Latches for securing teleoperated surgical instruments to actuators

Abstract

This invention relates to latches for securing remotely operated surgical instruments to actuators. A sterile instrument adapter (310) connects a surgical instrument (120) and an instrument slide (130). The sterile instrument adapter (310) includes an instrument plate (430) and a latch plate (400) engaging with the instrument plate (430), the instrument plate providing a first surface for receiving the surgical instrument (120). The latch plate (400) includes a second surface for receiving the instrument slide (130) and latching structures. Each latching structure has a slide latch arm (410) extending away from the second surface of the latch plate (400) and an instrument latch arm (405) engaging with the slide latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the slide latch arm (410) and the instrument latch arm (405) to the remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arm (405). The latch arm (405) may engage a fixed locking surface in the instrument slide (130) and the surgical instrument (120).

Description

[0001] This application is a divisional application of Chinese Patent Application No. 201910766854.3, filed on March 17, 2015, entitled "Latch for securing remotely operated surgical instruments to an actuator".

[0002] The aforementioned application is a divisional application of Chinese Patent Application No. 201580013601.9 (PCT / US2015 / 020876), filed on March 17, 2015, entitled "Latch for securing remotely operated surgical instruments to an actuator".

[0003] This application claims priority to the following earlier filed applications:

[0004] United States 61 / 954,497 March 17, 2014 (17-03-2014)

[0005] United States 61 / 954,502 March 17, 2014 (17-03-2014)

[0006] United States 61 / 954,557 March 17, 2014 (17-03-2014)

[0007] United States 61 / 954,571 March 17, 2014 (17-03-2014)

[0008] United States 61 / 954,595 March 17, 2014 (17-03-2014)

[0009] United States 62 / 019,318 June 30, 2014 (30-06-2014)

[0010] United States 62 / 103,991 January 15, 2015 (15-01-2015)

[0011] United States 62 / 104,306 January 16, 2015 (16-01-2015)

[0012] Each of these applications is specifically incorporated herein by reference to the maximum extent permitted. Technical Field

[0013] Embodiments of the present invention relate to the field of latches; and more specifically, to latching assemblies for coupling actuators to surgical instruments. Background Technology

[0014] Minimally invasive medical techniques have been used to reduce the amount of external tissue that may be damaged during diagnosis or surgery, thereby reducing patient recovery time, discomfort, and harmful side effects. Traditional forms of minimally invasive surgery include endoscopy. One of the more common forms of endoscopy is laparoscopy, a minimally invasive examination or procedure performed inside the abdominal cavity. In traditional laparoscopic surgery, air is blown into the patient's abdominal cavity, and a cannula is passed through a small (approximately 12 mm) incision in the patient's abdominal muscle tissue to provide an entry port through which laparoscopic surgical instruments can be passed in a sealed manner.

[0015] The laparoscopic surgical instrument generally consists of a laparoscope for viewing the surgical area and surgical instruments with end effectors. Typical surgical tools include, for example, clamps, grippers, scissors, suture devices, and needle holders. These surgical instruments are similar to those used in conventional (open) surgery, except that the end effector of each surgical instrument is separated from its handle by, for example, an extension tube approximately 30 cm long, to allow the operator to introduce the end effector to the surgical site and control its movement relative to the surgical site from outside the patient's body.

[0016] To provide improved control over surgical instruments, it is desirable to use teleoperated actuators. The surgeon can operate controls on a console to indirectly manipulate instruments connected to the teleoperated actuator. The instrument is detachably linked to the teleoperated actuator, allowing it to be individually sterilized and selected for use in the upcoming surgical procedure. The instrument can be changed during the surgical procedure.

[0017] Performing surgery using remotely operated surgical instruments presents new challenges. One challenge is the need to maintain sterile conditions in the area adjacent to the patient. Then, the motors, sensors, encoders, and electrical connections necessary to control the surgical instruments often cannot be sterilized by conventional methods (e.g., steam, heating, and pressure or chemicals) because these can be damaged or destroyed during sterilization.

[0018] Another challenge with remotely operated surgical systems is that surgeons typically use a large number of different surgical instruments during procedures. Due to space constraints and cost limitations, the number of instrument holders is limited, so many such instruments will be attached to and removed from the same instrument holder multiple times during the procedure. In laparoscopic procedures, for example, the number of entry points into the patient's abdomen is typically limited due to space constraints and the desire to avoid unnecessary incisions. Therefore, many different surgical instruments are often introduced through the same cannula. Similarly, in open surgery, there is often insufficient space around the surgical site to accommodate more than one or two surgical manipulators, forcing surgical assistants to frequently remove instruments from the remotely operated manipulators and replace them with other surgical tools.

