Interface structure

Abstract

The present application relates to an interface structure. An interface structure for detachably docking a surgical robot arm to a surgical instrument comprises: a main body; and a drive transmission element, the drive transmission element comprising a first part and a second part, the first part releasably engaging with a part of the surgical robot arm, and the second part releasably engaging with a part of the surgical instrument; the drive transmission element is movable relative to the main body so as to be able to transmit drive between the surgical robot arm and the surgical instrument.

Description

[0001] This application is a divisional application of the invention patent application with application number 201780047026.3 (international application number PCT / GB2017 / 052192), international application date July 27, 2017, and invention name “Interface Structure”. Technical Field

[0002] The present application relates to an interface structure, and more particularly to an interface structure for detachably docking a surgical robot arm to a surgical instrument. Background Art

[0003] It is known to use robots to assist and perform surgery. Figure 1 A typical surgical robot 100 is shown, which includes a base 108, an arm 102, and an instrument 105. The base supports the robot and is itself rigidly attached to, for example, an operating room floor, an operating room ceiling, or a cart. The arm extends between the base and the instrument. The arm is articulated with a plurality of flexible joints 103 along its length, which are used to position the surgical instrument in a desired position relative to the patient. The surgical instrument is attached to the distal end 104 of the robot arm. The surgical instrument penetrates the body of the patient 101 at a port 107 to access the surgical site. The instrument includes an end effector 106 at its distal end for participating in a medical procedure.

[0004] Figure 2 A typical surgical instrument 200 for performing robotic laparoscopic surgery is shown. The surgical instrument includes a base 201 by which the surgical instrument is connected to a robotic arm. A shaft 202 extends between the base 201 and a joint 203. The joint 203 terminates in an end effector 204. Figure 2 , a pair of serrated jaws are shown as end effector 204. Joint 203 allows end effector 204 to move relative to shaft 202. It is desirable to provide at least two degrees of freedom for the movement of end effector 204 by means of the joint.

[0005] Surgeons use many instruments during a typical laparoscopic procedure. For this reason, it is desirable that instruments can be detached from and attached to the end of a robotic arm in an easy and quick manner, which enables instruments to be changed during an operation. It is therefore desirable to minimize the time spent and maximize the ease of detaching one instrument from a robotic arm and attaching a different instrument.

[0006] The operating room is a sterile environment. The surgical robotic system must be sterile to the extent that it is exposed to the patient. The surgical instruments are sterilized prior to the procedure, but the robotic arms are not sterilized prior to use. Instead, a sterile drape is placed over the entire surgical robot prior to the procedure. In this way, the patient is not exposed to a non-sterile surgical robotic arm. When changing instruments in the middle of an operation, it is desirable to maintain a sterile barrier. Summary of the invention

[0007] According to one aspect of the present invention, there is provided an interface structure for detachably attaching a surgical robot arm to a surgical instrument, the interface structure comprising:

[0008] the subject; and

[0009] a drive transfer element comprising a first portion releasably engageable with a portion of the surgical robot arm and a second portion releasably engageable with a portion of the surgical instrument;

[0010] The drive transfer element is movable relative to the body so as to be able to transfer drive between the surgical robot arm and the surgical instrument.

[0011] Suitably, the drive transferring element is movable relative to the body.

[0012] Suitably, the body comprises a first side for facing the surgical robot arm and a second side for facing the surgical instrument, the first part being arranged towards the first side and / or the second part being arranged towards the second side.

[0013] Suitably, the body comprises an aperture connecting the first side and the second side, and the drive transfer element is configured to block fluid flow through the aperture so as to maintain a sterile barrier between the surgical robotic arm and the surgical instrument.

[0014] Suitably, the interface structure is configured such that when the drive transfer element is moved relative to the body, the drive transfer element blocks fluid flow through the aperture.

[0015] Suitably, the interface arrangement is configured such that the drive transfer element blocks fluid flow through the aperture over a range of movement of the drive transfer element relative to the body.

[0016] Suitably, the drive transfer element covers the aperture.

[0017] Suitably, the body defines a path along which the drive transfer element is movable.

[0018] Suitably, the body defines a linear path along which the drive transfer element is movable.

[0019] Suitably, the path defined by the body comprises a slot in which the drive transfer element is receivable and along which the drive transfer element is movable.

[0020] Suitably, the path defined by the body comprises a channel in which the drive transfer element is receivable and along which the drive transfer element is movable.

[0021] Suitably, the passage is formed as a cavity or recess.The cavity or recess may be within the body.

[0022] Suitably, the interface structure comprises a cover attachable to the body, the passage being defined between a portion of the body and a portion of the cover.

[0023] Suitably, the cover is attachable to one of the first side and the second side of the body.

[0024] Suitably, the drive transfer element comprises a central portion comprising the first portion and the second portion, and an extension portion extending away from the central portion.

[0025] Suitably, the extended portion covers the aperture. Suitably, the central portion and the extended portion cover the aperture.

[0026] Suitably, the extension portion is configured such that at one end of the range of movement of the drive transfer element relative to the body, the distal end of the extension portion remains covered by the cover.

[0027] Suitably, the drive transferring element is a rigid element.

[0028] Suitably, the drive transfer element comprises a portion of movable material to which at least one of the first portion and the second portion is attachable, the movable material being movable so as to accommodate movement of the drive transfer element relative to the body whilst allowing a sterile barrier to be maintained between the surgical robot arm and the surgical instrument.

[0029] Suitably, said portion of said movable material comprises a resilient material.

[0030] Suitably, said interface structure comprises a roller and said portion of said movable material is windable onto said roller.

[0031] Suitably, the interface structure comprises a plurality of drive transfer elements.

[0032] Suitably, the interface structure comprises a first drive transfer element movable relative to the body along a first path. Suitably, the first path is a linear path. Suitably, the interface structure comprises a second drive transfer element movable relative to the body along a second path. Suitably, the second path is a linear path.

[0033] Suitably, the interface structure comprises: a first drive transfer element movable relative to the body along a linear first path; and a second drive transfer element movable relative to the body along a linear second path, the first path and the second path being parallel to each other.

[0034] Suitably, when the interface structure is interfaced with the surgical instrument, the first path is parallel to the axis of the surgical instrument.

[0035] Suitably, when the interface structure is interfaced with the surgical instrument, at least one of the first path and the second path is aligned with the axis of the surgical instrument.

[0036] Suitably, the interface structure comprises three drive transfer elements, each drive transfer element being movable relative to the body along a respective path, and each respective path being parallel to one another.

[0037] Suitably, the body of the interface structure comprises a deformable material. Suitably, the body of the interface structure comprises a resilient material.

[0038] The material of the body disposed between the drive transfer elements may include an unconstrained portion.The unconstrained portion may allow the drive transfer elements to move relative to each other.

[0039] Suitably, the material of the body arranged between the drive transfer elements comprises a textile material.

[0040] Suitably, the body of the interface structure comprises a rigid material.

[0041] Suitably, the paths of the first and second drive transferring elements are in the same plane. Suitably, the path of the third drive transferring element is in the same plane as the paths of the first and second drive transferring elements.

[0042] The first path may be in a first plane. The second path may be in a second plane. The first plane and the second plane may be different from each other. The third path may be in a third plane. The third plane may be different from the first plane and / or the second plane. Suitably, the third plane is coplanar with the first plane or the second plane. Suitably, at least two of the first plane, the second plane and the third plane are coplanar.

[0043] Suitably, the first path is of a different length than the second path. Suitably, the third path is of the same length as at least one of the first path and the second path.

[0044] Suitably, the body comprises a first retention portion for retaining the interface structure on at least one of the surgical robot arm and the surgical instrument. Suitably, the retention portion is arranged to engage with a second retention portion located on the at least one of the surgical robot arm and the surgical instrument.

[0045] Suitably, the body comprises a first retaining portion for retaining the interface structure on at least one of the surgical robot arm and the surgical instrument, the retaining portion being engageable with a second retaining portion located on the at least one of the surgical robot arm and the surgical instrument.

[0046] Suitably, the interface structure may be retained on the surgical robot arm to minimise relative movement between the body of the interface structure and the surgical robot arm. Suitably, the interface structure may be retained on the surgical instrument to minimise relative movement between the body of the interface structure and the surgical instrument.

[0047] Suitably, the first portion of the drive transfer element comprises one of a recess and a protrusion. Suitably, the second portion of the drive transfer element comprises one of a recess and a protrusion. Suitably, where the first portion comprises a recess, the second portion comprises a protrusion. Suitably, where the first portion comprises a protrusion, the second portion comprises a recess.

[0048] Suitably, the first portion of the drive transfer element comprises a notch for engaging with a protruding fin on the surgical robot arm, and the second portion of the drive transfer element comprises a protrusion for engaging with a socket on the surgical instrument. Suitably, the protrusion comprises a chamfer or a rounded portion at its distal end. The chamfer or rounded portion may facilitate engagement of the protrusion with the socket.

[0049] Suitably, the projection comprises a cavity communicating with the recess. The recess may be continuous with the cavity in the projection so as to allow a fin receivable in the recess to extend into the cavity. Suitably, the projection of the second part comprises a cavity communicating with the recess of the first part. The recess of the first part may be continuous with the cavity in the projection of the second part so as to allow a fin receivable in the recess to extend into the cavity.

[0050] Suitably, the body comprises alignment features on at least one of the first side and the second side for assisting alignment of the interface structure with the surgical robotic arm and / or the surgical instrument during engagement.

[0051] Suitably, the alignment feature comprises a post and / or an alignment notch.The alignment feature may engage with a corresponding alignment feature on the surgical robot arm and / or on the surgical instrument.

[0052] Suitably, the surgical drape extends from said interfacing structure.

[0053] Suitably, the surgical drape extends from a periphery of the interface structure. Suitably, the interface structure comprises a lip adjacent the periphery of the interface structure, and the surgical drape extends from the lip. The interface structure and the surgical drape may be integrally formed.

[0054] According to one aspect of the present invention, there is provided a robotic surgical system, comprising a surgical robot arm and an interface structure as described above, wherein the surgical robot arm comprises a base and a plurality of joints connecting the base to a drive assembly interface located at or toward the distal end of the surgical robot arm, the plurality of joints enabling the drive assembly interface to be articulated relative to the base; and the interface structure being attachable to the drive assembly interface.

