Barrier cassette and barrier assembly

Abstract

A barrier cassette for providing a sterile barrier between movable interfaces includes a barrier having a first end and a second end, a barrier receiving portion adapted to receive the barrier and including a first end and a second end spaced apart from one another, a first side and a second side spaced apart from one another and extending between the first and second ends of the barrier receiving portion, wherein the barrier is attachable to the barrier receiving portion such that the barrier extends between the first and second sides of the barrier receiving portion and is movable between the first and second ends of the barrier receiving portion, a first flex card and a second flex card variously operatively connected to respective ends of the barrier and respective ends of the barrier receiving portion and extendable between the first and second sides of the barrier receiving portion.

Description

Technical Field

[0001] This invention relates to a barrier assembly for providing a sterile barrier between sterile and non-sterile surfaces, and a barrier cassette forming part of the barrier assembly for providing a sterile barrier between movable interfaces. This invention may have particular applications in the field of surgical robotics for providing a sterile barrier between sterile and non-sterile instruments, but is not limited to this application. Background Technology

[0002] Robotic systems are increasingly being used to perform surgical procedures, particularly minimally invasive surgery, in which miniature surgical robotic instruments can be remotely controlled by the surgeon. However, surgical robots present a variety of unique challenges, one of which is ensuring the sterility of any components that may come into contact with the patient.

[0003] From this point forward, in the context of the operating room, sterility can be considered relative to the patient being operated on. Therefore, any surface that may come into contact with the patient should be sterile before use and should remain sterile after contact with the patient or any other sterile surface. However, once a sterile surface has come into contact with a non-sterile surface other than the patient, that surface becomes contaminated and therefore non-sterile.

[0004] One way to ensure the sterility of components of a surgical robot that may come into contact with the patient is to provide a reusable device that is sterilized between uses. However, it is difficult to design a device that is sophisticated enough to perform its required functions but also durable enough to withstand multiple sterilization cycles.

[0005] Another approach is to provide disposable devices that require only a single sterilization (usually performed by the manufacturer). However, this is only practical for low-cost components, as replacing the entire surgical robot system after each surgery is not sustainable.

[0006] Therefore, known surgical robots include a combination of single-use components and reusable components. Single-use components can be those that come into direct contact with the patient and are replaced after each use to ensure they are sterile at the start of each surgery. Single-use components can also be manufactured in a cost-effective and sustainable manner. Reusable components can be those that do not come into direct contact with the patient and are more expensive to manufacture, such as motorized components.

[0007] However, a challenge in combining sterile single-use components with non-sterile reusable components is that the non-sterile surfaces of the reusable components may come into contact with and contaminate the surfaces of the single-use components, thereby compromising the sterility of the single-use components. This contamination could then be transmitted to patients. Summary of the Invention

[0008] The solution to this problem is to cover the non-sterile reusable components of a surgical robot with a sterile drape or sterile bag to prevent contamination of the sterile components and the patient. However, this covering is not always effective, especially for surgical robots where sterile and non-sterile components need to interact with each other so that sterile surgical instruments can perform their required functions. Furthermore, known surgical robots may require the movement of sterile components relative to non-sterile components while ensuring that their sterility is not compromised. Therefore, a sterile barrier is needed that facilitates the movement of both sterile and non-sterile components while maintaining a sterile barrier between them.

[0009] According to a first aspect of the invention, a barrier box is provided for providing a sterile barrier between movable interfaces, comprising: a barrier including a first end and a second end; a barrier receiving portion adapted to receive the barrier and including a first end and a second end spaced apart from each other, and a first side and a second side spaced apart from each other and extending between the first end and the second end, wherein the barrier is attachable to the barrier receiving portion such that the barrier extends between the first side and the second side of the barrier receiving portion and is movable between the first end and the second end of the barrier receiving portion; a first flexure clip operatively connected to both the first end of the barrier and the first end of the barrier receiving portion and is extendable between the first side and the second side of the barrier receiving portion; and a second flexure clip operatively connected to both the second end of the barrier and the second end of the barrier receiving portion and is extendable between the first side and the second side of the barrier receiving portion.

[0010] In use, the barrier can be attached to a first movable interface and a second movable interface, wherein the first movable interface forms part of a non-sterile component, the second movable interface forms part of a sterile component, and the barrier serves as a sterile barrier between the first movable interface and the second movable interface.

[0011] The barrier extends between a first and a second side of the barrier receiving portion of the barrier housing and is also movable between a first end and a second end of the barrier receiving portion. A first flexure clip and a second flexure clip also extend between the first and second sides of the barrier receiving portion, the first flexure clip being operatively connected to both the first end of the barrier and the first end of the barrier receiving portion, and the second flexure clip being operatively connected to both the second end of the barrier and the second end of the barrier receiving portion. Thus, through the combination of the barrier, the first flexure clip, and the second flexure clip, a sterile barrier is formed across the entire barrier receiving portion.

[0012] Therefore, the present invention provides a barrier box that can be used as a sterile barrier between a first movable interface and a second movable interface, while allowing the interface to move between a first end and a second end of the barrier receiving portion.

[0013] The first flex card may include a barrier end that can be attached to a first end of the barrier and a housing end opposite to the barrier end. The housing end may be spaced apart from the barrier end such that when the barrier is located at a second end of the barrier receiving portion, the first flex card extends from the first end of the barrier to at least the first end of the barrier receiving portion. This allows the first flex card to be operatively connected to both the first end of the barrier and the first end of the barrier receiving portion, even when the barrier is as far away from the first end of the barrier receiving portion as possible.

[0014] The second flex card may similarly include a barrier end that can be attached to the second end of the barrier and a housing end opposite to the barrier end. The housing end may be spaced apart from the barrier end such that when the barrier is located at the first end of the barrier receiving portion, the second flex card extends from the second end of the barrier to at least the second end of the barrier receiving portion. This allows the second flex card to be operatively connected to both the second end of the barrier and the second end of the barrier receiving portion, even when the barrier is as far away from the first end of the barrier receiving portion as possible.

[0015] As the barrier moves between the first and second ends of the barrier receiving portion, each flexure card is operatively connected to the barrier and the corresponding end of the barrier receiving portion. For example, each flexure card can be slidably received by the corresponding end of the barrier receiving portion, or the housing end of each flexure card can be connected to the corresponding end of the barrier receiving portion.

[0016] The barrier box, barrier, first flexible card, and second flexible card may each include a first surface and a second surface. In use, the first surface may be exposed to a non-sterile area, and the second surface may be exposed to a sterile area. To ensure that the sterile area is protected from contamination and remains sterile, the second surface must not be exposed to a non-sterile area. In embodiments of the invention, the barrier box may further include a flexible card sterile mechanism.