[0019] The goal is to provide a simpler and more efficient way to engage and disengage surgical instruments from remotely operated actuators, while preventing contamination of the remotely operated actuators and allowing for rapid and reliable attachment of a range of surgical instruments to maintain a sterile area around the instruments. Attached Figure Description

[0020] The invention can be best understood by referring to the following description and drawings, which are used to illustrate various embodiments of the invention by way of example and not by way of limitation. In these drawings, the same reference numerals denote similar elements:

[0021] Figure 1 This is an illustrative view of the patient side of a remotely operated surgical system.

[0022] Figure 2 This is a side view of a surgical instrument used in conjunction with a remotely operated actuator.

[0023] Figure 3A This is a perspective view of the assembly joint with a sterile cover.

[0024] Figure 3B Is it like this? Figure 3A A close-up view of a portion of the sterile drape shown.

[0025] Figure 4A This is a side view of the sterile adapter for the instrument under the sterile drape.

[0026] Figure 4B This is an exploded view of the sterile adapter for medical devices.

[0027] Figure 5A This is a top perspective view of the latch plate.

[0028] Figure 5BThis is a bottom perspective view of the latch plate.

[0029] Figure 6 is a front view of the latch plate.

[0030] Figure 7A is a cross-sectional view of the latch plate.

[0031] Figure 7B This is a detailed view of the instrument latch arm, the sliding frame latch arm, and the connecting components in the first part of Figure 7A.

[0032] Figure 7C This is a detailed view of the instrument latch arm, the sliding frame latch arm, and the connecting components in the second part of Figure 7A.

[0033] Figure 8A This is a cross-sectional view of the adapter, which is separate from the instrument slide.

[0034] Figure 8B This is a cross-sectional view of the adapter that latches to the instrument slide.

[0035] Figure 8C This is a cross-sectional view of the proximal control mechanism, which is separate from the adapter and instrument slide.

[0036] Figure 8D This is a cross-sectional view of the proximal control mechanism that latches to the adapter and instrument slide.

[0037] Figures 9A to 9H It is a cross-sectional view of the proximal control mechanism, adapter, and instrument slide at different stages of the latching process.

[0038] Figure 10 This is a perspective view of the latch release mechanism.

[0039] Figure 11 This is a bottom perspective view of the proximal control mechanism of a surgical instrument.

[0040] Figure 12 is a diagram illustrating the operation of the standby release mechanism.

[0041] Figure 13 is a detailed view of the operation of the standby release mechanism. Detailed Implementation

[0042] Numerous specific details are set forth in the following description. However, it should be understood that various embodiments of the invention may be practiced without these specific details. In other instances, well-known circuits, structures, and techniques have not been illustrated in detail so as not to obscure the understanding of this description.

[0043] In the following description, the accompanying drawings illustrate several embodiments of the invention. It should be understood that other embodiments may be utilized and mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of this disclosure. The detailed description below should not be construed in a limiting sense, and the scope of the embodiments of the invention is defined only by the claims of the granted patents.

[0044] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. Spatially related terms, such as “below,” “under,” “lower,” “above,” “upper,” etc., are used herein to facilitate the interpretation of the description of the relationship of one element or feature relative to another element(s) or feature(s)(s) as illustrated in the accompanying drawings. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the drawings. For example, if the device is flipped in the drawings, an element or feature described as “below” or “under” other elements or features would be oriented as “above” other elements or features. Thus, the exemplary term “below” can include both above and below orientations. The device may be otherwise oriented (e.g., rotated 90 degrees or otherwise), and the spatially related descriptors used herein are interpreted accordingly.

[0045] Unless the context clearly indicates otherwise, the singular forms “a / an” and “the” as used herein include the plural forms. It should be further understood that the terms “comprising” and / or “containing” specify the presence of the stated features, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components and / or collections thereof.

[0046] The term "object" generally refers to an element or a group of elements. For example, an object may refer to a bag or a pile of discs in the specification or claims. Throughout this specification and claims, the terms "object," "element," "part," "section," and "component" are used interchangeably.

[0047] The terms "instrument" and "surgical instrument" are used herein to describe a medical device configured for insertion into a patient's body and for performing surgical or diagnostic procedures. The instrument includes an end effector. This end effector can be a surgical tool associated with one or more surgical tasks, such as a forceps, needle actuator, scissors, bipolar cauterizer, tissue stabilizer or retractor, clamp applicator, anastomosis device, imaging device (e.g., endoscope or ultrasound probe), and the like. Some instruments used in embodiments of the invention further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool, allowing the position and orientation of the surgical tool to be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many surgical end effectors include functional mechanical degrees of freedom, such as opening and closing jaws, or a scalpel that translates along a path. Surgical instruments may also include stored information (e.g., on a semiconductor memory within the instrument) that is permanent or updatable by the surgical system. Thus, the system can provide one-way or two-way information communication between the instrument and one or more system elements.

[0048] The terms “or” and “and / or” as used herein should be interpreted as including or implying any one or any combination thereof. Therefore, “A, B, or C” or “A, B, and / or C” means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or actions is inherently mutually exclusive in some way.

