the distal drape sheet (501). The rigid front plate (502) extends longitudinally to cover the lower distal portion of the first longitudinal wall (108) when deployed on the drive body (100). As illustrated in FIGS. 6 and 7, in one example, the rigid front plate (502) may extend from the distal end of the first longitudinal wall (108) to half or about half the length of the drive body (100). When deployed, the rigid front plate (502) may extend upward from the bottom edge of the longitudinal wall (108). The uppermost edge of the rigid front plate (502) may rest under the bottom edge of the handle (25). In one example, the rigid front plate (502) may be formed of a polyethylene terephthalate glycol (PETG) material having a thickness of 0.03 inches (0.0762 cm). However, exemplary embodiments should not be limited to this example.

[0075] As described in more detail later in relation to FIGS. 15 and 16, the rigid front plate (502) may be L-shaped when viewed longitudinally to cover a portion (e.g., a relatively small portion or an edge) of the bottom wall (114). A first elastic member (124) is fixed along the edge of the L-shaped portion of the rigid front plate (502). The first elastic member (124) has a first free edge (126) (Fig. 15 and 16) near the longitudinal axis of the drive body (100) through which the device modules (32a-32d) move. The first elastic member (124) extends along the entire edge of the rigid front plate (502).

[0076] The rigid front plate (502) includes a snap cap (505) and magnets (504) for temporarily attaching or securing the rigid front plate (502) to a first longitudinal wall (108) of the drive body (100) when unfolded. The drive body (100) may have corresponding snap caps and corresponding magnets or magnetic materials at positions where the snap caps (505) and magnets (504) are attached to the drive body (100). In the exemplary embodiments illustrated in FIGS. 3 through 7, the rigid front plate (502) includes a snap cap (505) at a distal end and six magnets (504) arranged along the length and height of the rigid front plate (502).

[0077] The distal drape (50) also includes a distal rigid bottom plate (503) attached to a second bottom edge portion of the distal drape sheet (501). The second bottom edge portion of the distal drape sheet (501) may be located opposite the first bottom edge portion at the bottom of the distal drape sheet (501). The rigid bottom plate (503) may extend longitudinally from the distal end of the bottom wall (114) to half or about half the length of the drive body (100). In one example, the rigid bottom plate (503) may be the same or substantially the same length as the rigid front plate (502) and / or may be formed of PETG material having a thickness of 0.03 inches (0.0762 cm). However, exemplary embodiments should not be limited to this example.

[0078] The second elastic member (130) (Figs. 15 and 16) is fixed along the edge of the rigid bottom plate (503). The second elastic member (130) has a first free edge (132) (Figs. 15 and 16) near the longitudinal axis along which the device modules (32a-32d) move during operation. The second elastic member (130) extends along the entire edge of the rigid bottom plate (503).

[0079] The rigid bottom plate (503) includes magnets (5040) spaced apart along the length of the plate to temporarily attach or secure the rigid bottom plate (503) to the bottom wall (114) of the drive body (100). The bottom wall (114) of the drive body (100) may have corresponding magnets or magnetic materials at positions where the magnets (5040) are attached to the drive body (100). In the exemplary embodiments illustrated in FIGS. 3 through 7, the rigid bottom plate (503) includes seven magnets (5040) arranged along the length of the rigid bottom plate (503).

[0080] The rigid bottom plate (503) also includes a snap cap (5050) for additionally attaching or securing the rigid bottom plate (503) to the bottom wall (114) of the drive body (100). The bottom wall (114) of the drive body (100) may have a corresponding snap socket at a position where the snap cap (5050) is attached to the bottom wall (114). In the exemplary embodiment illustrated in FIGS. 3 through 7, the snap cap (5050) is arranged toward the distal end of the rigid bottom plate (503) so that when the distal drape (50) is unfolded, the snap cap (5050) is positioned toward the distal end of the drive body (100).

[0081] Referring still to FIGS. 3 through 7, the edge of the rigid front plate (502) is temporarily attached to the edge of the rigid bottom plate (503) via a perforated tape (507) to maintain a tubular shape for unfolding a drape on the robot drive (24). In one example, the perforated tape (507) may be low-density polyethylene (LDPE) with two laminated adhesive lines on the tape and no adhesive in the middle of the tape. In this example, the adhesive lines are adhered to the rigid front plate (502) and the rigid bottom plate (503), while they are not adhered to or attached to the individual elastic members (124, 130).

[0082] The first elastic member (124) and the second elastic member (130) will be discussed in more detail later in relation to FIGS. 15, 16 and 18.

[0083] Multiple (e.g., two) twisted ties (506) may be secured to the front portion of the distal drape sheet (501) on the rigid front plate (502). The twisted ties (506) may be made of thin, bendable metal and may function as bendable tethers to wrap the distal drape sheet (501) at least partially around the handle (25).

[0084] As mentioned above, the perforated tape (507) can connect the rigid front plate (502) and the rigid bottom plate (503) along the length of the plates to form a tube shape. After the drape is unfolded, this perforated tape is torn to expose a portion of the channel on the bottom wall (114) of the drive body (100).