[0017] In some embodiments of the invention, each flexure card may be slidably received by a corresponding end of the barrier receiving portion. At any given time during use of the invention, each flexure card may thus include a portion located inside the barrier receiving portion (i.e., extending between the barrier and the corresponding end of the barrier receiving portion) and a portion located outside the barrier receiving portion (i.e., extending outward from the corresponding end of the barrier receiving portion). For the portion of each flexure card located inside the barrier receiving portion, the second (sterile) surface can be protected from non-sterile areas by the barrier and barrier housing surrounding it. However, the portion of each flexure card located outside the barrier receiving portion may extend loosely from the barrier housing and may be exposed to potential contamination from contact with non-sterile surfaces.

[0018] Therefore, in embodiments of the present invention, the flexural card sterile mechanism may include a first pocket operatively connected to a first end of the barrier receiving portion and adapted to receive a portion of the first flexural card located outside the barrier receiving portion, and a second pocket operatively connected to a second end of the barrier receiving portion and adapted to receive a portion of the second flexural card located outside the barrier receiving portion.

[0019] In this embodiment of the invention, the portion of each flexural card located outside the barrier receiving portion is received concealed by a corresponding sleeve in order to particularly protect the second side of the flexural card so that it remains sterile.

[0020] Each sleeve may include a first inner wall and a second inner wall spaced apart from the first inner wall. When the portion of the corresponding flexible card located outside the barrier receiving portion is received by the sleeve, the first surface of the flexible card may contact only the first inner wall, and the second surface may contact only the second inner wall. This means there is no contact between the second (sterile) surface of the flexible card and the non-sterile first inner wall.

[0021] In other embodiments of the invention, the flex card aseptic mechanism may include: a first anchor, wherein the first flex card is attachable to the first anchor such that the first flex card extends from a first end of the barrier to the first anchor via a first end of the barrier receiving portion; and a second anchor, wherein the second flex card is attachable to the second anchor such that the second flex card extends from a second end of the barrier to the second anchor via a second end of the barrier receiving portion.

[0022] In this embodiment of the invention, the barrier end of each flexible card can be attached to a corresponding end of the barrier, and the housing end of each flexible card can be attached to a corresponding anchor. The portion of each flexible card located inside the barrier receiving portion can extend between the barrier and a corresponding end of the barrier receiving portion, while the portion of each flexible card located outside the barrier receiving portion can extend from a corresponding end of the barrier receiving portion to a corresponding anchor.

[0023] Each anchor is positioned on the barrier box near the corresponding end of the barrier receiving portion, such that the portion of the corresponding flex card located outside the barrier receiving portion is rolled onto itself or folded back onto itself to attach to the anchor.

[0024] Furthermore, each anchor can be positioned on the barrier box such that the first (non-sterile) side of the flexible card forms the outer surface of the folded / rolled portion of the corresponding flexible card located outside the barrier receiving portion, and the second (sterile) side of the flexible card forms the inner surface of the folded / rolled portion of the corresponding flexible card located outside the barrier receiving portion. Therefore, the portion of the second side of each flexible card located outside the barrier receiving portion is substantially hidden within the folded / rolled portion and protected from contact with the non-sterile surface.

[0025] In different embodiments of the invention, each flexure card can be attached to a corresponding end of the barrier receiving portion, and the aseptic mechanism of the flexure card includes at least one fold line that, in use, extends substantially perpendicularly to the first and second sides of the barrier receiving portion across each flexure card, such that each flexure card is corrugated, and thus each flexure card can extend or retract when the barrier moves between the first and second ends of the barrier receiving portion.

[0026] In this embodiment of the invention, each flexure card is entirely located inside the barrier receiving portion and extends only between the barrier and the corresponding end of the barrier receiving portion. Therefore, no portion of any flexure card is located outside the barrier receiving portion, and thus no portion of the second (sterile) surface of any flexure card is exposed to non-sterile areas that may come into contact with non-sterile surfaces.

[0027] In order for each flexure card to remain inside the barrier receiving portion as the barrier moves between the first and second ends of the barrier receiving portion, each flexure card is corrugated. Here, corrugated means that each flexure card is adapted to fold along at least one fold line extending across each flexure card, which is substantially perpendicular to the first and second sides of the barrier receiving portion and / or substantially parallel to the barrier end and the box end of the flexure card.

[0028] In use, when the barrier is positioned toward the second end of the barrier receiving portion, the first flexure is substantially flat to extend the relatively large gap between the barrier and the first end of the barrier receiving portion. Conversely, the second flexure is substantially folded relative to itself so that the barrier end and the housing end of the second flexure can be positioned relatively close to each other, since the second flexure only needs to extend the relatively small gap between the barrier and the second end of the barrier receiving portion. As the barrier moves from the second end to the first end of the barrier receiving portion, the first flexure can gradually fold relative to itself, while the second flexure can gradually flatten.

[0029] In some embodiments of the invention, each flexure card may include a single fold line positioned only approximately in the middle of the flexure card. In this embodiment of the invention, the central portion of the flexure card may protrude away from the barrier receiving portion. In other embodiments of the invention, each flexure card may include a plurality of fold lines evenly distributed between the barrier end and the housing end of the flexure card. In this embodiment of the invention, the flexure card may expand and contract in an accordion-like manner as the barrier moves between the first and second ends of the barrier receiving portion.

[0030] In an embodiment of the invention, the barrier receiving portion includes: a first channel extending along the first side and configured to slidably receive the first side of each flexure card, and a second channel extending along the second side and configured to slidably receive the second side of each flexure card.

[0031] In this embodiment of the invention, each flexure card may extend between a first side and a second side of the barrier receiving portion, such that the first side of the flexure card is slidably received in a first channel, and the second side of the flexure card is slidably received in a second channel. This ensures that no contaminants can pass through the gap between the side of the flexure card and the side of the barrier receiving portion to transfer from a non-sterile area (e.g., including a non-sterile component) to a sterile area (e.g., including a sterile component and a patient). Furthermore, the first and second channels may support the flexure cards and ensure that they remain aligned with the barrier across the barrier receiving portion.

[0032] In embodiments of the present invention, the barrier receiving portion may further include one or more additional channels to provide additional functionality.

[0033] In an embodiment of the present invention, the barrier includes a first box interface that can be slidably engaged with the first channel and a second box interface that can be slidably engaged with the second channel.

[0034] In this embodiment of the invention, the barrier can be positioned such that a first housing interface slidably engages with a first channel extending along a first side of the barrier receiving portion, the barrier extending from the first side of the barrier receiving portion to a second side, and a second housing interface slidably engages with a second channel extending along the second side of the barrier receiving portion. Thus, the barrier can be slidably engaged with the barrier receiving portion. Furthermore, the first and second housing interfaces can be adapted to prevent contaminants from passing through the gap between the barrier and the side of the barrier receiving portion to transfer from a non-sterile area to a sterile area.