[0055] According to one aspect of the present invention, a robotic surgical system is provided, which includes an interface structure as described above and a surgical instrument for robotic surgery, the surgical instrument including an axis, a surgical end effector located at the distal end of the axis or toward the distal end of the axis, and an instrument interface located at the proximal end of the axis or toward the proximal end of the axis, and the interface structure can be attached to the instrument interface.

[0056] Any one or more features of any aspect above may be combined with any one or more features of that aspect and / or any one or more features of any other aspect above.For the sake of brevity, this article is not fully written out. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The present invention will now be described by way of example with reference to the accompanying drawings. In the drawings:

[0058] Figure 1 A surgical robot performing a surgical procedure is shown;

[0059] Figure 2 A known surgical instrument is shown;

[0060] Figure 3 A surgical robot is shown;

[0061] Figure 4 The drive assembly interface of the surgical robot arm is shown;

[0062] Figure 5 An instrument interface of a surgical instrument is shown;

[0063] Figure 6 A drive assembly interface of a robotic arm with an attached instrument is shown;

[0064] Figure 7a One side of the interface structure is shown;

[0065] Figure 7b Shows Figure 7a The other side of the interface structure;

[0066] Figure 8 Shown by Figure 7a An axial cross-sectional view of the device with the interface structure docked with the drive assembly;

[0067] Fig. 9 Shown by Figure 7a A side sectional view of the device with the interface structure docked with the drive assembly;

[0068] Fig.10a schematically shows a side view of an alternative interface structure;

[0069] Fig.10b Schematically shows Fig.10a A plan view of an alternative interface structure shown in ; and

[0070] Fig.11a and Fig.11b The drive transfer elements of an alternative interface structure are schematically shown. DETAILED DESCRIPTION

[0071] Figure 3 A surgical robot is shown having an arm 300 extending from a base 301. The arm comprises a number of rigid limbs 302. The limbs are connected by means of revolute joints 303. The proximal limb 302a is connected to the base by means of a proximal joint 303a. This limb and the other limbs are connected in series by means of further joints 303. Suitably, the wrist 304 consists of four separate revolute joints. The wrist 304 connects one limb (302b) to the distal-most limb (302c) of the arm. The distal-most limb 302c carries an attachment 305 for a surgical instrument 306. Each joint 303 of the arm has: one or more motors 307, which are operable to cause rotational movement at the corresponding joint; and one or more position and / or torque sensors 308, which provide information about the current configuration and / or load at the joint. Suitably, the motor is arranged at the proximal end of the joint whose movement is driven to improve weight distribution. For clarity, Figure 3 Only some motors and sensors are shown in the figure. The arm as a whole may be as described in the applicant's co-pending patent application PCT / GB2014 / 053523.

[0072] The arm terminates in an attachment 305 which is adapted to interface with an instrument 306. Suitably, the instrument 306 is constructed with reference to Figure 2The form described. The instrument has a diameter of less than 8 mm. Suitably, the instrument has a diameter of 5 mm. The diameter of the instrument may be less than 5 mm. The instrument diameter may be the diameter of the shaft. The instrument diameter may be the diameter of the joint profile. Suitably, the diameter of the joint profile matches or is narrower than the diameter of the shaft. Attachment 305 includes a drive assembly for driving the joint of the instrument. The removable interface element of the drive assembly interface mechanically engages a corresponding removable interface element of the instrument interface so as to transfer drive from the robotic arm to the instrument. During a typical surgery, one instrument is exchanged with another instrument several times. Thus, during surgery, the instrument may be attached to and detached from the robotic arm. Features of the drive assembly interface and features of the instrument interface facilitate their alignment when engaged with each other, thereby reducing the precision with which they need to be aligned by the user.

[0073] The instrument 306 includes an end effector for performing the operation. The end effector can take any suitable form. For example, the end effector can be a smooth jaw, a serrated jaw, a clamp, a pair of scissors, a needle for suturing, a camera, a laser, a knife, a stapler, a cauterizer, an aspirator. Figure 2 As described, the instrument comprises a joint between the instrument shaft and the end effector. The joint comprises a number of joints which allow the end effector to move relative to the instrument shaft. The joints in the joint are actuated by drive elements such as cables. These drive elements are fixed to interface elements of the instrument interface at the other end of the instrument shaft. Thus, the robot arm transmits the drive to the end effector as follows: movement of the drive assembly interface element causes the instrument interface element to move, which moves the drive element, which moves the joints of the joint, which moves the end effector.

[0074] Controllers for motors, torque sensors and encoders are distributed within the robot arm. The controllers are connected to a control unit 309 via a communication bus. The control unit 309 includes a processor 310 and a memory 311. The memory 311 stores software in a non-temporary manner that can be executed by the processor to control the operation of the motor 307 so that the arm 300 operates in the manner described herein. In particular, the software can control the processor 310 to drive the motor (e.g., via the distributed controller) according to inputs from the sensor 308 and the surgeon command interface 312. The control unit 309 is connected to the motor 307 for driving these motors according to the output generated by the execution of the software. The control unit 309 is connected to the sensor 308 for receiving the sensed input from the sensor, and is connected to the command interface 312 for receiving input from the command interface. Each connector can be, for example, an electrical cable or an optical cable, or can be provided by a wireless connection. The command interface 312 includes one or more input devices, whereby the user can request the end effector to move in a desired manner. The input device can be, for example, a manually operable mechanical input device such as a control handle or joystick or a contactless input device such as an optical gesture sensor. The software stored in the memory 311 is configured to respond to those inputs and cause the joints of the arm and the instrument to move accordingly in accordance with a predetermined control strategy. The control strategy can include safety features that mitigate the movement of the arm and the instrument in response to the command inputs. Thus, in summary, the surgeon at the command interface 312 can control the instrument 306 to move in a manner to perform the desired surgical procedure. The control unit 309 and / or the command interface 312 can be remote from the arm 300.

[0075] Figure 4 and Figure 5 An exemplary mechanical interconnection of a drive assembly interface and an instrument interface is shown to transmit drive from the robotic arm to the instrument. Figure 4 An exemplary drive assembly interface 400 at the end of a robot arm 404 is shown. The drive assembly interface 400 includes a plurality of drive assembly interface elements 401, 402, 403. The drive assembly interface elements protrude from surfaces 406, 407, 408 on the drive assembly interface 400. The protrusion of the drive assembly interface element from the drive assembly interface 400 allows the drive assembly interface element to engage with a corresponding instrument interface element (as described below). In the illustrated embodiment, the protrusion is in the form of a fin. In other implementations, other types of protrusions may be provided. The drive assembly interface element suitably includes a hard material such as metal. Suitably, the protrusion is formed of a hard material such as metal. Preferably, the drive assembly interface element is formed of a hard material such as metal.

[0076] The protrusion (fin in the illustrated embodiment) includes a chamfer 414 at its distal end. As described below, the chamfer makes it easier for the protrusion to engage in a corresponding recess. In other embodiments, the distal end of the protrusion may be provided with a rounded corner. The edge of the chamfered portion may be rounded.

[0077] The fins extend through the surfaces 406, 407, 408. The portion of the fin protruding from the surface is perpendicular to the plane of the surface. In other embodiments, the fins may protrude in a direction within 10 degrees of the vertical direction. Preferably, the direction in which the fins extend is within 5 degrees or within 2 degrees of the vertical direction.

[0078] Figure 4 Three drive assembly interface elements are shown. In other embodiments, there may be more or less than three drive assembly interface elements. Drive assembly interface elements 401, 402, 403 may move along linear paths 409, 410, 411 within drive assembly interface 400. These paths may be parallel to each other. Suitably, at least two paths are parallel. The paths do not need to be exactly parallel to each other. There may be certain tolerances for how closely the paths need to be aligned. For example, the paths may be within 10 degrees of each other. The paths may extend in all directions within 10 degrees. Preferably, the paths are within 5 degrees of each other, or within 2 degrees or 1 degree of each other. The paths may extend in all directions within 5 degrees, or preferably in all directions within 2 degrees or 1 degree.

[0079] Aligning the paths in this way can help provide the corresponding mechanisms more compactly. For example, the mechanisms can be arranged to move alongside each other, allowing the mechanisms to be arranged more closely together.

[0080] In the illustrated embodiment, the linear paths 409, 410, 411 are arranged on two parallel planes. The central linear path 410 is arranged on a plane 407 that is disposed further into the drive assembly interface 400 than the planes in which the outer two linear paths 409, 411 are arranged. As will be described below, this arrangement allows for a more compact interface between the drive assembly interface 400 and the instrument interface 500.

[0081] In other implementations, the three linear paths 409, 410, 411 may be arranged on the same plane, or all arranged on different planes. In another embodiment, the outer two linear paths 409, 411 are arranged on a plane provided to the drive assembly interface 400 compared to the plane on which the central linear path 410 is arranged. In implementations utilizing different numbers of drive assembly interface elements, different configurations of the planes on which the paths are arranged are possible.

[0082] The drive assembly interface 400 includes a recessed portion 412 for receiving a portion of the instrument. This arrangement may allow for a more compact construction when the instrument is mounted to a robotic arm.

[0083] Now refer to Figure 5 The shaft 501 of the instrument terminates at the instrument interface 500. The instrument interface 500 includes a plurality of instrument interface elements ( Figure 5 One of them is shown at 502; Figure 6 The instrument interface elements are more clearly seen at 502, 507, 509 in FIG. 1 . The instrument interface elements suitably comprise a hard material such as metal. Suitably, the instrument interface elements are formed of a hard material such as metal. Pairs of drive elements (such a pair of drive elements is shown at 503, 504) extend from the ends of shaft 501 into instrument interface 500. Each pair of drive elements terminates in one of the instrument interface elements. Figure 5 In the illustrated embodiment, the drive element pairs 503, 504 terminate at the instrument interface element 502, and similarly, the other drive element pairs terminate at corresponding instrument interface elements.