[0085] Referring still to FIGS. 3 through 7, the distal drape sheet (501) further comprises an overlapping portion (508) and a rear positioning system cover portion (518). The overlapping portion (508) overlaps with the proximal drape (52) after the proximal drape (52) is unfolded. The overlapping drape portion (508) includes hook or loop portions (509) of hook and loop fasteners that engage with corresponding hook or loop portions on the proximal drape (52) to attach the overlapping drape portion (508) to the proximal drape (52) when unfolded. The rear positioning system cover portion (518) covers the top of the positioning system (22) after the arm drape (54) is unfolded to cover the bottom surface of the positioning system (22), for example. The rear arm cover portion (518) includes handle straps (5010) having hooks and loop fasteners for wrapping and securing the rear positioning system cover portion (518) around the arm drape after the arm drape (54) is deployed.

[0086] The distal drape (50) may include one or more tabs (500) to facilitate draping of the robot drive (24) by the user as described later. The user may use the tabs to maintain and manipulate the distal drape (50) during draping.

[0087] FIG. 8 is an inner plan view of a proximal drape (52) (also referred to as a right side or a second tubular drape) according to exemplary embodiments. FIG. 9 is a front perspective view of the proximal drape (52) shown in FIG. 8. FIG. 10 is an exploded view of the proximal rigid front plate, proximal rigid bottom plate, and proximal perforation tape of the proximal drape (52) shown in FIG. 8 and 9. FIG. 11 is a rear perspective view of a part of a catheter-based procedure system (10) upon which the proximal drape (52) is deployed.

[0088] Referring to FIGS. 8 through 11, the proximal drape (52) comprises a flexible proximal drape sheet (5211) (also referred to as the flexible proximal drape portion or drape body) configured to cover the proximal wall (104) and the uppermost wall (102) of the drive body (100), the first longitudinal wall (108), and the proximal portion of the second longitudinal wall (110). As mentioned above, the proximal drape sheet (5211) may overlap with the distal drape sheet (501) along the uppermost wall (102) of the drive body (100) when unfolded. The proximal drape sheet (5211) may be formed of a polyethylene material having a thickness of 0.002 inches (0.00508 cm). However, exemplary embodiments should not be limited to this example.

[0089] The proximal drape (52) includes a proximal rigid front plate (5212) attached to the first bottom edge portion of the proximal drape sheet (5211). The rigid front plate (5212) extends longitudinally to cover the proximal lower portion of the first longitudinal wall (108) when draped over the drive body (100). As shown in FIG. 11, the rigid front plate (5212) may extend from the proximal end of the first longitudinal wall (108) to half or about half the length of the drive body (100). When unfolded, the rigid front plate (5212) may extend upward from the bottom of the longitudinal wall (108). The uppermost edge of the rigid front plate (5212) may rest under the bottom edge of the handle (25). In one example, the rigid front plate (5212) may be formed of PETG material having a thickness of 0.03 inches (0.0762 cm). However, exemplary embodiments should not be limited to this example. In one example, the rigid front plates (502, 5212) may have the same vertical height.

[0090] As described later in relation to FIGS. 15 and 16, the rigid front plate (5212) may be L-shaped when viewed longitudinally to cover a portion (e.g., a relatively small portion or an edge) of the proximal portion of the bottom wall (114). A first elastic member (124) is also fixed along the edge of the L-shaped portion of the rigid front plate (5212). The first elastic member (124) also has a first free edge (126) near the longitudinal axis of the drive body (100) through which the device modules (32a-32d) move. The first elastic member (124) extends along the entire edge of the rigid front plate (5212).

[0091] The rigid front plate (502) includes a snap cap (5215) and magnets (5214) for temporarily attaching or securing the rigid front plate (5212) to a proximal portion of the first longitudinal wall (108) of the drive body (100). The drive body (100) may have corresponding snap caps and corresponding magnets or magnetic materials at positions where the snap caps (5215) and magnets (5214) are attached to the drive body (100). In the exemplary embodiment illustrated in FIGS. 8 through 10, the rigid front plate (5212) includes a snap cap (5215) at the proximal end and six magnets (5214) arranged along the length and height of the rigid front plate (5212).

[0092] The proximal drape (52) also includes a proximal rigid bottom plate (5213) attached to a second bottom edge portion of the proximal drape sheet (5211). The second bottom edge portion of the proximal drape sheet (5211) may be located opposite the first bottom edge portion at the bottom of the proximal drape sheet (5211). The rigid bottom plate (5213) may extend longitudinally from the proximal end of the bottom wall (114) to half or about half the length of the drive body (100) so as to meet the rigid bottom plate (503) when unfolded. In one example, the rigid bottom plate (5213) may be the same or substantially the same length as the rigid front plate (5212) and / or may be formed of a polycarbonate material having a thickness of 0.03 inches (0.0762 cm). However, exemplary embodiments should not be limited to this example.

[0093] The second elastic member (130) is also fixed along the edge of the rigid bottom plate (5213). The second elastic member (130) has a first free edge (132) near the longitudinal axis along which the device modules (32a-32d) move during operation. The second elastic member (130) extends along the entire edge of the rigid bottom plate (5213). Although described in relation to a proximal drape (52) containing elastic members for illustrative purposes, exemplary embodiments should not be limited to this example. Rather, one or more elastic members may be omitted from the proximal drape (52).