[0035] Therefore, the barrier and each flexure card can be adapted to extend from the first channel of the barrier receiving portion to the second channel, so that no contaminants can pass through the gap to transfer from the non-sterile area to the sterile area.

[0036] However, in embodiments of the invention, the barrier receiving portion may include one or more additional channels extending along its sides. For example, the sides of each of the first and second flexure cards can be slidably engaged with a channel, while the corresponding sides of the barrier can be slidably engaged with different channels.

[0037] In an embodiment of the present invention, the barrier includes a first surface, a second surface spaced apart from the first surface, and a translation mechanism extending between the first surface and the second surface. The translation mechanism includes a plurality of translations, wherein each translation includes:

[0038] The main body, which is located between the first surface and the second surface,

[0039] The actuating part is accessible through the first opening in the first surface and is capable of moving within the first opening.

[0040] The translational portion can approach through the second opening in the second surface and can move within the second opening.

[0041] The actuating portion is operatively connected to the body and the translational portion, such that movement of the actuating portion causes movement of the body and the translational portion, and the body maintains a sterile barrier between the first and second orifices regardless of its position.

[0042] In use, a first side can be attached to a first movable interface, and a second side can be attached to a second movable interface, wherein the first movable interface forms part of a non-sterile component, the second movable interface forms part of a sterile component, and a barrier serves as a sterile barrier between the first and second movable interfaces.

[0043] In this embodiment of the invention, the first movable interface may include a plurality of actuators, each capable of engaging a corresponding actuating portion and configured to actuate the actuating portion within a corresponding first orifice. Movement of each actuating portion may result in equal movement of the body of the translator and the translating portion. The second movable interface may also include a plurality of actuators, each capable of engaging a corresponding translating portion and configured to be actuated by a translating portion that moves within a corresponding second orifice. Thus, each translator may translate the movement of an actuator forming part of the first movable interface into the movement of an actuator forming part of the second movable interface.

[0044] Furthermore, the bodies of each translation device maintain a barrier between the first and second orifices regardless of their position, and thus serve as a sterile barrier between the first (non-sterile) movable interface and the second (sterile) movable interface.

[0045] Therefore, the present invention provides a sterile barrier that allows non-sterile moving parts to interact with sterile moving parts without compromising the sterility of the sterile moving parts.

[0046] In an embodiment of the present invention, the first opening and the second opening of the barrier are respectively a first linear groove and a second linear groove, thereby enabling the corresponding actuating portion and translational portion to move linearly within the first linear groove and the second linear groove, respectively.

[0047] In this embodiment of the invention, each actuator forming part of the first movable interface may be linearly movable, and each of the first slots may be configured to align with the linear movement range of the corresponding actuator belonging to the first movable interface. Similarly, each actuator forming part of the second movable interface may be linearly movable, and each of the second slots may be configured to align with the linear movement range of the corresponding actuator belonging to the second movable interface.

[0048] The slots can be substantially rectangular in shape and are defined by having a width and a length. The width of each slot can be configured to prevent the corresponding actuating or translating part from moving in a direction parallel to the width. However, the length of each slot can be configured such that the corresponding actuating or translating part can move linearly along its length. Therefore, each actuating or translating part can only move linearly within its corresponding slot. The corresponding first and second slots can have substantially the same width and length, or they can have different widths and lengths.

[0049] To maintain a barrier between the first and second slots, the main body may have a width at least equal to the width of both the first and second slots. Furthermore, the main body may extend a first length on either side of the translating portion, such that the main body prevents an object from passing through the first slot regardless of the position of the translating portion within the first slot. The first length may be at least the length of the first slot. Similarly, the main body may extend a second length on either side of the actuating portion, such that the main body prevents an object from passing through the second slot regardless of the position of the actuating portion within the second slot. The second length may be at least the length of the second slot.

[0050] In an embodiment of the invention, the first surface of the barrier is removably engageable with a motor module comprising a plurality of motor actuators, and the actuating portion of each translator is engageable with a corresponding one of the motor actuators.

[0051] In this embodiment of the invention, the first movable interface forms part of the motor module, and the plurality of actuators forming part of the first movable interface are a plurality of motor actuators.

[0052] A motor module may include one or more motors configured to drive the movement of a motor actuator. Due to the costs that may be associated with manufacturing the motors and related electrical components, the motor module may be a reusable component. Therefore, the motor may not be sterile during use.

[0053] In an embodiment of the invention, the second side of the barrier can engage with a drive module comprising a plurality of drive actuators, and the translation portion of each translator can engage with a corresponding one of the drive actuators.

[0054] In this embodiment of the invention, the second movable interface forms part of the driver module, and the plurality of actuators forming part of the second movable interface are a plurality of drive actuators.

[0055] The driver module can be passive and may not include electrical components. Therefore, the driver can be manufactured cost-effectively as a single-use component. Consequently, the driver module can be sterile during use.

[0056] Each drive actuator can be actuated by a corresponding translater via an actuation section, and the translater is in turn actuated by a corresponding motor actuator via a translation section. Therefore, the barrier can convert the actuation provided by the motor module into actuation by the drive module, while providing a sterile barrier between them.

[0057] According to a second aspect of the invention, a barrier assembly is provided for providing a sterile barrier between a sterile surface and a non-sterile surface, wherein the barrier assembly is mountable on a flat surface for a robotic surgical platform, and comprises: a support including at least one barrier housing according to a first aspect of the invention; and a first drape removably attachable to the support.

[0058] This invention provides a sterile barrier that prevents contamination of the sterile single-use components of a surgical robot by providing a physical barrier between them and non-sterile reusable components. Specifically, the barrier housing can provide a sterile barrier between movable interfaces such as non-sterile motor module interfaces and sterile actuator module interfaces. Furthermore, a first drape can flexibly cover multiple non-sterile components of the surgical robot, such as a platform for mounting surgical instruments to one or more motor modules, and any other suitable components of the surgical robot that may be non-sterile during use. In addition to protecting sterile components from contact with non-sterile components of the surgical robot, the drape also prevents medical personnel from contaminating their sterile protective clothing (e.g., gloves and gowns) due to accidental contact with the non-sterile surfaces of the surgical robot.

[0059] In embodiments of the invention, the stent may include any suitable number of barrier boxes according to the first aspect of the invention, and therefore the surgical robot may include any number of surgical instruments.

[0060] In some embodiments of the invention, according to a first aspect of the invention, the support includes two barrier boxes.

[0061] In this embodiment of the invention, the surgical robot may include two surgical instruments, each actuated by its own actuator module and motor module. Therefore, each barrier box can serve as a sterile barrier between the respective actuator module and motor module.