[0084] In the illustrated embodiment, there are three drive element pairs that terminate in three instrument interface elements. In other embodiments, there may be more or less than three instrument interface elements. There may be more or less than three drive element pairs. Figure 5 In some embodiments, there is a one-to-one relationship between the instrument interface elements and the drive element pairs. In other embodiments, there can be any other connection relationship between the instrument interface elements and the drive element pairs. For example, a single instrument interface element can drive more than one pair of drive elements. In another embodiment, more than one instrument interface element can drive a single pair of drive elements.

[0085] Each instrument interface element 502, 507, 509 includes a recess or pocket 505, which is a portion of the instrument interface element that is engageable with a drive assembly interface element.

[0086] The instrument interface elements are displaceable within the instrument interface. In the illustrated embodiment, the instrument interface elements are slidable along tracks. Instrument interface element 502 is slidable along track 506. Instrument interface element 507 is slidable along track 508. Instrument interface element 509 is slidable along track 510. Each instrument interface element is displaceable in a direction parallel to the direction of elongation of a pair of drive elements held tethered by the instrument interface element. Each instrument interface element is displaceable in a direction parallel to the longitudinal axis 512 of the instrument shaft 501. When the instrument interface element moves along its corresponding track, it causes corresponding movement of the pair of drive elements fixed thereto. Therefore, moving the instrument interface element drives the movement of the pair of drive elements and thus drives the movement of the instrument joint.

[0087] The drive assembly interface 400 mates with the instrument interface 500. The instrument interface 500 includes structures for receiving the drive assembly interface elements 401, 402, 403. Specifically, the instrument interface elements 507, 502, 509 receive the drive assembly interface elements 401, 402, 403. In the illustrated embodiment, each instrument interface element includes a socket or recess 505 for receiving the fins of the corresponding drive assembly interface element. The socket 505 of one instrument interface element 502 receives the fins of the corresponding drive assembly interface element 402. Similarly, the sockets of other instrument interface elements receive the fins of other drive assembly interface elements.

[0088] Each drive assembly interface element is displaceable within the drive assembly. This displacement is driven. For example, the displacement can be driven by a motor and lead screw arrangement. In the illustrated embodiment, the drive assembly interface elements are slidable along drive rails 802, 804. Each drive assembly interface element is coupled to one drive rail. Figure 8 , the right drive assembly interface element 403 is coupled to the right drive rail 804. The central drive assembly interface element 402 is coupled to the left drive rail 802. Although not shown, the left drive assembly interface element 401 is coupled to the left drive rail 802. In other configurations, the central drive assembly interface element is coupled to the right drive rail 804 instead, or to both the left drive rail 802 and the right drive rail 804.

[0089] Connecting the central drive assembly interface element 402 to both the left and right drive rails helps stabilize the central drive assembly interface element. Figure 8 The central drive assembly interface components shown in Figure 8 This arrangement, which is elongated in the vertical direction, can reduce bending or rotation of the central drive assembly interface element when the central drive assembly interface element moves and drives the corresponding drive transmission element.

[0090] Each drive assembly interface element is displaceable in a direction parallel to the longitudinal axis 413 of the terminal link of the robot arm. When the drive assembly interface element moves along its track, it causes corresponding movement of the instrument interface element engaged with it. Thus, the driving movement of the drive assembly interface element drives the movement of the instrument interface element, and the movement of the instrument interface element drives the joint of the end effector of the instrument.

[0091] The portion of the fin protruding from the surface includes a front face and a rear face aligned in the direction of movement of the drive assembly interface element. Here, front and rear face refer to movement in one direction when the front face faces the direction of movement and the rear face faces away from the direction of movement. When the drive assembly interface element moves in the opposite direction, the front face will face away from the direction of movement and the rear face will face the direction of movement.

[0092] The front and rear faces of the drive assembly interface element are transverse to the direction in which the drive assembly interface element is drivably movable. The front and rear faces of the drive assembly interface element are parallel to the direction in which the fins protrude from the surface. The front and rear faces need not be exactly parallel to that direction, but are preferably within 10 degrees of that direction, or within 5 degrees of that direction, or more preferably within 2 degrees of that direction.

[0093] Socket 505 includes an interior face that is transverse to the direction in which the instrument interface element is movable. The interior face need not be exactly transverse to that direction, but is preferably within 10 degrees, or within 5 degrees, or more preferably within 2 degrees transverse to that direction.

[0094] In the illustrated embodiment, the interior face of the instrument interface element and the front and rear faces of the drive assembly interface element are parallel to one another. This can facilitate the transmission of drive between the elements.

[0095] exist Figure 4 and Figure 5 In some embodiments, there is a one-to-one relationship between the instrument interface element and the drive assembly interface element. In other embodiments, there can be any other connection relationship between the instrument interface element and the drive assembly interface element. For example, a single drive assembly interface element can drive more than one instrument interface element. In another embodiment, more than one drive assembly interface element can drive a single instrument interface element.

[0096] Figure 6 The instrument is shown placed in engagement with the robotic arm. When drive assembly interface element 401 is held tethered by instrument interface element 507, drive assembly interface element 402 is held tethered by instrument interface element 502, and drive assembly interface element 403 is held tethered by instrument interface element 509, both the instrument interface element and the drive assembly interface element can be displaced in the same direction. The direction is parallel to the longitudinal axis 413 of the terminal link of robotic arm 404 and the longitudinal axis 512 of instrument shaft 501.

[0097] During surgery or a surgical procedure, the surgical robot is covered in a sterile drape to provide a sterile barrier between the non-sterile surgical robot and the sterile surgical environment. The surgical instruments are sterilized before being attached to the surgical robot. The sterile drape is typically made of a plastic sheet, such as polyester, polypropylene, polyethylene, or polytetrafluoroethylene (PTFE). Suitably, the drape is flexible and / or deformable.

[0098] The sterile drape does not pass directly between the drive assembly interface 400 and the instrument interface 500. The drape includes an interface structure 700 for interfacing between the drive assembly interface 400 and the instrument interface 500. Figure 7a and Figure 7b An isolated exemplary interface structure 700 is shown. The interface structure 700 is also Figure 6 , the interface structure is attached to the drive assembly interface 400 and the instrument interface 500. The interface structure 700 can be formed integrally with the cover cloth. Alternatively, the interface structure 700 can be formed separately from the cover cloth and then attached to the cover cloth. In either case, the interface structure 700 is sterile. One side 701 of the interface structure 700 directly contacts the drive assembly interface. The other side 702 of the interface structure 700 directly contacts the instrument interface. Therefore, the interface structure 700 prevents the non-sterile drive assembly interface from directly touching the sterile instrument interface and thus maintains a sterile barrier between the two components.

[0099] The interface structure 700 includes a body 704 and drive transfer elements 706, 707, 708. The drive transfer elements are movable relative to the body. Conveniently, when the interface structure 700 is attached to the surgical robot arm, the body 704 is parallel to the surface of the drive assembly interface 400. Suitably, in this attached configuration, the body 704 is aligned with the drive assembly interface.

[0100] The body 704 includes a first side 701, which faces the robotic arm when the instrument is attached to the robotic arm. Specifically, the first side 701 faces the drive assembly 400. The body 704 includes a second side 702 opposite the first side. The second side 702 faces the instrument when the instrument is connected to the robotic arm. Specifically, the second side 702 faces the instrument interface 500. Suitably, both the first side 701 and the second side 702 are substantially flat. The first side and the second side do not need to be completely flat. Being substantially flat or flat on at least a portion of its surface (e.g., on at least 10% of its surface, on at least 20% of its surface, on at least 30% of its surface, preferably on at least 40% of its surface, or more preferably on at least 50% of its surface) allows the interface structure 700 to be compactly sandwiched between the instrument and the robotic arm when the instrument is attached to the robotic arm.

[0101] Flat can include having flat portions in different planes. Figure 4 As shown in , the drive assembly interface 400 may have portions that are flat but generally arranged in two planes (as described above). Suitably, the interface structure 700 is configured to correspond to the general surface features of the drive assembly interface so as to engage compactly therewith, thereby reducing or minimizing the gap or space between the interface structure and the drive assembly interface.

[0102] The body 704 includes a hole. Figure 7a , Figure 7b and Figure 8In the interface structure 700 shown in FIG. 1 , the hole is located approximately in the center of the body 704, but it need not be located in this position. In the embodiment shown, the body 704 includes three holes: a first hole 816; a second hole 817 and a third hole 818 (such as Figure 8 These holes 816, 817, 818 provide communication through the body 704 between the first side 701 and the second side 702.

[0103] A cover 710 is provided that covers a portion of the body 704. The cover covers that portion of the body that includes the hole. In the illustrated implementation, the cover 710 is located on the second side 702 of the body 704. In other embodiments, the cover can be located on the first side 701 of the body, or the cover can be located on both sides of the body. The cover 710 is attached to the body 704. The cover 710 is appropriately fixed to the body 704. The cover can be attached to the body by means of an adhesive or by any other convenient attachment means or method.

[0104] The cover 710 includes additional holes or slots. In the illustrated embodiment, the cover 710 includes a first slot 726, a second slot 727, and a third slot 728. The slots communicate with the holes in the body 704. The first slot 726 is aligned with the first hole 816; the second slot 727 is aligned with the second hole 817; and the third slot 728 is aligned with the third hole 818. Thus, the slots in the cover 710 provide a fluid flow path between the first side and the second side 702 of the body.

[0105] The holes 816, 817, 818 in the body 704 define the path along which the drive transfer element moves. Figure 7a and Figure 7b In the embodiment shown in , the path is a linear path. The first hole 816 defines a first path; the second hole 817 defines a second path; and the third hole 818 defines a third path.

[0106] The main body 704 and the cover 710 define a channel along which the drive transfer element moves. Suitably, the drive transfer element is slidable within the channel. Figure 8 , a lip 819 adjacent to a hole in the body 704 and a corresponding lip 820 adjacent to a hole in the cover 710 define a channel 821 between the lips. The body 704 and the cover 710 define two channels about each hole, one channel on each side of the hole. The channel extends along the length of the hole.