[0094] The rigid bottom plate (5213) includes magnets (5219) spaced apart along the length of the plate to temporarily attach or secure the rigid bottom plate (5213) to the bottom wall (114) of the drive body (100). The bottom wall (114) of the drive body (100) may have corresponding magnets or magnetic materials at positions where the magnets (5219) are attached to the drive body (100). In the exemplary embodiment illustrated in FIGS. 8 through 10, the rigid bottom plate (5213) includes six magnets (5219) arranged along the length of the rigid bottom plate (5213). The rigid bottom plate (5213) may also include a snap cap (5227) that engages with a corresponding snap socket on the bottom wall (114) to provide additional attachment security when deploying the proximal drape (52) on the drive body (100).

[0095] Similar to the proximal drape (52), the edge of the rigid front plate (5212) is temporarily attached to the edge of the rigid bottom plate (5213) through a perforated tape (5217) to maintain the tubular shape of the proximal drape (52).

[0096] Multiple (e.g., two) twist ties (5216) may be secured to the front portion of the proximal drape sheet (5211) on the rigid front plate (5212). The twist ties (5216) may be identical or substantially identical to the twist ties (506) discussed above and may function as bendable tethers to wrap the proximal drape sheet (5211) at least partially around the proximal portion of the handle (25).

[0097] As with the distal drape (50), after the proximal drape (52) is unfolded, the perforated tape (5217) is torn to expose a portion of the channel on the bottom wall (114) of the drive body (100). The perforated tape (5217) may be the same or substantially the same as the perforated tape (507) discussed above in relation to the distal drape (50).

[0098] The proximal drape (52) may further include hook or loop portions (5229) corresponding to the hook or loop portions (509) on the distal drape (50). The hook or loop portions (5229) engage with the corresponding hook or loop portions (509) on the distal drape (50) to attach the overlapping drape portion (508) to the proximal drape (52) when unfolded.

[0099] The proximal drape (52) may include one or more (e.g., two) tabs (5200) to facilitate draping of the robot drive (24) by the user. The user may use the tabs (5200) to maintain and control the proximal drape (52) during draping.

[0100] FIG. 12 is a plan view of an arm drape (54) (also referred to as a non-tubular drape or a non-tubular third drape) according to exemplary embodiments. FIG. 13 is a perspective view of the arm drape (54) shown in FIG. 12. FIG. 14 is a drawing of the arm drape (54) partially attached to a positioning system (22) of a catheter-based procedure system (10). FIG. 17 is a perspective view of an exemplary embodiment of a draping system deployed on a catheter-based procedure system (10).

[0101] Referring to FIGS. 12 through 14 and FIG. 17, the arm drape (54) comprises a flexible arm drape sheet (5419) (also referred to as a flexible arm drape portion or drape body) for wrapping around the joints and arms of the positioning system (22) to provide a sterile barrier between the patient (12) and the positioning system (22) during a medical procedure. The arm drape sheet (5419) may be formed of a polyethylene material having a thickness of 0.002 inches (0.00508 cm). However, exemplary embodiments are not to be limited to this example.

[0102] A linear tape (5421) having a continuous hook and loop fastener system can be secured along opposing edges of an arm drape sheet (5419). In this regard, the hook portion can be secured to one edge of the arm drape (54) (e.g., the left edge) and the loop portion can be secured to the other edge of the arm drape (54) (e.g., the right edge) to provide a smooth seal when wrapped around the positioning system (22). A plurality of hand straps (5420) can be secured along each of the edges of the arm drape sheet (5419). In the exemplary embodiment illustrated in FIGS. 12 and 13, three hand straps (5420) are secured to each edge of the arm drape sheet (5219). Hand straps (5420) can be used to hold and / or fasten the arm drape (54) around the positioning system (22) during draping to facilitate creating a smooth seal using a hook and loop fastening system along the edges of the arm drape (54).

[0103] A c-shaped clip (5418) may be secured to an upper portion or end of an arm drape sheet (5419). The c-shaped clip (5418) may be used to attach an arm drape (54) to a rotational joint (22a) of a positioning system (22) under a robot drive (24), for example, as illustrated in FIGS. 14 and 17. The c-shaped clip may be identical or substantially identical to that described in U.S. Patent No. 11,903,669, the entire contents of which are incorporated herein by reference.

[0104] The rigid plates, elastic members, and the channel exposed by the removal of the perforated tape on the bottom wall (114) of the drive body (100) will now be described in relation to FIGS. 15, 16, and 18. The following discussion is made in relation to the distal rigid front plate (502) and the distal rigid bottom plate (503). However, it should be understood that the same discussion applies to the proximal rigid front plate (5212) and the proximal rigid bottom plate (5213).

[0105] FIG. 15 is a cross-sectional view of an exemplary embodiment of a rigid front plate (502) and a rigid bottom plate (503) deployed on a drive body (100). The cross-section shown in FIG. 15 is taken at any point along the rigid front plate (502) and the rigid bottom plate (503) at a point orthogonal to the longitudinal direction of the distal drape (50), and is an enlarged view of the drape on the catheter-based procedure system (10) shown in FIG. 2, which is generally taken along the 7-7 line. For exemplary purposes, FIG. 15 is discussed in relation to a drive module (32d).

[0106] Referring to FIG. 15, a portion of the first free edge (126) near the drive module (32d) is elastically deflected away from the longitudinal axis and returns to the longitudinal axis as the drive module (32d) moves along the longitudinal axis. Only a portion of the first free edge (126) of the first elastic member (124) close to the drive module (32d) is deflected away from the longitudinal axis. In other words, a portion of the first free edge (126) of the first elastic member (124) that is distal to the drive module (32d) is not deflected away from the longitudinal axis. For example, and referring to FIG. 18, the region of the first free edge (126) near point A close to the drive module (32d) is deflected away from the longitudinal axis of the drive body (100). Once the drive module (32d) moves along the longitudinal axis so that the area of ​​the first free edge (126) near point A is no longer closely close to the drive module (32d), the area of ​​the first free edge (126) near point A will elastically return to the longitudinal axis.