[0062] For example, in use, a surgeon can control different surgical instruments with each hand, and thus control two surgical instruments simultaneously.

[0063] In embodiments of the invention, the barrier assembly further includes a port that can be removably attached to the bracket.

[0064] In this embodiment of the invention, the port can support surgical instruments and facilitate their insertion into the patient through natural cavities or incisions.

[0065] In an embodiment of the invention, a first surface of the stent can be mounted to a manipulator arm via the platform, the manipulator arm being configured to movably mount the stent to the surface and selectively provide the stent with six degrees of freedom of movement relative to the surface. As required in surgical procedures, the manipulator arm allows surgical instruments to be positioned relative to the patient.

[0066] In this embodiment of the invention, the manipulator arm may be reusable and non-sterile in use. The first drape may cover the manipulator arm flexibly, regardless of its configured position. Thus, the first drape can provide a sterile barrier between the manipulator arm and any of the various sterile surfaces in the operating room, such as surgical instruments, protective clothing for medical personnel, and patients.

[0067] In an embodiment of the invention, the barrier assembly further includes a second drape that is removably attached to the support, wherein the first drape is operatively connected to a first surface of the support, and the second drape is operatively connected to a second surface of the support.

[0068] In use, the first side of the stent may be exposed to a non-sterile area (including a non-sterile surface), while the second side of the stent is exposed only to a sterile area (including a sterile surface). Therefore, the outer surface of the first drape can be considered non-sterile, while the outer surface of the second drape can remain sterile. Furthermore, a second sterile area may also be provided between the first and second drapes (between the inner surfaces of each drape).

[0069] In such embodiments of the invention, the first and second flexural cards forming part of or each barrier box can be configured such that the portion of each flexural card located outside the barrier receiving portion is also located between the first and second drapes. This protects the second (sterile) surface of each flexural card from contamination and also protects the outer surface of the second drape from contamination from contact with the first (non-sterile) surface of either of the flexural cards.

[0070] The second drape can also provide a certain degree of redundancy for the sterile barrier, so that if the first drape is damaged, the sterility of the sterile surface will not be compromised.

[0071] In an embodiment of the invention, the drapes or drapes are sleeve-shaped and include a first end removably connected to the support and a second end removably connected to the control arm, such that a first surface of the support is covered by the drapes or two drapes.

[0072] In this embodiment of the invention, the drape or drapes may cover the non-sterile components of the surgical robot (e.g., platform, motor module, and manipulator arm) to ensure that they do not come into contact with sterile surfaces in the operating room.

[0073] According to a third aspect of the invention, a barrier is provided based on the content described as forming part of the first aspect of the invention. Attached Figure Description

[0074] The invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0075] Figure 1 This is a schematic diagram of a barrier assembly according to an embodiment of the second aspect of the present invention.

[0076] Figure 2 This is a schematic diagram showing a barrier assembly in use according to an embodiment of the second aspect of the present invention.

[0077] Figure 3 This is a schematic diagram of a barrier box according to an embodiment of the first aspect of the present invention.

[0078] Figure 4a , 4b4c are schematic diagrams of a barrier according to an embodiment of the third aspect of the present invention, showing a perspective view, a cross-sectional view and a top view, respectively.

[0079] Figure 5 This is a schematic diagram of a barrier assembly including a flexible ferrule according to an embodiment of the second aspect of the present invention.

[0080] Figure 6a and Figure 6b This is a schematic diagram of a barrier assembly according to an embodiment of the second aspect of the present invention, including a rollable / foldable flexible card.

[0081] Figure 7a and Figure 7b yes Figure 6a and 6b The diagram shown illustrates two different configurations of the flexure card.

[0082] Figure 8 This is a schematic diagram of a barrier assembly according to an embodiment of the second aspect of the present invention, including a corrugated flexure card.

[0083] Figure 9a and Figure 9b This is a schematic diagram of a corrugated flexural card forming part of a barrier box according to an embodiment of the first aspect of the present invention, showing a top view and a cross-sectional view, respectively.

[0084] Figure 10a and 10b The schematic diagram of a barrier box according to an embodiment of the first aspect of the present invention includes a corrugated flexible card, showing the barrier box in two configurations.

[0085] Figure 11a and Figure 11b The schematic diagram of a barrier box according to an embodiment of the first aspect of the invention includes a corrugated flexural card with a single fold line, showing the barrier box in two configurations.

[0086] Figure 12 This is a schematic diagram of a barrier assembly according to an embodiment of the first aspect of the present invention, including a first drape and a second drape. Detailed Implementation

[0087] First refer to Figure 1 The barrier assembly according to the second aspect of the invention is generally shown by reference numeral 2. The barrier assembly includes two barrier boxes 4 according to the first aspect of the invention, each of which in turn includes a barrier 6 according to the third aspect of the invention. The barrier assembly 2 also includes a support 60 and a drape 63 removably attached to the support 60.

[0088] Figure 2Barrier assembly 102 is shown, which, in addition to including a port 166 removably attached to bracket 60, is connected to barrier assembly 2 (such as...). Figure 1 (As shown) Same.

[0089] Barrier assembly 102 is also shown for use with components of a surgical robot. The surgical robot includes multiple sterile components, including two surgical instruments 72 and an endoscope 74. Each of the sterile components occupies a sterile region 70, which in this embodiment is located above barrier assembly 2. The surgical robot also includes multiple reusable non-sterile components, including a movable platform 82 for mounting a support 60 and two motor modules 84. Each of the non-sterile components occupies a non-sterile region 80, which in this embodiment is located below barrier assembly 2. Therefore, barrier assembly 2 can serve as a sterile barrier between the sterile region 70 and the non-sterile region 80.

[0090] In use, the drape 63 can extend further than shown to further cover the non-sterile components of the surgical robot. Furthermore, the drape 63 can be sleeve-shaped, wherein the first end can be removably attached to the support 60 (e.g., Figure 2 As shown), the second end can be removably attached to another part of the surgical robot, such as a manipulator arm. Therefore, the drape 63 can cover a non-sterile component of the surgical robot to provide a sterile barrier between the non-sterile component and sterile surfaces within a sterile environment (e.g., a surgical room). The drape 63 can also be flexible to allow it to adapt to the shape of the surgical robot's construction.

[0091] Port 166 can support surgical instruments 72 and endoscopes 74 and facilitate the insertion of surgical instruments 72 and endoscopes 74 into the patient through natural cavities or incisions.

[0092] When using the present invention, sterile areas 70 and non-sterile areas 80 also exist above and below the barrier component 2. Figure 1 and Figures 3 to 12 In various of the other embodiments shown.