[0107] As mentioned above, the interface structure 700 includes a drive transfer element. Figure 7a and Figure 7bIn the embodiment shown in , the interface structure includes three drive transfer elements: a first drive transfer element 706; a second drive transfer element 707; and a third drive transfer element 708. The first drive transfer element 706 is slidably received in the first slot 726. The second drive transfer element 707 is slidably received in the second slot 727. The third drive transfer element 708 is slidably received in the third slot 728. Each drive transfer element is slidably movable along its corresponding slot.

[0108] The drive transfer element includes a central portion and an extension portion that extends away from the central portion. Referring to the first drive transfer element 706, the central portion 736 includes a protrusion. The extension portion 716 includes a flat plate extending from the central portion 736. The extension portion 716 is elongated in two opposite directions that are aligned with the directions in which the first slot 726 extends when the first drive transfer element 706 is located in the first slot 726. In directions transverse to these directions (i.e., in directions transverse to the length of the slot), the first drive transfer element includes a first lip 846 (such as can be Figure 8 816). The first lip 846 is receivable into the channel on either side of the first hole 816. Similarly, the second lip 847 on the second drive transfer element 707 is receivable into the channel on either side of the second hole 817. The third lip 848 is receivable into the channel on either side of the third hole 818. Suitably, the drive transfer element is rigid.

[0109] The drive transfer element extending along the slot restricts the fluid flow path through the hole. The drive transfer element extending into the channel adjacent to the hole restricts the fluid flow path through the hole. In this way, the drive transfer element restricts the fluid flow path around the drive transfer element.

[0110] Suitably, the mutual engagement between the drive transfer elements 706, 707, 708 and the body 704 is to restrict the fluid flow path between the drive transfer elements and the body. Such mutual engagement is, for example, by a portion of the drive transfer element being retained adjacent to the body (e.g., by being retained in a groove, or by being retained in a channel).

[0111] The first slot 726 includes a first end 730 along the length of the first slot and a second end 731 opposite the first end. The extension portion 716 of the first drive transmission element 706 includes a first extension 732 and a second extension 734. The length of the first extension 732 starting from the central portion 736 of the first drive transmission element 706 is L1. The length of the second extension 734 starting from the central portion 736 of the first drive transmission element 706 is L2.

[0112] At the maximum extent of movement of the first drive transmission element 706 toward the second end 731 of the first slot 726, the distance between the central portion 736 and the first end 730 is D1. At the maximum extent of movement of the first drive transmission element 706 toward the first end 730 of the first slot 726, the distance between the central portion 736 and the second end 731 is D2.

[0113] The length L1 of the first extension is at least the same as the distance D1. Suitably, L1 is greater than D1, for example to provide an overlap between the first extension and the body and / or between the first extension and the cover. The length L2 of the second extension is at least the same as the distance D2. Suitably, L2 is greater than D2, for example to provide an overlap between the first extension and the body and / or between the first extension and the cover. In this way, the extension portion 716 (including the first extension 732 and the second extension 734) covers the hole. In other words, the extension portion 716 covers the space between the central portion and the end of the groove. Setting the extension portions 732, 734 to the same or greater length as the potential gap means that the gap remains covered throughout the entire range of movement of the drive transfer element in the groove.

[0114] The second drive transfer element 707 and the third drive transfer element 708 are similarly constructed. For example, the second drive transfer element 707 includes a third extension 735. Thus, each hole or slot remains covered throughout the range of movement of the corresponding drive transfer element.

[0115] Reference Figure 7a and Figure 7b , the slots are not all of equal length. The second slot 727 is shorter than the first slot 726 and the third slot 728. The slots do not need to be dimensioned in this particular manner. The size of each slot can be set as desired to take into account or allow for the required movement of the corresponding drive transfer element. In this embodiment, the central drive assembly interface element 402 is configured to move along a linear path 410 that is shorter than the linear paths 409, 411, and the left drive assembly interface element 401 and the right drive assembly interface element 403 are configured to move along linear paths 409, 411. Accordingly, the first slot 726 and the third slot 728 are longer than the second slot 727. In the illustrated embodiment, the first drive transfer element and the third drive transfer element have a relative movement of ±5.1mm relative to the body (i.e., 10.2mm from one end to the other). The second drive transfer element has a relative movement of ±3mm relative to the body (i.e., 6mm from one end to the other). The relative movement does not have to be the same as these. In some embodiments, the relative movement of the first and third drive transfer elements is longer or shorter than this. The relative movement of the second drive transfer element may be longer or shorter than this. The ratio of the relative movement does not have to be this ratio, but may be greater or less than this ratio.

[0116] If you can Fig. 9 As can be seen, the end 910 of the slot in the cover is further away than the end 911 of the hole in the body. The slot in the cover is longer than the corresponding hole in the body. This additional length allows the socket 502 to protrude at least partially within the slot in the cover without reducing the stroke of the drive transfer element in the hole. Suitably, the additional length of the slot relative to the hole is at least equal to the width of the portion of the socket arranged between the drive transfer element and the end 910 of the slot. Suitably, the additional length of the slot relative to the hole is at least equal to twice the width of the portion of the socket arranged between the drive transfer element and the end 910 of the slot to avoid reducing the stroke of the drive transfer element at either end of the range of movement in the hole.

[0117] The protrusion of the socket 502 at least partially within the slot in the cover allows for better coupling between the socket and the drive transfer element. The protrusion of the socket at least partially within the slot in the cover allows for better coupling between the socket and the fin. The coupling is improved by providing a greater overlap between the socket and the fin in the drive transfer direction.

[0118] In the illustrated embodiment, the slots are aligned at one end. The end of the first slot adjacent to the recessed portion 712 in the interface structure 700 is aligned with the end of the second slot adjacent to the recessed portion 712 and the end of the third slot adjacent to the recessed portion 712. When the drive transfer elements (e.g., driven) move to their maximum extent toward the recessed portion 712, each drive transfer element will align with the other drive transfer elements. In the case where the ends of the slots or drive transfer elements are aligned, they are at the same distance from each other along the length of the interface structure.

[0119] In other embodiments, the length of the slot need not match the length of the linear path. Suitably, the slot is at least as long as the linear path.

[0120] This arrangement helps to limit the flow of fluid through the hole or slot. Limiting the flow of fluid helps maintain a sterile barrier. Therefore, when attached to a surgical robot arm and / or a surgical instrument, the interface structure can help maintain a sterile barrier between the arm and the instrument.

[0121] As mentioned above, the central portion 736 of the first drive transfer element 706 includes a protrusion that protrudes to the second side 702 of the interface structure 700. Figure 7a As can be seen, each drive transfer element includes a central portion including a protrusion that protrudes to the second side 702 of the interface structure 700. In this embodiment, the central portion of the drive transfer element includes a recess (at the bottom) that is recessed into the first side 701 of the interface structure 700. Figure 7b ), for engaging with the fins of a corresponding drive assembly interface element.

[0122] In other embodiments, the central portion of the drive transfer element can be arranged in the opposite direction. In other words, a notch can be provided toward the second side, and a protrusion can be provided toward the first side. Alternatively, any combination of protrusions and notches can be provided. This can include a drive transfer element that includes both a protrusion toward the first side and a protrusion toward the second side, or a notch toward the first side and a notch toward the second side. The adopted configuration will appropriately match the configuration of the drive assembly interface 400 and the instrument interface 500. In other words, in the case where the drive assembly interface element includes a protruding fin, the central portion of the corresponding drive transfer element will include a notch for receiving the fin toward the first side. In the case where the drive assembly interface element includes a notch, the central portion of the corresponding drive transfer element will include a protrusion for engaging the notch toward the first side. Similarly, in the case where the instrument interface element includes a protruding fin, the central portion of the corresponding drive transfer element will include a notch for receiving the fin toward the second side. In the case where the instrument interface element includes a notch, the central portion of the corresponding drive transfer element will include a protrusion for engaging with the notch toward the second side.

[0123] Suitably, the drive transfer element comprises a plastic material. Preferably, the drive transfer element is slightly deformable to accommodate docking with the drive assembly interface element and / or the instrument interface element. Preferably, the drive transfer element engages with the drive assembly interface element by an interference fit (e.g. a slight interference fit). Suitably, the drive transfer element engages with the instrument interface element by an interference fit (e.g. a slight interference fit).

[0124] Typically, each drive transfer element comprises a first portion and a second portion. The central portion suitably comprises a first portion and a second portion. The first portion may be engaged with a robot arm. For example, the first portion may be engaged with a drive assembly interface, such as may be engaged with a drive assembly interface element. The second portion may be engaged with an instrument. For example, the second portion may be engaged with an instrument interface, such as may be engaged with an instrument interface element.

[0125] In other words, at least one of the first portion and the second portion may be a drive transfer element recess or a recess in the drive transfer element. At least one of the first portion and the second portion may be a drive transfer element protrusion or a protruding portion of the drive transfer element. Preferably, the drive transfer element includes both a drive transfer element recess and a drive transfer element protrusion.

[0126] The drive transfer element recess may engage with an interface protrusion (e.g., a protrusion on a drive assembly interface element or a protrusion on an instrument interface element). The drive transfer element protrusion may engage with an interface recess (e.g., a recess in a drive assembly interface element or a recess in an instrument interface element).

[0127] Referring to the illustrated embodiment, the first portion includes a recess and the second portion includes a protrusion. The protrusion of the second portion includes a chamfered and / or rounded edge to facilitate easy engagement of the protrusion with a recess (e.g., a recess on an instrument interface element) in which the protrusion can be received. In the illustrated embodiment, as shown from Figure 7a and Fig. 9 Best seen, the protrusion of the second portion has a V-shaped cross-section. This facilitates engagement of the protrusion with the recess. The V-shape of the protrusion can accommodate misalignment between the protrusion and the recess when the instrument is attached to the interface structure. The recess of the first portion includes a flared and / or rounded edge adjacent to an opening deep into the recess to facilitate easy engagement with a protrusion or fin that can engage with the recess (e.g., a protrusion or fin on a drive assembly interface element).

[0128] Preferably, the first portion and the drive assembly interface element comprise mating surfaces that are complementary to each other. Preferably, the second portion and the instrument interface element comprise mating surfaces that are complementary to each other. Fig. 9 The interior of the recess of the instrument interface element is shaped to be complementary to the exterior of the protrusion on the drive transfer element, and the interior of the drive transfer element is shaped to be complementary to the exterior of the protrusion of the drive assembly interface element.