[0107] Similar to the first free edge (126) of the first elastic member (124), a portion of the first free edge (132) near the drive module (32d) is elastically deflected away from the longitudinal axis and returns to the longitudinal axis as the drive module (32d) moves along the longitudinal axis. Only a portion of the first free edge (132) of the second elastic member (130) close to the drive module (32d) is deflected away from the longitudinal axis. In other words, a portion of the first free edge (132) of the second elastic member (130) that is distal to the drive module (32d) is not deflected away from the longitudinal axis. Additionally, for example and with reference to FIG. 18, the region of the first free edge (132) near point A close to the drive module (32d) is deflected away from the longitudinal axis. Once the drive module (32d) moves along the longitudinal axis so that the area of ​​the first free edge (132) near point A is no longer closely close to the drive module (32d), the area of ​​the first free edge (132) near point A will elastically return to the longitudinal axis.

[0108] The first elastic member (124) and the second elastic member (130) may be formed of ethylene propylene diene monomer (EPDM) rubber having a thickness of 1 / 32 inch (0.0794 cm). The first rigid member (146) has greater rigidity and elasticity than the flexible drape portions.

[0109] FIG. 16 is a cross-sectional view of another exemplary embodiment of a distal rigid front plate (502) and a distal rigid bottom plate (503) deployed on a robot drive (24). As with the exemplary embodiment shown in FIG. 15, the cross-section shown in FIG. 16 is taken at any point along the rigid front plate (502) and the rigid bottom plate (503) at a point orthogonal to the longitudinal direction of the distal drape (50). The discussion of the exemplary embodiment shown in FIG. 16 may also be applied to a proximal rigid front plate (5212) and a proximal rigid bottom plate (5213).

[0110] The exemplary embodiment illustrated in FIG. 16 is similar to the exemplary embodiment illustrated in FIG. 15, except that the first elastic member (124) is arranged on the opposite side of the rigid front plate (502) so that when unfolded, the first elastic member (124) is positioned between the edge of the rigid front plate (502) and the bottom wall (114) of the drive body (100). Likewise, the second elastic member (130) is arranged on the opposite side of the rigid bottom plate (503) relative to the exemplary embodiment illustrated in FIG. 15 so that when unfolded, the second elastic member (130) is positioned between the edge of the rigid bottom plate (503) and the bottom wall (114) of the drive body (100). Other aspects of the exemplary embodiment illustrated in FIG. 16 are identical or substantially identical to the exemplary embodiment illustrated in FIG. 15. Accordingly, a detailed discussion is omitted.

[0111] Now, a method for deploying a draping system according to one or more exemplary embodiments will be described.

[0112] FIGS. 19a through 19k illustrate a method for deploying the draping system (10) described herein in relation to one or more exemplary embodiments onto a catheter-based procedure system. Before deploying the drape in the manner discussed in relation to FIGS. 19a through 19k, drive modules (32a-32d) are moved to the proximal end of the robotic drive (24). As discussed in more detail below, FIGS. 19a through 19f, FIGS. 19j, and FIGS. 19k illustrate exemplary embodiments of a method for deploying a distal drape (50) and a proximal drape (52) in general. FIGS. 19g through 19i illustrate exemplary embodiments of a method for deploying an arm drape (54) in general.

[0113] Referring to FIG. 19a, a user, operator, or technician slides a distal drape (50) onto a distal portion of a robot drive (24). In one example, the user holds the distal drape (50) at the top portion (e.g., via tabs (500) fixed to the top portion of the drape) and slides the distal drape (50) onto the drive body (100) from the distal end (distal longitudinal end) of the drive body (100). As the user slides the distal drape (50) onto the drive body (100), magnets (504, 5040) on the rigid front plate (502) and the rigid bottom plate (503) snap the plates into alignment on the robot drive (24) to initially attach the distal drape (50) to the robot drive (24). Next, the user further attaches the distal drape (50) by engaging the snap caps (505, 5050) on the rigid front plate (502) and the rigid bottom plate (503), respectively.

[0114] As illustrated in FIG. 19b, after the distal drape (50) is arranged on the drive body (100), the user removes the perforated tape (507) to expose the channel between the elastic members (124, 130) on the bottom wall (114). In another exemplary embodiment, the user does not need to remove the perforated tape (507) to expose the channel between the elastic members (124, 130). Rather, the user can create the channel by moving at least the drive module (32a) through the channel to separate the perforated tape (507).

[0115] Once the perforation tape (507) is removed (or separated), as shown in FIG. 19c, the user presses or tightens the twist ties (506) around the handle (25) to pull the distal drape sheet (501) closer to the drive body (100). The overlapping drape portion (508) remains folded over the rest of the distal drape sheet (501) until the proximal drape (52) is unfolded.

[0116] Next, before deploying the proximal drape (52), the user moves the drive modules (32a-32d) (or the remaining drive modules among the drive modules (32b-32d)) through the channel to the distal end of the robot drive (24).