[0093] However, it should be understood that the barrier assembly, barrier box, and barrier according to embodiments of the present invention can also be configured to serve as sterile barriers in opposite directions. For example, in Figure 2 In the illustrated embodiment, the sterile area may be defined below the barrier component 2, and the non-sterile area may be defined above the barrier component 2.

[0094] about Figure 3 A more detailed description Figure 1 One of the barrier boxes 4 shown. However, it can be considered that... Figure 1Another barrier box 4 shown includes the same features as those described below.

[0095] The barrier box 4 also includes a barrier receiving portion 10, a first flexure clip 31, and a second flexure clip 32. The barrier receiving portion 10 includes a first end 11, a second end 12 spaced apart from the first end 11, a first side 15, and a second side 16 spaced apart from the first side 15. The first side and the second side 15, 16 each extend between the first end and the second end 11, 12. The barrier 6 is attachable to the barrier receiving portion 10 such that it extends between the first side and the second side 15, 16 of the barrier receiving portion, and is movable between the first end and the second end of the barrier receiving portions 11, 12.

[0096] The barrier 4 includes a first end 21 and a second end 22. A first flexure 31 is operatively connected to the first end 21 of the barrier and the first end 11 of the barrier receiving portion. Similarly, a second flexure 32 is operatively connected to the second end 22 of the barrier and the second end 12 of the barrier receiving portion.

[0097] In this embodiment of the invention, each flexible clip 31, 32 can be attached to a corresponding end of the barrier 6 and can be slidably received by a corresponding end of the barrier receiving portion 10. Furthermore, each flexible clip 31, 32 includes a portion located inside the barrier receiving portion 10 and a portion located outside the barrier receiving portion 10.

[0098] exist Figure 3 In the example shown, barrier 6 is positioned toward the first end 11 of barrier receiving portion 10. Therefore, the gap between the first end 21 of the barrier and the first end 11 of the barrier receiving portion is small or nonexistent, so only a small portion of the first flexible card 31 is needed as a sterile barrier across the gap between the first end 21 of the barrier and the first end 11 of the barrier receiving portion. Thus, the majority of the first flexible card 31 is located outside the barrier receiving portion 10.

[0099] Conversely, a relatively large gap exists between the second end 22 of the barrier and the second end 12 of the barrier receiving portion, thus requiring a large portion of the second flexible card 32 to serve as a sterile barrier across the gap between the second end 22 of the barrier and the second end 12 of the barrier receiving portion. Therefore, a large portion of the second flexible card 32 is located inside the barrier receiving portion 10.

[0100] However, since the barrier 6 is movable within the barrier receiving portion 10 (between the first end and the second ends 11, 12), the configuration of the first flexure clip 31 and the second flexure clip 32 can be adjusted relative to the position of the barrier 6. For example, when the barrier 6 moves from its position within the barrier receiving portion 10... Figure 3As the position shown moves toward the second end 12 of the barrier receiving portion, the first flexure card 31 and the second flexure card 32 will move together with it by sliding through the corresponding ends 11, 12 of the barrier receiving portion 10. Therefore, more of the first flexure card 31 will be located inside the barrier receiving portion 10, and more of the second flexure card 32 will be located outside the barrier receiving portion 10.

[0101] The movement of flexure cards 31 and 32 along barrier 6 ensures that the sterile barrier spans the entire barrier receiving portion 10, regardless of the position of barrier 6.

[0102] In this embodiment of the invention, the barrier receiving portion 10 further includes a first channel 17 extending along a first side 15 and a second channel (not shown) extending along a second side 16. The first side of each flexure card can be slidably received within the first channel 17, and the second side of each flexure card can be slidably received within the second channel (not shown). The first and second channels can support the sides of the flexure cards and ensure they remain in the necessary position to serve as a sterile barrier across the barrier receiving portion 10.

[0103] Now for reference Figure 4a , 4b In addition to 4c, barrier 6 also includes a first housing interface 27 slidably engaging with the first channel 17 of barrier receiving portion 10 and a second housing interface 28 slidably engaging with the channel of barrier receiving portion 10. Thus, the first and second channels of barrier receiving portion 10 can support the sides of barrier 6 as well as the sides of the first flexible card 31 and the second flexible card 32. Since the channels facilitate alignment of flexible cards 31, 32 with barrier 6, this may help provide a continuous sterile barrier across barrier receiving portion 10.

[0104] Still refer to Figure 4a , 4b And 4c, the barrier also includes the first side 23 (see Figure 4c ), and the second surface 24 separated from the first surface 23 (see Figure 4a ) and a translation mechanism 50 extending between the first surface 23 and the second surface 24.

[0105] The translation mechanism includes multiple translations 52 (see...) Figure 4b ), and multiple first openings 25 located in the first face 23 (see Figure 4c ) and multiple second openings 26 located in the second face 24 (see Figure 4a ).

[0106] Each translator 52 includes a main body 54 located between the first surface 23 and the second surface 24, an actuating portion 56 that can pass through a corresponding approach in the first aperture 25, and a translating portion 58 that can pass through a corresponding approach in the second aperture 26.

[0107] Each actuating part 56 is movable within a corresponding first opening 25 and is also operatively connected to a corresponding body 54 and a corresponding translation part 58. Therefore, movement of the actuating part 56 causes corresponding movement of the body 54 in the space between the first surface 23 and the second surface 24 and of the translation part 58 within the corresponding second opening 26.

[0108] Regardless of the position of each body 54 in the space between the first surface 23 and the second surface 24, each body 54 maintains a barrier between the first opening 25 and the second opening 26.

[0109] In use, the first surface 23 can be attached to the first movable interface (not shown), and the second surface 24 can be attached to the second movable interface (not shown). The first movable interface can form part of a non-sterile component such as a motor module, and the second movable interface can form part of a sterile component such as a drive module. Therefore, the barrier 6 serves as a sterile barrier between the first and second movable interfaces.

[0110] Furthermore, the first movable interface may include a plurality of actuators (not shown), such as motor actuators, each actuator capable of engaging a corresponding actuation portion 56 and configured to actuate the actuation portion 56 within a corresponding first aperture 25. The second movable interface may also include a plurality of actuators (not shown), each actuator capable of engaging a corresponding translation portion 58 and configured to be actuated by the translation portion 58 which moves within a corresponding second aperture 26.

[0111] Since the movement of each actuating part 56 causes the main body 53 and the translation part 58 to move by the same amount, each translation device 52 can translate the movement of the actuator forming part of the first movable interface into the movement of the actuator forming part of the second movable interface.

[0112] Furthermore, the body 58 of each translator 52 maintains a barrier between the first orifice 25 and the second orifice 26 regardless of its position, and thus serves as a sterile barrier between the first (non-sterile) movable interface and the second (sterile) movable interface.