[0129] If you can Fig. 9 As can be seen, in the case where one of the first and second parts is a recess and the other of the first and second parts is a protrusion, the recess 901 can communicate with the cavity 902 in the protrusion 903. The fin 930 that can be received in the recess can be received in the cavity through the recess. This can provide a more stable engagement between the drive assembly and the interface structure, between the interface structure and the instrument, and / or between the drive assembly and the instrument.

[0130] The drive transfer element includes an outer edge or outer wall 904. The outer wall 904 faces Fig. 9 904 faces in a direction in which the drive assembly interface element can drive the drive transfer element. The outer wall 904 contacts or engages a socket inner wall 905 of the socket or recess 502 of the instrument interface element. The socket inner wall 905 faces in an opposite direction, such as a direction opposite to the direction facing the outer wall 904. In the illustrated embodiment, the outer wall 904 and the socket inner wall 905 face in opposite directions. The drive transfer element includes an inner edge or inner wall 906. The inner wall 906 faces Fig. 9 The inner wall 906 is opposite to the direction in which the drive transmission element can be driven by the drive assembly interface element. For example, referring to Fig. 9, the inner wall 906 is opposite to the direction in which the drive transfer element can be driven (the drive transfer element can be driven to the left, while the inner wall 906 faces the right). The inner wall 906 contacts or engages with a portion of the drive assembly interface element. In the illustrated embodiment, the drive assembly interface element includes a protrusion or fin 930 that contacts the inner wall 906 of the drive transfer element. Thus, drive can be transferred from the drive assembly interface element 930 to the inner wall 906 of the drive transfer element, and from the outer wall 904 of the drive transfer element to the inner wall 905 of the socket.

[0131] Outer wall 904 and socket inner wall 905 overlap each other in the direction in which the drive transfer element is movable (ie, the direction in which drive can be transferred between the drive assembly interface element and the instrument interface element). Suitably, outer wall 904 overlaps the entire socket inner wall 905.

[0132] Increasing or maximizing the overlap between the outer wall 904 and the inner wall 905 of the socket (in other words, increasing the overlapping area) can reduce or minimize the pressure on the drive transfer element. Therefore, a larger overlap reduces the pressure between the drive assembly interface element and the instrument interface element. The pressure can be reduced by increasing the width of the overlap. However, this may result in an increase in the width of the interface, all other things remaining equal. Preferably, in the event that the width of the overlap is increased, this is accommodated within the interface to avoid the need to increase the overall width of the interface.

[0133] This can be done by increasing the height or depth of the overlap (relative to Fig. 9 ) to reduce the pressure. However, this may result in an increase in the height of the interface, all other things being equal. Preferably, in the event of an increase in the height of the overlap, this is accommodated within the interface to avoid the need to increase the overall height of the interface. One way to achieve this is to provide the drive assembly interface element and the instrument interface element at relative locations so that the vertical overlap is increased without affecting the overall height of the structure. As described above, the recess 502 (in Fig. 9 In the illustrated embodiment, the recess 502 is located on the instrument interface element, but as described above the recess may alternatively be located on the drive assembly interface element) and is arranged to protrude at least partially within the groove, which can result in an increase in the overlapping area without necessarily increasing the overall height.

[0134] In a similar manner, another outer wall (eg, the second outer wall) of the drive transmission element faces Fig. 9The right side of the drive component interface element. The second outer wall faces another direction, and the drive component interface element can drive the drive transfer element along the other direction. The second outer wall contacts or engages with another socket inner wall of the socket 502 (for example, the second socket inner wall). The second socket inner wall faces an opposite direction, for example, a direction opposite to the direction facing the second outer wall. The drive transfer element includes a second inner edge or a second inner wall. The second inner wall is opposite to another direction in which the drive transfer element can be driven by the drive component interface element. The second inner wall contacts or engages with a portion of the drive component interface element. Therefore, the drive can be transferred from the drive component interface element to the second inner wall of the drive transfer element, and from the second outer wall of the drive transfer element to the second socket inner wall.

[0135] The second outer wall and the second socket inner wall are in the direction in which the drive transmission element can move (towards Fig. 9 The second outer wall overlaps with the entire second socket inner wall.

[0136] exist Fig. 9 In the example shown, the outer wall and the inner wall of the socket are parallel to each other. Fig. 9 In the example shown, the second outer wall and the second socket inner wall are parallel to each other. In other examples, any one pair of walls or both pairs of walls do not need to be parallel to each other.

[0137] exist Fig. 9 In the embodiment shown in , the inner wall and the drive assembly interface element are arranged so that the walls adjacent to the inner wall are parallel to each other. Fig. 9 In the embodiment shown in, the second inner wall and the wall of the drive assembly interface element arranged adjacent to the second inner wall are parallel to each other. In other embodiments, any one or two pairs of these wall pairs do not need to be parallel to each other.

[0138] The overlap of the outer wall and the socket inner wall (and / or the second outer wall and the second socket inner wall) allows drive to be transmitted by means of a compressive force (e.g., a significant compressive force). In the case where the paired walls are parallel to each other and the walls are transverse to the direction in which drive can be transmitted, the force will be a compressive force. The increased deflection according to this arrangement will result in a reduction in the compressive component of the force and an increase in other components of the force (e.g., bending or shear components).

[0139] In other embodiments, drive need not be transmitted via overlapping portions of the wall. Drive may be transmitted at least in part via a portion of the drive transfer element that does not overlap the drive assembly interface element in the direction of drive transmission. For example, drive may be transmitted via a V-shaped portion of the drive transfer element (or more generally, via a rounded and / or chamfered portion of the drive transfer element). This arrangement may provide for greater positional tolerances between the drive transfer element and the instrument interface element while still being able to transmit drive. An interference fit, while also preferred in this arrangement, is also not required. In such an arrangement, it may be advantageous to provide an interference fit between the drive transfer element and the instrument interface element. Fig. 9 The apparatus further comprises a plurality of drive assembly interface elements and an instrument interface element that are oriented vertically to help maintain the drive assembly interface element and the instrument interface element in an engaged configuration when drive is transmitted.

[0140] The size or width of the opening of the drive transfer element recess 901 (in the direction in which drive can be transferred) is greater than the size or width of the cavity 902. Fig. 9 , both the notch and the cavity are arranged in the center of the drive transfer element in the left-right direction (i.e., the direction in which the drive transfer element can move). Because the notch has a larger width than the cavity, the inner wall of the notch is not coplanar with the inner wall of the cavity. The inner wall of the notch is offset outward from the inner wall of the cavity.

[0141] This offset of the drive transfer element recess and the inner wall of the cavity can allow the interface protrusion to engage within the cavity without being engaged by the wall of the drive transfer element recess. This arrangement can help provide drive transfer through the wall of the cavity. This can then help reduce the bending moment on the drive transfer element when driving. This arrangement can reduce components of the drive transfer force other than the compressive component.

[0142] Suitably, the drive transfer element protrusion comprises a chamfer or rounded portion at or towards its distal end to facilitate engagement of the drive transfer element protrusion with the interface recess. Suitably, the drive transfer element recess comprises a chamfer or rounded portion at its opening to facilitate engagement of the interface protrusion with the drive transfer element recess. Fig. 9 The offset of the walls of the recess and the walls of the cavity provides a lip between the recess and the cavity. Suitably, the lip is angled or rounded to facilitate engagement of the interface protrusion with the cavity through the drive transfer element recess and the lip.

[0143] The drive assembly interface element includes an elongated protrusion and a drive assembly interface element body 920. The elongated protrusion can be received in the drive transmission element recess 901. A reinforcement and / or strengthening portion 921 is provided on the drive assembly interface element at the proximal end of the drive assembly interface element body 920. Fig. 9, the reinforcement or reinforcement portion is a buttress portion. In other embodiments, the reinforcement or reinforcement portion is a pillar, or other abutment or fillet, or gusset. The reinforcement or reinforcement portion can be any combination of these. The reinforcement or reinforcement portion can be made of a material that is stronger and / or harder than the main body of the drive component interface element, such as titanium. Preferably, the reinforcement or reinforcement portion 921 is arranged on the side of the drive component interface element toward and / or away from the direction in which the drive component interface element can be moved. The reinforcement or reinforcement portion (such as the buttress portion) appropriately resists the bending of the drive component interface element, for example, when the drive component interface element is moved or driven. Suitably, the drive component interface element is strong enough and / or rigid enough to withstand a force of at least 80N without breaking. Suitably, the drive component interface element is strong enough and / or rigid enough to withstand a force of at least 130N without breaking. Suitably, the drive component interface element can resist a force of at least 80N, and preferably resists a force of at least 130N.

[0144] The interface structure includes a first fastener 740 for retaining the interface structure 700 on the robot arm when the interface structure is installed or attached to the robot arm. The drive assembly interface 400 includes a retaining lip 440. The first fastener 740 can engage with the retaining lip 440. The first fastener 740 includes a ridge 742. During the attachment of the interface structure 700 to the drive assembly 400, the ridge 742 passes over the retaining lip 440. The first fastener is resilient to allow flexure so that the ridge 742 can pass over the retaining lip 440. Once the first fastener has passed the retaining lip, the flat portion 743 of the rear portion (in the abutment direction) of the first fastener abuts the front portion of the retaining lip (also in the abutment direction) and resists movement of the interface structure 700 along the longitudinal axis 413 of the distal end 404 of the arm in a direction away from the robot arm. In this way, the interface structure 700 is maintained in a position attached to the drive assembly interface 400. In order to remove the interface structure 700 from the robot arm, the first fastener can be released. The first fastener 740 may be released by elastically deforming the first fastener so as to lift the ridge 742 above the retaining lip 440. Figure 7a and Figure 7b In the example shown in , the first fastener includes a tab 744. The tab 744 allows a user to lift the first fastener to disengage the ridge 742 from the retaining lip 440. The tab 744 need not be provided in all examples. The engagement of the first fastener with the retaining lip can provide tactile feedback that the interface structure is correctly or properly attached to the robotic arm.