[0117] As illustrated in FIG. 19d, the user slides the proximal drape (52) onto the proximal portion of the drive body (100). In one example, the user holds the proximal drape (52) at the top portion (e.g., via tabs (5200)) and slides the proximal drape (52) onto the drive body (100) from the proximal end (proximal longitudinal end). As the user slides the proximal drape (52) onto the drive body (100), magnets (5214, 5219) on the rigid front plate (5212) and the rigid bottom plate (5213) snap the plates into alignment on the drive body (100) to initially secure the proximal drape (52) onto the drive body (100). Next, the user further attaches the proximal drape (52) by engaging the snap caps (5215) on the rigid front plate (5212) and the rigid bottom plate (5213), respectively.

[0118] As illustrated in FIG. 19e, after the proximal drape (52) is arranged on the drive body (100), the user removes the perforated tape (5217) to expose a channel on the proximal portion of the floor wall (114) between the front rigid plate (5212) and the rigid bottom plate (5213). In another exemplary embodiment, the user does not need to remove the perforated tape (5217). Rather, the user can create the channel by moving at least the drive module (32d) through the channel to separate the perforated tape (5217).

[0119] When the perforated tape (5217) is removed (or separated), as shown in FIG. 19f, the user presses or tightens the twist ties (5216) around the proximal part of the handle (25) to pull the proximal drape sheet (5211) closer to the drive body (100).

[0120] After tightening the twist tie (5216), as shown in FIG. 19g, the user can raise the robot drive (24) (e.g., manually) to increase the vertical clearance between the robot drive (24) and the patient table (18) and increase accessibility to the positioning system (22) supporting the robot drive (24).

[0121] As shown in FIG. 19h, the user begins to unfold the arm drape (54) by attaching the c-shaped clip (5418) to the rotation joint (22a).

[0122] As illustrated in FIG. 19i, the user wraps the arm drape sheet (5419) around the support arm using hand straps (5420). Then, the user attaches the arm drape (54) around the support using a hook and loop fastener system along the edges of the arm drape sheet (5419) and hook and loop fasteners on the hand straps (5420).

[0123] As illustrated in FIG. 19j, the user then folds the overlapping drape portion (508) over a portion of the proximal drape (52) and fastens the overlapping drape portion (508) to the proximal drape (52) through a plurality of corresponding hook and loop fasteners on the distal drape (50) and the proximal drape (52). In the exemplary embodiment illustrated in FIG. 19j, the overlapping drape portion (508) may be fastened to the proximal drape (52) through at least three hook and loop fasteners. Still referring to FIG. 19j, the user may also use the rear positioning system cover portion (518) of the distal drape (50) to cover the top of the positioning system (22).

[0124] As illustrated in FIG. 19k, the user then places the sheath pull pad (5019) onto the sheath anchor (also referred to as the device support connection). As illustrated, the sheath anchor has two tabs that prevent the sheath pull pad (5019) from bouncing up.

[0125] Although exemplary embodiments of a method for deploying a draping system have been described in relation to the sequence of steps shown in FIGS. 19a through 19k, exemplary embodiments should not be limited to this example. Rather, the steps of the draping method may be performed in various different sequences.

[0126] FIG. 20 is a drawing of the first longitudinal wall side of a catheter-based procedure system (10) draped with a draping system according to one or more exemplary embodiments. Since aspects of the draping system illustrated in FIG. 20 have already been described, further discussion is omitted for brevity.

[0127] Draping systems according to one or more exemplary embodiments described herein can be deployed within a relatively short amount of time (e.g., 3 minutes), which can reduce (e.g., significantly reduce) the required draping time and training time compared to one-piece draping. The modular design of draping systems according to one or more exemplary embodiments can also reduce production time and / or vendor costs by simplifying the manufacturing process. The design of draping systems according to one or more exemplary embodiments can improve the user experience through easier handling and / or deployment while maintaining required functionality, such as channel accessibility and fastening sheets without loose parts.

[0128] Although magnets, snaps, and hook and loop fasteners are shown as some of the attachment features, other joining methods known in the art are also considered. As a non-limiting example, for each attachment mechanism, magnets, snaps, adhesive tapes, hooks, hook and loop fasteners, and other mechanical, electromechanical, and chemical joining methods may be used in conjunction with or instead of the joining methods described herein.

[0129] Exemplary embodiment 1. A draping system for a robot drive having an elongated drive body and an articulated support arm supporting the elongated drive body, wherein the draping system comprises: a first tubular drape configured to cover a first portion of the elongated drive body; a second tubular drape configured to cover a second portion of the elongated drive body — the second tubular drape is separate from the first tubular drape —; and a third drape configured to cover the articulated support arm, wherein the third drape is separate from the first tubular drape and the second tubular drape.

[0130] Exemplary embodiment 2. In the draping system of exemplary embodiment 1, the first tubular drape is configured to slide from the first end of the elongated drive body onto the elongated drive body to cover the first part of the elongated drive body.

[0131] Exemplary embodiment 3. In the draping system of exemplary embodiment 2, the second tubular drape is configured to slide from the second end of the elongated drive body onto the elongated drive body to cover the second part of the elongated drive body, the second end being opposite the first end in the longitudinal direction of the elongated drive body.

[0132] Exemplary embodiment 4. In a draping system of any one of the preceding exemplary embodiments, the first tubular drape includes a first perforated tape temporarily adhered along the length of the first tubular drape to maintain the tubular shape of the first tubular drape.