[0113] Therefore, barrier 6 provides a sterile barrier that allows non-sterile moving parts to interact with sterile moving parts without compromising the sterility of the sterile moving parts.

[0114] exist Figures 4a to 4cIn the example shown, the first orifice 25 and the second orifice 26 are respectively the first linear groove and the second linear groove (for simplicity, the first groove and the second groove are also indicated by reference numerals 25 and 26 respectively), so that the corresponding actuation part 56 and translation part 58 can move linearly in the first linear groove 25 and the second linear groove 26 respectively.

[0115] Each slot 25, 26 is substantially rectangular in shape and can be defined to have a width and a length. The width of each slot 25, 26 can be configured to prevent the corresponding actuating part 56 or translating part 58 from moving in a direction parallel to the width. The length of each slot 25, 26 can be configured such that the corresponding actuating part 56 or translating part 58 can move linearly along its length. Therefore, each actuating part 56 or translating part 58 can only move linearly within the corresponding slot 25, 26.

[0116] To maintain a sterile barrier between the first groove 25 and the second groove 26, the body 54 has a width at least approximately the same as the width of the first groove 25 and the second groove 26. Furthermore, the body 54 may extend a first length on either side of the translational portion 56 such that, regardless of the position of the translational portion 56 within the first groove 25, the body 54 prevents objects from passing through the first groove 25. In this example, the first length is at least the length of the first groove 25 to ensure that no gaps are permissible between the boundary of the first groove 25 and the body 54. Similarly, the body 54 may extend a second length on either side of the actuating portion 58 such that, regardless of the position of the actuating portion 58 within the second groove 26, the body 54 prevents objects from passing through the second groove 26. In this example, the second length is at least the length of the second groove 26 to ensure that no gaps are permissible between the boundary of the second groove 26 and the body 54.

[0117] Figure 5 Barrier assembly 202 is shown, which is similar to barrier assembly 2 except that it includes two barrier boxes 204 (as shown in the image). Figure 1 As shown), these two barrier boxes 204, in addition to forming barrier box 4 (as shown), Figure 1 In addition to the features shown in the figures, each of the barrier components 202 also includes a flexible card sterilization mechanism 240, which includes a first set 241 and a second set 242. (For ease of reference, features common to barrier component 202 and barrier component 2 are given the same reference numerals.)

[0118] The first set 241 is operatively connected to the first end 11 of the barrier receiving portion 10 and is adapted to receive the portion of the first flexible card 31 located outside the barrier receiving portion 10. Similarly, the second set 242 is operatively connected to the second end 12 of the barrier receiving portion and is adapted to receive the portion of the second flexible card 32 located outside the barrier receiving portion 10.

[0119] Each sleeve 241, 242 is used to protect the sterility of the portions of each flexible card 31, 32 located outside the barrier receiving portion 10, particularly the surfaces of each flexible card 31, 32 that need to remain sterile during use. To achieve this, each sleeve 241, 242 may include a first inner wall and a second inner wall spaced apart from the first inner wall. When the portion of the corresponding flexible card 31, 32 located outside the barrier receiving portion 10 is received by the sleeve 241, 242, the first surface of the flexible card may contact only the first inner wall, and the second surface may contact only the second inner wall. Therefore, the sterile surfaces of the flexible cards 31, 32 are not contaminated by contact with the non-sterile first inner walls of the sleeves 241, 242.

[0120] Now for reference Figure 6a and 6b Barrier assembly 302 is shown, which, in addition to including a different flexible card sterile mechanism 340, is similar to barrier assembly 2 (such as...). Figure 1 Similar to (as shown). In this embodiment of the invention, the barrier assembly 302 includes a first flexure card 331 and a second flexure card 332, wherein the portion of each flexure card located outside the barrier receiving portion is rolled onto itself or folded back onto itself.

[0121] Figure 7a and 7b It shows the formation Figure 6a and Figure 6b The barrier assembly 302 shown is a part of the barrier housing 304, and a sterile mechanism is specifically shown. (Barrier housing 304 is similar to...) Figure 3 Barrier box 4 is shown.

[0122] The flex card sterile mechanism 340 includes a first anchor 343 that can be attached to a first flex card 331 such that the first flex card 331 extends from a first end of a barrier (not shown) through a first end 11 of a barrier receiving portion to the first anchor 343.

[0123] The portion of the first flexure 331 located inside the barrier receiving portion (not shown) may extend between the barrier (not shown) and the first end 11 of the barrier receiving portion, while the portion of the first flexure 331 located outside the barrier receiving portion may extend from the first end 11 of the barrier receiving portion to the first anchor 343.

[0124] The first anchor 343 is positioned on the barrier box 304 near the first end 11 of the barrier receiving portion, such that the portion of the first flexure card 331 located outside the barrier receiving portion is rolled onto itself or folded back onto itself to attach to the anchor.

[0125] Figure 7aAn example configuration of the barrier box 304 is shown, in which the barrier is located near the second end of the barrier receiving portion, such that a large portion of the first flexure card 331 is located inside the barrier receiving portion to serve as a sterile barrier across the gap between the barrier and the first end of the barrier receiving portion. Therefore, only a relatively small portion of the first flexure card 331 is located outside the barrier receiving portion, resulting in tight winding of the portion of the first flexure card 331 extending between the first end 11 of the barrier receiving portion and the first anchor 343.

[0126] However, Figure 7b An example configuration of the barrier box 304 is shown, in which the barrier is located near the first end of the barrier receiving portion, such that a large portion of the first flexural card 331 is located outside the barrier receiving portion. This is because only a relatively small portion of the first flexural card 331 is needed as a sterile barrier across the gap between the barrier and the first end of the barrier receiving portion. Therefore, compared with Figure 7a In contrast, the portion of the first flexural card 331 extending between the first end 11 of the barrier receiving portion and the first anchor 343 forms a larger coil.

[0127] exist Figure 7a and Figure 7b In this configuration, the first anchor 343 is positioned on the barrier box 304 such that the first (non-sterile) surface of the first flexible card 331 forms the outside of the folded / rolled portion of the first flexible card 331 located outside the barrier receiving portion. Therefore, the second (sterile) surface of the first flexible card 331 forms the inner surface of the folded / rolled portion of the first flexible card located outside the barrier receiving portion. Thus, the portion of the second surface of the first flexible card 331 located outside the barrier receiving portion is substantially concealed within the folded / rolled portion and protected from contact with the non-sterile surface.

[0128] Although the inner surface of the folded / rolled portion of the first flexible card is protected, the sides of the first flexible card remain exposed and are therefore susceptible to contamination. However, these contaminated sides of the first flexible card 331 can be slidably received by corresponding channels, thus forming part of a barrier receiving portion. Therefore, when located inside the barrier receiving portion, the channels can conceal the contaminated sides of the flexible card, thereby preventing contamination of the sterile area.