[0145] In the illustrated embodiment, additional retention features are provided on the edge 750 of the interface structure 700. Figure 7bAs shown in , one edge 750 of the interface structure includes two lugs 751, 752 on its inner face. The lugs 751, 752 protrude inwardly from the inner face of the edge 750 of the interface structure 700. A cooperative retention feature is provided on the outer edge of the drive component interface 400. Two passages 451, 452 are provided on the outer edge of the drive component interface 400, which are connected to the retention channel 453 of the drive component interface 400. In the embodiment shown, the common retention channel is connected to the two passages, but this is not necessary. In another selection, each passage can be connected to a corresponding retention channel. The passages 451, 452 and the retention channel 453 are formed as recesses in the outer edge of the drive component interface 400.

[0146] When the interface structure 700 is mounted to the drive assembly interface 400, the lugs 751, 752 will pass through the passages 451, 452 and enter the retention channel 453. The interface structure 700 can move along the longitudinal axis 413 of the distal end of the arm 404. The retention channel 453 is parallel to the longitudinal axis 413 of the distal end of the arm. Movement of the interface structure in this direction (i.e., parallel to the longitudinal axis 413) causes the lugs to move along the retention channel 453 away from the openings of the passages 451, 452. At the same time, the first fastener 740 moves into engagement with the retaining lip 440. When the lugs 751, 752 move away from the openings of the passages 451, 452, the interface structure will be restricted to move along the longitudinal axis 413 of the arm 404. The lugs 751, 752 will abut the upper edge 454 of the retention channel 453 to restrict the interface structure 700 from moving away from the drive assembly interface 400 in a direction transverse to the longitudinal axis 413. In other words, engagement of the lug in the retention channel will prevent or limit the interface structure from lifting off the drive assembly.

[0147] If you can Figure 7b As can be seen, in this embodiment, the lugs 751, 752 include upright portions 753, 754. When the interface structure moves along the longitudinal axis 413 of the distal end of the arm 404 to engage the lug in the retention channel 453, the front surface of the upright portions 753, 754 will move into abutment with the faces 455, 456 near the passages 451, 452. This abutment between the upright portions 753, 754 and the faces 455, 456 serves to limit the movement of the interface structure and provide tactile feedback that the travel limit has been reached. Upright portions 753, 754 need not be provided in every embodiment.

[0148] This combination of the retention features of the interface structure 700 (ie, the first fastener 740 and the tabs 751 , 752 ) limits the removal of the interface structure 700 from the robotic arm.

[0149] The interface structure is suitably configured to fully engage the drive assembly interface while moving a distance along the longitudinal axis 413 of the arm that is the same as or less than the distance the drive transfer element would travel as permitted by the shortest slot (i.e., in the above embodiment, the distance is a maximum of 6 mm). When the interface structure is mounted on the drive assembly, the drive transfer element of the interface structure engages with the drive assembly interface element. When the body of the interface structure is moved relative to the drive assembly to engage the retention features of the interface structure with the retention features of the drive assembly, the drive transfer element is restricted from movement due to engagement with the drive assembly element.

[0150] Thus, when the interface structure moves into engagement, the drive transfer element will move relative to the body. Limiting the possible range of travel of the body relative to the drive assembly interface to be the same or smaller than the range of travel of the drive transfer element with the shortest travel can prevent the drive transfer element from being pushed beyond its range of travel. This can reduce potential damage to the interface structure and help maintain a sterile barrier.

[0151] In one embodiment, before the interface structure is attached to the drive assembly interface, the drive assembly interface element is driven to a desired position, such as a docking position. Suitably, the docking position or the desired position is used to engage the drive assembly interface element with the corresponding instrument interface element. The desired position is suitable for the drive assembly interface element at one end of its corresponding stroke, such as the end of the drive assembly interface away from the proximal end of the robot arm. The interface structure can be arranged so that the drive transfer elements are correspondingly in the cooperative position within their corresponding strokes, such as one of the drive transfer elements (suitably the drive transfer element with the shortest stroke range) is located at one end of its corresponding stroke. In this way, the engagement of the drive transfer element with the drive assembly interface element is reliably achieved. This method of engagement can be completed without the need to drive back and forth or otherwise move the drive transfer element and / or the drive assembly interface element to achieve engagement.

[0152] Engaging the interface structure with the drive assembly in this way may mean that the body of the interface structure can then be moved relative to the drive assembly interface until the full stroke of the drive transmitting element having the shortest stroke.

[0153] In order to determine whether the drive assembly interface element is in or has been driven to the desired position, in one embodiment, the drive assembly includes a sensor. Preferably, the drive assembly includes a plurality of sensors, one corresponding sensor for each drive assembly interface element. The sensor is configured to sense the position of the corresponding drive assembly interface element. The sensor senses or determines when the drive assembly interface element passes a threshold position (e.g., a predetermined or known position along the travel range of the drive assembly interface element). Suitably, the sensor includes at least one of a magnetic sensor such as a Hall sensor, an optical sensor, a capacitive sensor, an inductive sensor, an acoustic sensor, and a microswitch. Any suitable position determination sensor can be used. The sensor can be a proximity sensor. The sensor can be a position sensor associated with the drive assembly interface element.

[0154] exist Fig. 9 In the embodiment schematically shown in , the sensor includes two parts. The first part 912 of the sensor is arranged in the body of the drive assembly. The second part 913 of the sensor is arranged on the drive assembly interface element. When the drive assembly interface element moves, the first part 912 moves relative to the second part 913. The first part 912 and the second part 913 are configured to interact with each other. In one embodiment, the first part 912 includes a magnetic sensor, and the second part 913 includes a magnet. The magnetic sensor is configured to sense the magnet. The magnetic sensor is configured to output a first signal when the magnet is close to the magnetic sensor, and output a second signal when the magnet is away from the magnetic sensor. The magnetic sensor is appropriately constructed or calibrated so that when the magnet and therefore the drive assembly interface element is less than a predetermined distance from the magnetic sensor, the output changes from the second signal to the first signal. Therefore, when the magnetic sensor outputs the first signal, it can be determined that the drive assembly interface element is adjacent to the magnetic sensor. The first part 912 of the sensor is located in the drive assembly so that when the drive assembly interface element is in a desired position, the drive assembly interface element is adjacent to the first part 912 of the sensor.

[0155] The drive assembly includes a communication unit 914 for communicating with the control unit 309. The communication unit may be a wired and / or wireless unit, and / or a sensor (e.g., the first portion 912 of the sensor) may be coupled to the control unit 309 via a communication bus. Instead of or in addition to a sensor that determines the position of the drive assembly interface element and / or determines whether the drive assembly interface element is in its docked position, the processor is configured to receive signals (e.g., the first signal and the second signal) from the sensor and determine the position of the drive assembly interface element and / or determine whether it is in its docked position based on the received signals. The processor may make such a determination based on one or more of an algorithm and a reference table (e.g., a lookup table), which may be in the local memory 311 or a remote memory.

[0156] Suitably, in the case where the sensor comprises passive and active parts, the second part 913 comprises a passive part such as a magnet and the first part 912 comprises an active part such as a magnetic sensor. The first part 912 can be more easily connected to a power supply and / or communication unit 914, for example by means of wires.

[0157] In some embodiments, there is some play or tolerance in the site or position of the drive transfer element. These play or tolerances can be provided by small flexibility or deformation in the material of the drive transfer element. There may be some play or tolerance in the site of the drive transfer element along the length direction of the body and / or in a direction transverse to this direction. There may be some play or tolerance in the site of the drive transfer element perpendicular to the body. Compared with the degree of movement of the drive transfer element, the gap or tolerance is appropriately small, for example, to maintain the position determinability of the drive transfer element. The gap or tolerance may be less than 1mm, for example less than 0.5mm or preferably less than 0.25mm.

[0158] In one embodiment, the play or tolerance may be provided by the distance between the channels being slightly greater than the width of the extension arranged to slide in the channel on either side of the hole in the body of the interface structure. In one embodiment, the play or tolerance may be provided by the height of the channel to one side of the hole in the body of the interface structure being slightly greater than the height or thickness of the extension arranged to slide in the channel. As an example, a play or tolerance of 0.2 mm is provided where the distance between the channels and / or the height of the channels exceeds the corresponding width and / or thickness of the extension by 0.2 mm. Other values ​​of this play or tolerance are possible.

[0159] As mentioned above, two lugs are provided on one side of the interface structure. Figure 7b As shown in , two lugs can be provided on the other side of the interface structure. Accordingly, the outer edge of the other side of the drive assembly interface can be provided with a passage and a retention channel for receiving the lugs. In other embodiments, different numbers of lugs can be provided on each inner side of the interface structure 700. The number of lugs on each side does not need to be the same. Preferably, there is at least one lug on each side of the interface structure, but in some embodiments, the lug only needs to be provided on one side of the interface structure. Providing lugs on both sides can help keep the interface structure on the arm. In the case where at least one lug is provided on each side of the interface structure, this retention can be more stable and / or effective.

[0160] Suitably, the number of passages on the outer edge of the drive assembly interface 400 corresponds to the number of lugs on the inner edge of the interface structure, but this need not be the case. The number of passages on the outer edge of the drive assembly interface 400 is suitably at least the same as the number of lugs on the corresponding side of the interface structure.

[0161] As described above, the retention channel may be common to all passages. In other embodiments, the retention channel may communicate with fewer than the total number of passages on the respective side of the drive assembly interface. Each retention channel may communicate with one or more passages.

[0162] In some embodiments, the passageway and / or retention channel may include a raised portion over which the lug passes when the interface structure is attached to the robotic arm. The raised portion may include a detent. Such a raised portion can provide tactile feedback that the interface structure is properly or correctly attached. The raised portion may provide additional resistance to prevent inadvertent removal of the interface structure from the robotic arm.

[0163] With the above arrangement, the interface structure 700 is arranged to be positioned by placing it onto the drive assembly interface and then moving it toward the robot arm (i.e., generally toward the Figure 4 orientation) and slides onto the drive assembly interface 400.