[0133] Exemplary embodiment 5. In the draping system of exemplary embodiment 4, the first perforated tape is configured to be removed after the first tubular drape is unfolded on the elongated drive body.

[0134] Exemplary embodiment 6. In the draping system of exemplary embodiment 5, the robot drive comprises one or more movable drive modules configured to move along the length of the slender drive body through a channel formed along the length of the bottom wall of the slender drive body, and the removal of the first perforated tape exposes the channel.

[0135] Exemplary embodiment 7. In a draping system of any one of exemplary embodiments 4 to 6, the first tubular drape comprises a first rigid plate and a second rigid plate extending along the length of the first tubular drape, and a first perforated tape is temporarily adhered to the first rigid plate and the second rigid plate to maintain the tubular shape of the first tubular drape.

[0136] Exemplary embodiment 8. In the draping system of exemplary embodiment 7, the first tubular drape comprises a flexible drape body, and the first rigid plate and the second rigid plate are bonded to the individual edges of the flexible drape body.

[0137] Exemplary embodiment 9. In a draping system of any one of exemplary embodiments 4 to 8, the second tubular drape has a third rigid plate, a fourth rigid plate, and a second perforated tape extending along the length of the second tubular drape, and the second perforated tape is temporarily adhered to the third rigid plate and the fourth rigid plate to maintain the tubular shape of the second tubular drape.

[0138] Exemplary embodiment 10. In the draping system of exemplary embodiment 9, the second tubular drape comprises a flexible drape body, and the third rigid plate and the fourth rigid plate are bonded to the individual edges of the flexible drape body.

[0139] Exemplary embodiment 11. In the draping system of any one of the preceding exemplary embodiments, the third drape is a non-tubular drape.

[0140] Exemplary embodiment 12. In a draping system of any one of the prior exemplary embodiments, the third drape includes a c-shaped clip configured to be removablely attached to a part of an arm supporting an elongated drive body, and a lower arm drape portion configured to wrap around the support arm.

[0141] Exemplary embodiment 13. A sterile barrier for a robot drive having an elongated drive body and an articulated support arm supporting the elongated drive body, wherein the sterile barrier comprises: a first tubular drape, the first tubular drape having a first rigid plate, a second rigid plate, and a first perforated tape extending along the length of the first tubular drape, the first perforated tape being temporarily adhered to the first rigid plate and the second rigid plate to maintain the tubular shape of the first tubular drape, and the first tubular drape being configured to cover a first part of the elongated drive body when unfolded.

[0142] Exemplary embodiment 14. In the sterilization barrier of exemplary embodiment 13, the robot drive comprises one or more movable drive modules configured to move along the length of the slender drive body through a channel formed along the length of the bottom wall of the slender drive body, and the removal of the first perforation tape exposes at least a portion of the channel.

[0143] Exemplary embodiment 15. In the sterile barrier of exemplary embodiment 13 or 14, the first tubular drape comprises a flexible drape body, and the first rigid plate and the second rigid plate are bonded to the individual edges of the flexible drape body.

[0144] Exemplary embodiment 16. A sterile barrier of any one of exemplary embodiments 13 to 15 comprises: a second tubular drape further comprising a third rigid plate, a fourth rigid plate, and a second perforated tape extending along the length of the second tubular drape, wherein the second perforated tape is temporarily adhered to the third rigid plate and the fourth rigid plate to maintain the tubular shape of the second tubular drape, and the second tubular drape is configured to cover a second portion of an elongated drive body when deployed.

[0145] Exemplary embodiment 17. The sterile barrier of exemplary embodiment 16 further comprises a third drape configured to cover an articulating support arm, the third drape being separate from the first tubular drape and the second tubular drape.

[0146] Exemplary embodiment 18. In the sterilization barrier of exemplary embodiment 17, the third drape is a non-tubular drape.

[0147] Exemplary embodiment 19. In the sterile barrier of exemplary embodiment 17 or 18, the third drape comprises: a c-shaped clip configured to be removablely attached to a portion of the articulated support arm; and a lower arm drape portion configured to wrap around the articulated support arm.

[0148] Exemplary embodiment 20. In a sterile barrier of any one of exemplary embodiments 16 to 19, the second tubular drape comprises a flexible drape body, and the third rigid plate and the fourth rigid plate are bonded to the individual edges of the flexible drape body.

[0149] Exemplary embodiment 21. A method for draping a robot drive having an elongated drive body and an articulated support arm supporting the elongated drive body, the method comprises: a step of sliding a first tubular drape over a first part of the elongated drive body; a step of sliding a second tubular drape over a second part of the elongated drive body — the second tubular drape is separate from the first tubular drape —; and a step of covering the articulated support arm with a third drape, wherein the third drape is separate from the first tubular drape and the second tubular drape.

[0150] Exemplary embodiment 22. In the method of exemplary embodiment 21, at least one of the following is performed: the step of sliding a first tubular drape onto a first portion includes sliding the first tubular drape onto the first portion from a first longitudinal end of the elongated drive body; or the step of sliding a second tubular drape onto a second portion includes sliding the second tubular drape onto the second portion from a second longitudinal end of the elongated drive body, wherein the second longitudinal end is opposite to the first longitudinal end.