[0129] Refer again Figure 6a and Figure 6b Each barrier box 304 may also include a second anchor (not shown) that is similarly capable of being attached to the second flexure clip 332. It should be understood that the second flexure clip can therefore be constructed equivalently to the first flexure clip and can benefit from the same advantages.

[0130] Now for reference Figures 8 to 10bBarrier assembly 402 is shown, which, in addition to including a different flexible card sterile mechanism 440, is similar to barrier assembly 2 (such as...). Figure 1 Similar to (as shown).

[0131] In this embodiment of the invention, the first flexible card 431 and the second flexible card 432 are attached to the respective ends of the barrier receiving portions 411, 412, rather than being slidably received by said ends. The flexible card sterility mechanism 440 includes a plurality of fold lines 439 that, in use, extend substantially perpendicularly to the first and second sides of the barrier receiving portions 15, 16 across each flexible card, such that each flexible card 431, 432 is corrugated, and thus each flexible card 431, 432 can extend or retract when the barrier 6 moves between the first end 411 and the second end 412 of the barrier receiving portion. (For ease of reference, features common to barrier assembly 202 and barrier assembly 2 are given the same reference numerals.)

[0132] Due to the corrugations, each of the flexural cards 431, 432 can extend or contract in length in an accordion-like manner, depending on the position of the barrier 6 within the barrier receiving portion 410. Therefore, it is not necessary to position a portion of each of the flexural cards 431, 432 outside the barrier receiving portion 410.

[0133] exist Figure 8 The diagram illustrates an example of an embodiment of the invention, in which barrier 6 is located at the first end of barrier receiving portion 411. Therefore, a first flexible card (not shown) is fully retracted between the first end of barrier receiving portion 411 and barrier 6. Simultaneously, a second flexible card 432 extends across the gap between barrier 6 and the second end of barrier receiving portion 412 to serve as a sterile barrier.

[0134] exist Figure 10a and Figure 10b The diagram illustrates another example of this embodiment of the invention with two different constructions, particularly barrier box 404. Figure 10a The structure shown is Figure 8 The structures shown are very similar, wherein the barrier 6 is positioned toward the first end of the barrier receiving portion 411, the first flexure card 431 is substantially contracted, and the second flexure card 432 is substantially extended.

[0135] Figure 10bThe diagram illustrates the configuration of the flexural clips 431, 432 as the barrier 6 moves toward the second end of the barrier receiving portion 412. When the gap between the barrier 6 and the second end of the barrier receiving portion 412 decreases, the second flexural clip 432 contracts by folding more and more relative to itself along the fold line 439. Simultaneously, the gap between the barrier 6 and the first end of the barrier receiving portion 411 increases, thus the first flexural clip 431 extends by unfolding and flattening to stretch across the increased gap.

[0136] As a result, regardless of where barrier 6 is located, the combination of barrier 6 and flexible cards 431, 432 provides a sterile barrier across barrier receiving portion 410.

[0137] Now for reference Figure 11a and Figure 11b Barrier box 504 is shown, which is similar to barrier box 404 except that it includes a different flexible card sterilization mechanism 540 (e.g. Figure 10a and Figure 10b (As shown), the aseptic mechanism 540 of the flexible card includes a single fold line 539 extending only across each of the flexible cards 531, 532. (For ease of reference, features common to barrier assembly 202 and barrier assembly 2 are given the same reference numerals.)

[0138] In this example, the fold line 539 is positioned approximately in the middle of each flexure card 531, 532 to allow the flexure cards 531, 532 to be substantially folded in half when the flexure cards 531, 532 need to be fully retracted due to the need to minimize the gap between the barrier 6 and the respective ends of the barrier receiving portions 411, 412.

[0139] Figure 11a A first configuration of this embodiment of the invention is shown, in which the barrier 6 is positioned immediately adjacent to a first end of the barrier receiving portion 411. A first flexure 531 is folded substantially relative to itself along a fold line 539 such that the ends of the first flexure 531 are retracted together within a small gap between the barrier 6 and the first end of the barrier receiving portion 411. Conversely, a second flexure 532 is substantially unfolded to span a larger gap between the barrier 6 and the second end of the barrier receiving portion 412.

[0140] Figure 11bA second configuration is shown demonstrating how the flexure cards 531, 532 change as the barrier 6 moves toward the second end of the barrier receiving portion 412. The flexure cards 531, 532 are configured substantially oppositely, whereby the first flexure card 531 unfolds to extend over the increased gap between the barrier 6 and the first end of the barrier receiving portion 411. Simultaneously, the second flexure card 532 folds substantially relative to itself along the fold line 539 so that the ends of the flexure card retract together within the reduced gap between the barrier 6 and the first end of the barrier receiving portion 412.

[0141] Although each flexure card includes only one fold line, the result is that, regardless of where barrier 6 is located, the combination of barrier 6 and flexure cards 531, 532 provides a sterile barrier across barrier receiving portion 410.

[0142] Furthermore, the flexible cards 531 and 532 can be configured to fold in a specific direction. To reduce the possibility of contamination of the sterile area (located above the barrier box 504 in this example), each flexible card 531 and 532 can be folded such that the fold line 539 moves toward the non-sterile area (located below the barrier box in this example). This prevents the first (non-sterile) side of any flexible card 531 or 532 from moving into the sterile area. Moreover, as any flexible card 531 or 532 folds relative to itself, the second (sterile) side of the flexible card becomes increasingly hidden within the fold, and the fold line moves further into the non-sterile area. Therefore, the second (sterile) side of the flexible card is protected from contamination, and contaminants are prevented from being introduced into the sterile area.

[0143] Now for reference Figure 12 The diagram illustrates a barrier assembly 602 according to an embodiment of the second aspect of the present invention. The barrier assembly 602 is similar to the barrier assembly 2 (e.g., ...) except that it includes a support 660. Figure 1 As shown), both the first pad 663 and the second pad 664 can be removably attached to the bracket 660.

[0144] The first mat 663 is operatively connected to the first surface of the support 607 (in this example, the first surface 607 can be considered as the top surface), and the second mat 664 is operatively connected to the second surface of the support 608 (in this example, the second surface 608 can be considered as the bottom surface).

[0145] In use, a first side of the stent 607 can be exposed to a sterile area, and a second side of the stent 608 can be exposed to a non-sterile area, wherein the barrier component 602 serves as a sterile barrier between the sterile and non-sterile areas. (In other embodiments of the invention, the sterile and non-sterile areas may be constructed in opposite directions, and the barrier component may still serve as a sterile barrier between them.)