[0164] The interface structure 700 includes a front surface 760. The interface structure includes a recessed portion 712 facing the front surface. The front surface is shaped to accommodate the recessed portion. Similarly, the drive assembly interface 400 includes a corresponding recessed portion 412. The drive assembly interface includes a front surface 460. When the interface structure is attached to the drive assembly interface, the recessed portion 712 of the interface structure will at least partially enter the recessed portion 412 of the drive assembly interface. When the interface structure slides along the longitudinal axis 413 of the distal end of the arm, the inner side of the front surface 760 of the interface structure will abut the front surface 460 of the drive assembly interface. This can limit the interface structure from sliding too far, and can help ensure that the interface structure is correctly or appropriately installed to the drive assembly interface. The recessed portion 712 in the interface structure can, for example, be used as an alignment feature together with the recessed portion 412 of the drive assembly to assist the alignment of the interface structure and the drive assembly.

[0165] The recessed portion 712 in the interface structure 700 can allow for a more compact arrangement. The recessed portion is shaped and constructed or dimensioned to receive the shaft 501 of the instrument when the instrument is connected to the interface structure. More specifically, the recessed portion is shaped and constructed or dimensioned to receive the shaft attachment 610 located at the proximal end of the shaft 501 of the instrument interface 500. The provision of the recessed portion 712 and the corresponding recessed portion 412 in the drive assembly interface 400 allows the instrument to be mounted to the robotic arm with the longitudinal axis 512 of the instrument shaft 501 closer to the longitudinal axis 413 of the distal end of the robotic arm 404. Preferably, the instrument can be mounted to the robotic arm so that the longitudinal axis 512 of the instrument shaft 501 is colinear with the longitudinal axis 413 of the distal end of the robotic arm 404.

[0166] Another feature that may allow for a more compact arrangement is the arrangement of the drive transfer elements on different planes. Figure 7a, the second drive transfer element 707 is movable along a plane that is lower than the plane in which the first and third drive transfer elements 706, 708 are movable (in the perspective of the figure). This offset of the drive transfer element of the interface structure 700 allows the drive assembly interface element and the instrument interface element to be offset accordingly. Therefore, the drive assembly interface 400 and the instrument interface 500 can be configured to be more compact in a direction transverse to the direction in which the drive interface element is movable when the interface structure is attached to the robot arm and the instrument. In other words, the central drive transfer element is positioned relative to the outer drive transfer element deviating from the plane (in either direction), which can allow the outer drive transfer element (e.g., the axis of movement of the outer drive transfer element) to be positioned closer together. This can produce a more compact arrangement.

[0167] The second central drive transmission element is arranged on a lower plane, which also helps to reduce the bending moment when the drive transmission element is driven by bringing its axis of movement closer to the axis of movement of the corresponding drive assembly interface element.

[0168] The retention features of the interface structure 700 (e.g., at least one of the first fastener and the lug) are shaped and / or configured such that the interface structure remains on the surgical robot arm when the surgical instrument is removed from the surgical robot arm. The interface structure can be engaged with the instrument interface by means of a second fastener (not shown). The force required to disengage the second fastener is less than the force required to disengage the first fastener and / or the lug. The interface structure is more securely attached to the surgical robot arm than the surgical instrument. Therefore, during instrument replacement, the interface structure and the cover cloth combined therewith remain attached to the surgical robot arm. This is important for reducing the time required to replace instruments because the interface structure does not need to be reattached to the robot arm after the instrument is removed. This is also important for reducing the possibility of tearing the cover cloth when replacing instruments, which can cause the sterile surgical environment to be contaminated by the non-sterile environment of the robot arm side of the cover cloth.

[0169] In the illustrated embodiment, the body 704 of the interface structure 700 is rigid. In other embodiments, it need not be rigid. At least a portion of the body 704 may be a resilient and / or deformable material. At least a portion of the body may be flexible. A portion of the body may be a flexible material such as fabric. A portion of the body may be unconstrained. The elastic, flexible, and / or unconstrained nature of the portion of the body may allow and / or accommodate relative movement between the drive transfer elements.

[0170] Suitably, the portion of the body between the holes is elastic and / or deformable, e.g., flexible. Suitably, the body may be formed in whole or in part of an elastic and / or deformable material. The elastic and / or deformable material may include one or more of silicone, latex, vinyl, butyl, nitrile, chloroprene rubber, and a polymer. The elastic and / or deformable material suitably includes a material with a low modulus and low hysteresis. The elastic and / or deformable material suitably includes a material with a good failure strain.

[0171] exist Fig.10a and Fig.10b In another embodiment schematically shown in , the interface structure includes one or more movable parts 1010. The movable parts are flexible and / or elastic. For example, the movable part is a material such as fabric. Preferably, the material is waterproof to help provide a sterile barrier between the robot arm and the instrument. The material can be made of a plastic sheet, such as polyester, polypropylene, polyethylene or polytetrafluoroethylene (PTFE). The movable part 1010 reduces the possibility of wrinkling of the material of the interface structure and / or controls the degree of wrinkling of the material of the interface structure, but it is not necessary to do so in all embodiments. The movable part is arranged to control the way in which the material of the interface structure moves as the drive transfer elements 1001, 1002, 1003 move. This can allow the tension within the material of the interface structure to be controlled and / or to react to the tension within the material of the interface structure.

[0172] The first part and / or the second part are attached to the movable part. In other embodiments, the first part can be attached to one movable part. The second part can be attached to another movable part. The flexible and / or elastic properties of the movable part can help accommodate the movement of the first and / or second part relative to the body.

[0173] In the illustrated embodiment, two reels 1011, 1012 are provided. Each reel is configured to hold and maintain a certain amount of material. The material can be rolled onto one or both reels to take up the material slack between the reels. The material can be unwound from one or both reels to relieve the material tension between the reels. The material can be rolled onto or unwound from the reels to accommodate the movement of the drive transfer element.

[0174] Reference Fig.10a, the material between the reels moves to the left. This is, for example, because the drive transfer element (not shown) attached to the material is driven to the left by the drive assembly. When the drive assembly interface element engaging the drive transfer element moves to the left, the material held by the drive transfer element also moves to the left. The right reel 1011 will rotate clockwise (as shown by the arrow) to feed the material from the right reel 1011. This means that the material between the drive transfer element and the right reel 1011 will not be exposed to high tension, otherwise it may cause the material to break, and / or damage the operation of the interface structure and / or the instrument interface. The left reel 1012 can rotate counterclockwise (as shown by the arrow) to roll the material onto the left reel 1012. This means that the material between the drive transfer element and the left reel 1012 will not loosen. Similarly, if the drive transfer element moves to the right, the material will be fed from the left reel 1012. The material can be rolled up by the right reel 1011. Either or both of the left reel 1012 and the right reel 1011 do not need to be relaxed in the rolled material. However, keeping the material taut can help cover the hole and maintain the sterile barrier.

[0175] Now refer to Fig.10b , where three drive transfer elements 1001, 1002, 1003 are arranged adjacent to each other, three pairs of reels are provided. This allows each of the three drive transfer elements to move independently of each other without the independent movement causing an increase in tension in the material of the interface structure. For example, providing a pair of reels for each drive transfer element can reduce the degree to which the material between the reels (i.e., the movable part) is exposed to tension, shear and / or rupture. This can be compared to an arrangement in which a single pair of reels is provided for multiple drive transfer elements, and the positioning of the material is, for example, based on an average value (e.g., a weighted average of the positions of multiple drive transfer elements).

[0176] In the embodiment shown, the uppermost portion (at Fig.10bThe drive transfer element 1001 (in the orientation of the upper and lower parts) moves to the right (as shown by the arrow), the middle drive transfer element 1002 moves to the left (as shown by the arrow) and the lower drive transfer element 1003 moves to the right (as shown by the arrow). The first right reel 1013 (the right reel 1013 of the uppermost part) reels the material of the movable part and thus has a larger reel diameter. The first left reel 1014 (the left reel 1014 of the uppermost part) feeds the material of the movable part from the reel and thus has a smaller reel diameter. The second right reel 1015 (the right reel 1015 of the middle part) feeds the material of the movable part from the reel and thus has a smaller reel diameter. The second left reel 1016 (the left reel 1016 of the middle part) reels the material of the movable part and thus has a larger reel diameter. The third right reel 1017 (the right reel 1017 of the lower part) reels the material of the movable part and thus has a larger reel diameter. The third left side reel 1018 (the left side reel 1018 of the lower part) feeds the material of the movable part from the reel and therefore has a smaller reel diameter.

[0177] It will be appreciated that where the number and / or arrangement of drive transfer elements differs from the illustrated embodiment, the number and / or arrangement of pairs of spools may similarly differ.

[0178] Providing a reel can help reduce the length of the interface structure compared to providing a rigid drive transfer element. Providing a reel can ensure that the sterile barrier is maintained while reducing the length of the required interface structure. This is because when the central portion is adjacent to the end of the slot, the reel can reel in material that may have extended beyond (overlapped) the end of the slot.

[0179] By driving the respective reel about the axis of the reel, the material of the interface structure, such as the movable part, can be reeled in and / or fed from the reel. By resiliently biasing the respective reel about the axis of the reel, the material of the interface structure can be reeled in and / or fed from the reel. In one embodiment, each reel is resiliently biased and also driven.

[0180] The resiliently biased reel can help maintain a consistent tension within the material of the interface structure. When the tension is reduced (e.g., due to a drive transfer element moving toward the associated reel), the biased reel will cause the reel to rotate to reel in the material. When the tension is increased (e.g., due to a drive transfer element moving away from the associated reel), the biased reel will allow the reel to rotate to feed the material from the reel.

[0181] The elasticity of the resilient bias may be determined to provide a desired tension or range of tension in the material of the interface structure. In one embodiment, the resilient bias is provided by a spring coupled to the respective reel.

[0182] The drive of the reels can be achieved by coupling a motor such as an electric motor to each reel. The driven reels can allow the tension to be released and / or the winding to be relaxed at a desired speed. For example, the driven reels can allow the tension to be released and / or the winding to be relaxed at a higher speed than would occur with a resilient bias. The driven reels can allow the tension to be controlled more accurately than relying on a resilient bias or relying solely on a resilient bias.