[0151] Exemplary embodiment 23. In the method of exemplary embodiment 22: the robot drive comprises one or more movable drive modules configured to move along the length of the slender drive body through a channel formed along the length of the bottom wall of the slender drive body; the method further comprises the steps of moving one or more movable drive modules to a second longitudinal end of the slender drive body before sliding a first tubular drape over a first portion, and moving one or more movable drive modules to a first longitudinal end of the slender drive body before sliding a second tubular drape over a second portion.

[0152] Exemplary embodiment 24. In the method of exemplary embodiment 23, before moving one or more movable drive modules to a first longitudinal end, the method further comprises the step of removing a first perforated tape from a first tubular drape to expose at least a portion of a channel.

[0153] Exemplary embodiment 25. In a method of any one of exemplary embodiments 21 to 24, the first tubular drape comprises a first rigid plate and a second rigid plate extending along the length of the first tubular drape, and the method comprises the steps of: removably fixing the first rigid plate to a first side of an elongated drive body; and removably fixing the second rigid plate to a second side of an elongated drive body, wherein the second side is close to the first side.

[0154] Exemplary embodiment 26. In the method of exemplary embodiment 25, the second tubular drape has a third rigid plate and a fourth rigid plate extending along the length of the second tubular drape, and the method comprises the steps of: removably fixing the third rigid plate to a first side of the elongated drive body; and removably fixing the fourth rigid plate to a second side of the elongated drive body.

[0155] Exemplary embodiment 27. In the method of any one of exemplary embodiments 21 to 26, the third drape comprises a c-shaped clip and a lower arm drape portion, and the covering step comprises the step of removingly attaching the c-shaped clip to a portion of the articulated support arm, and the step of wrapping the lower arm drape portion around the articulated support arm.

[0156] The drawings should be regarded as schematic representations, and the elements illustrated in the drawings are not necessarily drawn to actual scale. Rather, the various elements are depicted so that their function and general purpose may be apparent to those skilled in the art. Any connection or combination between functional blocks, devices, components, or other physical or functional units illustrated in the drawings or described herein may also be implemented by indirect connection or combination. Combination between components may also be established via wireless connection. Functional blocks may be implemented in hardware, firmware, software, or a combination thereof.

[0157] In this specification, terms such as first, second, etc. may be used to describe various elements, components, regions, layers, and / or sections, but it will be understood that such elements, components, regions, layers, and / or sections are not limited to these terms. These terms are used solely to distinguish one element from another. For example, without departing from the scope of the embodiments, the first element may be referred to as the second element, and likewise the second element may be referred to as the first element. As used herein, the term "and / or" includes any and all combinations of one or more of the associated enumerated items. The phrase "at least one of" has the same meaning as "and / or".

[0158] As illustrated in the drawings, spatially relative terms such as “bottom,” “below,” “lower,” “lower side,” “top,” and “upper side” may be used in this specification for convenience of description to explain the relationship of one element or feature to other element(s) or feature(s). It will be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientations illustrated in the drawings. For example, if the device in the drawings is inverted, the elements described as “below,” “bottom,” or “lower side” will be oriented “up” to the other elements or features. Thus, the exemplary terms “below” and “lower side” may include both upper and lower orientations. The device may be oriented differently (rotated 90 degrees or other orientations), and the spatially relative terms used in this specification may be interpreted accordingly. Additionally, when an element is referred to as being "between" two elements, the element may be the only element between the two elements, or there may be one or more other intervening elements.

[0159] Spatial and functional relationships between elements (e.g., between modules) are described using various terms including “on,” “connected,” “interlocked,” “interfaced,” and “combined.” Unless explicitly described as “direct,” when a relationship between a first element and a second element is described in this disclosure, the relationship includes a direct relationship in which no other intervening elements exist between the first element and the second element, and an indirect relationship in which one or more intervening elements exist (spatially or functionally) between the first element and the second element. In contrast, when an element is referred to as being “directly” connected, interlocked, interfaced, or combined with another element, no intervening elements exist. Other words used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “close” versus “directly close,” etc.).

[0160] The terms used herein are intended to describe only specific embodiments and are not intended to limit the embodiments. As used herein, singular forms are intended to include plural forms unless the context clearly indicates otherwise. As used herein, the terms “and / or” and “at least one of” include any and all combinations of one or more of the associated enumerated items. It will be further understood that when used herein, the terms “include,” “include,” “include,” and / or “include” specify the presence of the mentioned features, integers, steps, actions, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, actions, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated enumerated items. When preceding a list of elements, expressions such as "at least one of..." modify the entire list of elements without modifying the individual elements in the list. Additionally, the term "yes" is intended to refer to an example or illustration.

[0161] It should also be noted that in some alternative implementations, the mentioned functions / behaviors may occur differently from the order mentioned in the drawings. For example, two drawings shown consecutively may actually be executed substantially simultaneously, or may sometimes be executed in reverse order depending on the related functions / behaviors.

[0162] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as generally understood by those skilled in the art to which the embodiments pertain. For example, terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technical field and should be further understood not to be interpreted in an ideal or overly formal sense unless explicitly defined so in this specification.