[0146] Therefore, the outer surface of the first drape 663 can also be exposed to a non-sterile area and thus become non-sterile during use, while the outer surface of the second drape 664 can remain sterile during use. Furthermore, a second sterile area can be provided between the first drape 663 and the second drape 664 (between the inner surfaces of each drape).

[0147] The first flexure card 31 and the second flexure card 32, which form part of each barrier box 4, can be configured such that the portions of each flexure card 31, 32 located outside the barrier receiving portion 10 are also located between the first drape 663 and the second drape 664. (In Figure 12 In the example shown, barrier 6 is positioned such that a large portion of each of the first flexural cards 31 is located outside barrier receiving portion 10.

[0148] This prevents the first (non-sterile) side of each flexible card 31, 32 from entering the sterile area and potentially contaminating it. It also protects the second (sterile) side of each flexible card 31, 32 from contamination due to entering the non-sterile area.

[0149] In addition, this construction can protect the outside of the second drape 664 from contamination from contact with the first (non-sterile) side of either of the flexure cards 31, 32.

[0150] The second drape 664 can also provide a certain degree of redundancy for the sterile barrier, so that if the first drape 663 is damaged, the sterility of the sterile surface will not be compromised.

[0151] Although not shown in the accompanying drawings, each of the drapes 663, 664 may be sleeve-shaped and include an end removably attachable to a portion of the surgical robot and an end removably attachable to a support (e.g., Figure 12 (As shown). Therefore, the non-sterile parts of the surgical robot can be wrapped / enclosed in each drape 663, 664 to prevent sterile surfaces from coming into contact with and thus becoming contaminated with the non-sterile surfaces that form part of the surgical robot.

[0152] Unless the context otherwise indicates, preferences and options for a given aspect, feature, or parameter of the invention should be considered as disclosed in combination with any and all preferences and options for all other aspects, features, and parameters of the invention. For example, Figures 8 to 10b The corrugated flexural cards 431 and 432 shown can be used with Figure 12 The first towel 663 and the second towel 664 shown are used together.

Claims

1. A barrier box for providing a sterile barrier between movable interfaces, characterized in that, include: The barrier includes a first end and a second end; A barrier receiving portion adapted to receive the barrier, and including a first end and a second end spaced apart from each other, a first side and a second side spaced apart from each other and extending between the first end and the second end, wherein the barrier is attachable to the barrier receiving portion such that the barrier extends between the first side and the second side of the barrier receiving portion and is movable between the first end and the second end of the barrier receiving portion; A first flexure clip, operatively connected to both a first end of the barrier and a first end of the barrier receiving portion and extendable between a first side and a second side of the barrier receiving portion; and The second flexure is operatively connected to both the second end of the barrier and the second end of the barrier receiving portion and is capable of extending between the first and second sides of the barrier receiving portion; It also includes a flexure card sterilization mechanism, which includes a first set operatively connected to a first end of the barrier receiving portion and adapted to receive a portion of the first flexure card located outside the barrier receiving portion, and a second set operatively connected to a second end of the barrier receiving portion and adapted to receive a portion of the second flexure card located outside the barrier receiving portion.

2. The barrier box according to claim 1, characterized in that, The flexible card aseptic mechanism includes: A first anchoring element, wherein the first flexure clip is attachable to the first anchoring element such that the first flexure clip extends from a first end of the barrier via a first end of the barrier receiving portion to the first anchoring element, and The second anchor, wherein the second flexure is attachable to the second anchor such that the second flexure extends from the second end of the barrier to the second anchor via the second end of the barrier receiving portion.

3. The barrier box according to claim 1, characterized in that, Each flexure card can be attached to a corresponding end of the barrier receiving portion, and the aseptic mechanism of the flexure card includes at least one fold line that, in use, extends substantially perpendicularly to the first and second sides of the barrier receiving portion across each flexure card, such that each flexure card is corrugated, and thus each flexure card can extend or retract when the barrier moves between the first and second ends of the barrier receiving portion.

4. The barrier box according to any one of claims 1-3, characterized in that, The barrier receiving portion includes: A first channel, which extends along the first side and is configured to slidably receive the first side of each flexural card, and The second channel extends along the second side and is configured to slidably receive the second side of each flexural card.

5. The barrier box according to claim 4, wherein, The barrier includes a first box interface that can be slidably engaged with the first channel and a second box interface that can be slidably engaged with the second channel.

6. The barrier box according to any one of claims 1-3, characterized in that, The barrier includes a first surface, a second surface spaced apart from the first surface, and a translation mechanism extending between the first surface and the second surface. The translation mechanism includes a plurality of translation elements, wherein each translation element comprises: The main body, which is located between the first surface and the second surface, The actuating part is accessible through the first opening in the first surface and is capable of moving within the first opening. The translational portion can approach through the second opening in the second surface and can move within the second opening. The actuating portion is operatively connected to the body and the translational portion, such that movement of the actuating portion causes movement of the body and the translational portion, and the body maintains a sterile barrier between the first and second orifices regardless of its position.

7. The barrier box according to claim 6, characterized in that, The first and second openings of the barrier are respectively a first linear groove and a second linear groove, thereby enabling the corresponding actuating part and translation part to move linearly within the first and second linear grooves, respectively.

8. The barrier box according to claim 6, characterized in that, The first side of the barrier can be removably engaged with a motor module comprising a plurality of motor actuators, and the actuating portion of each translator can be engaged with a corresponding one of the motor actuators.

9. The barrier box according to claim 6, characterized in that, The second side of the barrier can engage with a drive module comprising a plurality of drive actuators, and the translation portion of each translator can engage with a corresponding one of the drive actuators.

10. A barrier assembly for providing a sterile barrier between a sterile surface and a non-sterile surface, characterized in that, The barrier assembly can be mounted on a robotic surgical platform and includes: The support includes a barrier box according to any one of claims 1-9; and The first drape can be removably attached to the support.

11. The barrier assembly according to claim 10, characterized in that, The support includes two barrier boxes.

12. The barrier assembly according to claim 10, characterized in that, It also includes a port that can be removably attached to the bracket.

13. The barrier assembly according to claim 10, characterized in that, The first surface of the support can be mounted on a manipulator via the platform, the manipulator being configured to movably mount the support to the surface and selectively provide the support with six degrees of freedom of motion relative to the surface.

14. The barrier assembly according to claim 10, characterized in that, It also includes a second drape that can be removably attached to the support, wherein the first drape is operatively connected to a first side of the support, and the second drape is operatively connected to a second side of the support.

15. The barrier assembly according to claim 14, characterized in that, The first drape and / or the second drape are sleeve-shaped and include a first end removably connected to the support and a second end removably connected to the control arm, such that a first surface of the support is covered by the first drape.

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