[0183] In one embodiment, one of the pair of reels is coupled to a motor for driving the reel and the other of the pair of reels is resiliently biased. The resilient bias accommodates the tension in the material while driving the motor to achieve the desired tension. This arrangement allows control of the tension in the material of the interface structure.

[0184] The first tension sensor 1021 ( Fig.10a The first tension sensor is configured to sense the tension in the material between the drive transfer element and the right reel. The first tension sensor is suitably coupled to the rotation axis of the right reel. The second tension sensor 1022 ( Fig.10a The first tension sensor is schematically shown in Figure 1 and Figure 2 (shown schematically in Figure 1 ) coupled to the left reel 1012, 1014, 1016, 1018. The second tension sensor is configured to sense the tension in the material between the drive transfer element and the left reel. The second tension sensor is suitably coupled to the rotation axis of the left reel. The tension sensed by either or both of the first tension sensor and the second tension sensor is used to determine how to drive either or both of the right reel and the left reel. In other words, either or both of the right reel and the left reel are controlled according to the tension sensed by either or both of the first tension sensor and the second tension sensor.

[0185] The arrangement of the first tension sensor and the second tension sensor may allow for a comparison of the tension sensed by each of the first and second tension sensors. The comparison may be used to detect a break or other damage in the material. For example, if a decrease in tension is sensed in both of a pair of reels when the drive transfer element moves, it may be determined that the material between the reels has broken.

[0186] In some embodiments, only one tension sensor need be provided for each of a pair of reels.

[0187] In an alternative configuration of the interface structure, the hole in the body can be a single hole. In this configuration where a single drive transfer element is provided, as described above, the single drive transfer element can engage with the body of the interface structure. In the case where two or more drive transfer elements are provided in a single hole of the body, the adjacent edges of the drive transfer elements can be provided with tongue and groove features so that the drive transfer elements can engage with each other. This can help to limit the fluid flow path between the drive transfer elements. Therefore, this can also help maintain a sterile barrier.

[0188] Taking such a configuration as an example: three drive transmission elements are provided, the first drive transmission element is provided on one side, the third drive transmission element is provided on the other side, and the second drive transmission element is provided between the first drive transmission element and the third drive transmission element, a tongue and groove type engagement can be provided between the first and second drive transmission elements and between the second and third drive transmission elements. As described above, the first and third drive transmission elements can engage with the main body of the interface structure. In this configuration, the first drive transmission element can include (on the side adjacent to the second drive transmission element) one of the first tongue and the first groove. The second drive transmission element can include (on the side adjacent to the first drive transmission element) the other of the first tongue and the first groove. The first tongue can engage with the first groove. The second drive transmission element can include (on the side adjacent to the third drive transmission element) one of the second tongue and the second recess. The third drive transmission element can include (on the side adjacent to the second drive transmission element) the other of the second tongue and the second groove. The second tongue can engage with the second groove. This arrangement can allow the first drive transmission element to slide along the second drive transmission element and the second drive transmission element to slide along the third drive transmission element. Thus, this approach allows for relative movement between adjacent drive transfer elements while still restricting the fluid flow path between the drive transfer elements.

[0189] Fig.11a and Fig.11b An example of such an arrangement is shown in . Fig.11a An end view of three drive transfer elements is schematically shown. Fig.11b Schematically shows Fig.11a3D view of three drive transfer elements. The first drive transfer element 1101 includes an engagement feature such as a lip (not shown) to engage with the edge of a hole as described above. The first drive transfer element 1101 includes a first groove 1104 on the side adjacent to the second drive transfer element 1102. The second drive transfer element includes a first tongue 1105 on the side adjacent to the first drive transfer element 1101. The first tongue can be engaged with the first groove to engage the first drive transfer element with the second drive transfer element. The second drive transfer element 1102 includes a second tongue 1106 on the side adjacent to the third drive transfer element 1103. The third drive transfer element includes a second groove 1107 on the side adjacent to the second drive transfer element. The second tongue can be engaged with the second groove to engage the second drive transfer element with the third drive transfer element. The other side of the third drive transfer element 1103 includes an engagement feature such as a lip (not shown) to engage with the edge of a hole as described above. Protrusions 1108 are also schematically shown (these protrusions have been removed for clarity). Fig.11b As described above, the protrusion is used to engage with the recess. A recess may be provided instead. Any combination of protrusions and recesses may be provided.

[0190] The outer boundary of the interface structure terminates in a sterile drape (not shown). The sterile drape covers the surgical robot arm. The inner boundary of the interface structure can terminate in a sterile membrane (not shown) that extends over the hollow interior to isolate the sterile environment from the non-sterile drive components.

[0191] The interface structure can be packaged with the cover cloth, for example in a flat configuration.

[0192] Suitably, the interface structure 700 is secured to the drive assembly when the robotic arm is covered in a sterile drape as part of the setup process before surgery begins. The instrument is then secured to the interface structure 700. At some point during surgery, the instrument is replaced with another instrument. A different instrument can then be attached to the interface structure. Providing the interface structure, and having it remain on the robotic arm when the instrument is removed, means that instruments can be quickly and easily removed from and attached to the robotic arm during surgery without exposing the patient to a non-sterile environment.

[0193] The device may be used for non-surgical purposes. For example, it may be used in cosmetic procedures. The interface structure may be used for non-surgical purposes. The barrier provided by the interface structure may be a barrier to fluid flow and / or a barrier to particulate matter, such as particulate matter entrained in a fluid flow such as air.

[0194] Applicants hereby independently disclose each individual feature described herein and any combination of two or more such features, as long as these features or combinations can be performed based on the present specification as a whole according to the common general knowledge of those skilled in the art, regardless of whether these features or combinations of features solve any problems disclosed herein, and without limiting the scope of the claims. Applicants point out that various aspects of the present invention may include any such individual features or combinations of features. In view of the foregoing description, it is obvious to those skilled in the art that various modifications can be made within the scope of the present invention.

Claims

1. An interface structure for detachably docking a surgical robot arm to a surgical instrument, the interface structure comprising: main body; as well as a plurality of drive transfer elements, each drive transfer element comprising a first portion and a second portion, the first portion releasably engaging a corresponding portion of the surgical robot arm and the second portion releasably engaging a corresponding portion of the surgical instrument; Each drive transfer element is movable relative to the body so as to be able to transfer drive between the surgical robot arm and the surgical instrument, wherein the body defines a plurality of linear paths, at least one of the plurality of linear paths being in a first plane defined by the body, and at least one other of the plurality of linear paths being in a different second plane defined by the body, and the respective drive transfer element is movable along a respective one of these paths.

2. The interface structure according to claim 1, wherein: The body includes a first side for facing the surgical robot arm and a second side for facing the surgical instrument, the first part is arranged toward the first side and / or the second part is arranged toward the second side.

3. The interface structure according to claim 2, wherein: The body includes a hole connecting the first side and the second side, and the plurality of drive transfer elements are configured to block fluid flow through the hole to maintain a sterile barrier between the surgical robotic arm and the surgical instrument.

4. The interface structure of claim 3, the interface structure being configured such that when the drive transfer element moves relative to the body, the plurality of drive transfer elements block fluid flow through the aperture.

5. The interface structure according to claim 3 or 4, wherein: The plurality of drive transfer elements cover the aperture.

6. The interface structure according to any one of claims 1 to 4, wherein: Each of the plurality of paths defined by the body includes a channel in which a corresponding one of the plurality of drive transfer elements is receivable and along which the corresponding one of the drive transfer elements is movable.

7. An interface structure according to claim 6, comprising a cover attachable to the body, the channel being defined between a portion of the body and a portion of the cover.

8. The interface structure according to claim 7, wherein: The body includes a first side facing the surgical robot arm and a second side facing the surgical instrument, and wherein the cover is attachable to one of the first side and the second side of the body.

9. The interface structure according to claim 8, wherein: Each drive transfer element includes a central portion including the first portion and the second portion, and an extension portion extending away from the central portion.

10. The interface structure according to claim 9, wherein: The extension portion is configured such that at one end of the range of motion of the drive transfer element relative to the body, a distal end of the extension portion remains covered by the cover.

11. The interface structure according to any one of claims 1 to 4, wherein: Each drive transmitting element is a rigid element.

12. The interface structure according to any one of claims 1 to 4, wherein: The plurality of drive transfer elements include a portion of a movable material to which at least one of the first portion and the second portion is attachable, the movable material being movable to accommodate movement of the plurality of drive transfer elements relative to the body while allowing a sterile barrier to be maintained between the surgical robot arm and the surgical instrument.

13. The interface structure according to claim 12, wherein: The interface structure includes a roller, and the portion of the movable material can be wound onto the roller.

14. The interface structure according to any one of claims 1 to 4, wherein: The interface structure includes: a first drive transfer element movable relative to the body along a linear first path; and a second drive transfer element movable relative to the body along a linear second path, the first path and the second path being parallel to each other.

15. The interface structure according to claim 14, wherein: When the interface structure is docked with the surgical instrument, the first path is parallel to the axis of the surgical instrument.

16. The interface structure according to any one of claims 1 to 4, wherein: The body of the interface structure includes at least one of a deformable material, an elastic material, and an unconstrained portion.

17. The interface structure according to any one of claims 1 to 4, wherein: The body includes a first retention portion for retaining the interface structure on at least one of the surgical robot arm and the surgical instrument, and the first retention portion is engageable with a second retention portion located on at least one of the surgical robot arm and the surgical instrument.

18. The interface structure according to any one of claims 1 to 4, wherein: The body includes a first side facing the surgical robot arm and a second side facing the surgical instrument, and wherein the body includes an alignment feature on at least one of the first side and the second side for assisting in alignment of the interface structure with the surgical robot arm and / or the surgical instrument during engagement.

19. The interface structure according to any one of claims 1 to 4, wherein: A surgical drape extends from the interface structure.

20. A robotic surgical system, comprising a surgical robot arm and an interface structure according to any one of claims 1 to 4, wherein the surgical robot arm comprises a base and a plurality of joints connecting the base to a drive assembly interface located at or toward a distal end of the surgical robot arm, the plurality of joints enabling the drive assembly interface to be articulated relative to the base; and the interface structure being attachable to the drive assembly interface.

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