[0163] It is noted that some embodiments may be described by reference to the actions and symbolic representations (e.g., in the form of flowcharts, flow diagrams, data flow diagrams, structural diagrams, block diagrams, etc.) of operations that may be implemented with the units and / or devices discussed above. Although described in a specific manner, a function or operation specified in a specific block may be performed differently from the flow specified in the flowchart, flow diagram, etc. For example, functions or operations exemplified as being performed serially in two consecutive blocks may actually be performed simultaneously or, in some cases, in reverse order. Although flowcharts describe operations as sequential processes, many of the operations may be performed in parallel, concurrently, or simultaneously. Additionally, the order of operations may be rearranged. Processes may terminate when the operations of the processes are completed, but may have additional steps not included in the drawings. Processes can correspond to methods, functions, procedures, subroutines, subprograms, etc.

[0164] The specific structural and functional details disclosed herein are merely representative for the purpose of describing embodiments. However, the invention may be embodied in many alternative forms and should not be construed as being limited only to the embodiments presented herein.

Claims

Claim 1 A draping system for a robotic drive having an elongated drive body and an articulating support arm supporting the elongated drive body, comprising: a first tubular drape configured to cover a first portion of the elongated drive body; a second tubular drape configured to cover a second portion of the elongated drive body — said second tubular drape is separate from said first tubular drape —; and a third drape configured to cover the articulating support arm, said third drape being separate from said first tubular drape and said second tubular drape. Claim 2 A draping system according to claim 1, wherein the first tubular drape is configured to slide from a first end of the elongated drive body onto the elongated drive body to cover a first part of the elongated drive body. Claim 3 In claim 2, the second tubular drape is configured to slide from a second end of the elongated drive body onto the elongated drive body to cover a second portion of the elongated drive body, wherein the second end is located opposite the first end in the longitudinal direction of the elongated drive body, a draping system. Claim 4 A draping system according to claim 1, wherein the first tubular drape comprises a first perforated tape temporarily adhered along the length of the first tubular drape to maintain the tubular shape of the first tubular drape. Claim 5 In claim 4, the draping system is configured such that the first perforated tape is removed after the first tubular drape is deployed on the elongated drive body. Claim 6 In claim 5, the robot drive comprises one or more movable drive modules configured to move along the length of the elongated drive body through a channel formed along the length of the bottom wall of the elongated drive body, and the removal of the first perforated tape exposes the channel, a draping system. Claim 7 A draping system according to claim 4, wherein the first tubular drape comprises a first rigid plate and a second rigid plate extending along the length of the first tubular drape, and the first perforated tape is temporarily adhered to the first rigid plate and the second rigid plate to maintain the tubular shape of the first tubular drape. Claim 8 A draping system according to claim 7, wherein the first tubular drape comprises a flexible drape body, and the first rigid plate and the second rigid plate are bonded to the individual edges of the flexible drape body. Claim 9 A draping system according to claim 4, wherein the second tubular drape has a third rigid plate, a fourth rigid plate, and a second perforated tape extending along the length of the second tubular drape, and the second perforated tape is temporarily adhered to the third rigid plate and the fourth rigid plate to maintain the tubular shape of the second tubular drape. Claim 10 In claim 9, the second tubular drape comprises a flexible drape body, and the third rigid plate and the fourth rigid plate are bonded to the individual edges of the flexible drape body, forming a draping system. Claim 11 A draping system according to claim 1, wherein the third drape is a non-tubular drape. Claim 12 In claim 1, the third drape is: A C-shaped clip configured to be securely and removablely attached to a part of the above-mentioned articulated support arm, and A draping system comprising a lower arm drape portion configured to wrap around the above-mentioned articulated support arm. Claim 13 A sterile barrier for a robot drive having an elongated drive body and an articulated support arm supporting the elongated drive body, comprising a first tubular drape, wherein the first tubular drape has a first rigid plate, a second rigid plate, and a first perforated tape extending along the length of the first tubular drape, wherein the first perforated tape is temporarily adhered to the first rigid plate and the second rigid plate to maintain the tubular shape of the first tubular drape, and the first tubular drape is configured to cover a first portion of the elongated drive body when unfolded. Claim 14 In claim 13, the robot drive comprises one or more movable drive modules configured to move along the length of the slender drive body through a channel formed along the length of the bottom wall of the slender drive body, and the removal of the first perforation tape exposes at least a portion of the channel, sterile barrier. Claim 15 In claim 13, the first tubular drape comprises a flexible drape body, and the first rigid plate and the second rigid plate are adhered to the individual edges of the flexible drape body, forming a sterile barrier. Claim 16 A sterile barrier according to claim 13, further comprising a second tubular drape, wherein the second tubular drape has a third rigid plate, a fourth rigid plate, and a second perforated tape extending along the length of the second tubular drape, wherein the second perforated tape is temporarily adhered to the third rigid plate and the fourth rigid plate to maintain the tubular shape of the second tubular drape, and the second tubular drape is configured to cover a second portion of the elongated drive body when unfolded. Claim 17 In claim 16, a sterile barrier further comprising a third drape configured to cover the articulating support arm, wherein the third drape is separate from the first tubular drape and the second tubular drape. Claim 18 In claim 17, the third drape is a non-tubular drape, a sterile barrier. Claim 19 In claim 17, the third drape is: A C-shaped clip configured to be removablely attached to a part of the above-mentioned articulated support arm, and A sterile barrier comprising a lower arm drape portion configured to wrap around the above-mentioned articulated support arm. Claim 20 In claim 16, the second tubular drape comprises a flexible drape body, and the third rigid plate and the fourth rigid plate are bonded to the individual edges of the flexible drape body, forming a sterile barrier.

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