[0049] Figure 1 This is an illustrative view of a patient-side portion 100 of a remotely operated surgical system according to an embodiment of the present invention. The patient-side portion 100 includes a support assembly 110 and one or more instrument slides 130, each slide including actuators and control connection members for surgical instruments at the end of each support assembly. The support assembly optionally includes one or more unpowered, lockable mounting joints used to position the one or more instrument manipulators 112 relative to the surgical patient. As depicted, the patient-side portion 100 is placed on the floor. In other embodiments, the patient-side portion may be mounted to a wall, ceiling, operating table 126 that also supports the patient body 122, or other operating room equipment. Further, the patient-side portion 100 is shown as including four instrument manipulators 112, but more or fewer manipulators may also be used. Further still, the patient-side portion 100 may consist of a single component as shown, or it may include two or more separate components, each optionally mounted in various possible manners.

[0050] Each assembly joint supports one or more instrument manipulators 112. Each instrument manipulator 112 includes an instrument slide 130 that supports a surgical instrument 120 for operation at a surgical site within the patient's body 122. Each instrument manipulator 112 may be provided in various forms that allow the associated surgical instrument to move one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, mechanical or control constraints limit the movement of each instrument manipulator 112 of the associated surgical instrument near a center of motion on the surgical instrument that remains stationary relative to the patient, typically located where the surgical instrument enters the body.

[0051] The term "surgical instrument" is used herein to describe a medical device configured for insertion into a patient's body and for performing surgical or diagnostic procedures. Such surgical instruments typically include an end effector associated with one or more surgical tasks, such as a forceps, needle actuator, scissors, bipolar cauterizer, tissue stabilizer or retractor, clamp applicator, anastomosis device, imaging device (e.g., endoscope or ultrasound probe), and the like. Some surgical instruments used in embodiments of the invention further provide an articulated support (sometimes referred to as a "wrist") for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, many surgical end effectors include functional mechanical degrees of freedom, such as opening or closing jaws, or a scalpel that translates along a path. Surgical instruments may also include stored information (e.g., on a semiconductor memory within the instrument) that is permanent or updatable by the surgical system. Thus, the system can provide one-way or two-way information communication between the instrument and one or more system components.

[0052] Functional remote surgical systems typically include a vision system component (not shown) that allows the operator to view the surgical site from outside the patient's body 122. This vision system typically includes surgical instruments with video image acquisition capabilities (camera instrument 128) and one or more video displays for displaying the acquired images. In some surgical system configurations, the camera instrument 128 includes optics for transmitting images from the distal end of the camera instrument 128 to the outside of the patient's body 122 using one or more imaging sensors (e.g., CCD or CMOS sensors). Alternatively, the one or more imaging sensors may be positioned distally to the camera instrument 128, and the signals generated by the one or more sensors may be transmitted via wires or wirelessly for processing and display on the video display. The illustrative video display is a stereoscopic display on the surgeon's console in a surgical system, commercially available from Intuitive Surgical, Inc., Sunnyvale, California.

[0053] The functional teleoperated surgical system will further include a control system portion (not shown) for controlling the movement of the surgical instrument 120 when it is inside the patient's body. This control system portion may be located in a single location within the surgical system, or may be distributed across two or more locations within the system (e.g., control system portion elements may be located in the patient-side portion 100 of the system, a dedicated system console, or a separate equipment rack). The teleoperated master / slave control can be performed in various ways, depending on the desired level of control, the size of the controlled surgical component, and other factors. In some embodiments, the control system portion includes one or more manual operation input devices, such as a joystick, an exoskeleton glove, a powered and gravity-compensated manipulator, or similar devices. These input devices control a teleoperated motor, which in turn controls the movement of the surgical instrument.

[0054] Force generated by a remotely operated motor is transmitted via a power transmission mechanism that transfers force from the remotely operated motor to the surgical instrument 120. In some embodiments of remote surgery, input devices controlling one or more manipulators may be located remotely from the patient, inside or outside the room where the patient is placed. Input signals from the input devices are then transmitted to the control system section. Those familiar with remotely controlled, remotely operated, and remotely performed surgery will recognize such systems and their components, such as the da... (likely a product of Intuitive Surgical). The surgical system was originally produced by Computer Motion, Inc. Surgical systems and various illustrative elements of such systems.

[0055] As shown, a surgical instrument 120 and an optional access guide 124 (e.g., a cannula in the patient's abdomen) are removably coupled to the distal end of an instrument manipulator 112, through which the surgical instrument 120 is inserted. A teleoperated actuator in the instrument manipulator 112 moves the surgical instrument 120 as a whole. The instrument manipulator 112 further includes an instrument slide 130. The surgical instrument 120 is detachably coupled to the instrument slide 130. The teleoperated actuator housed within the instrument slide 130 provides multiple controller actions that are translated by the surgical instrument 120 into various movements of an end effector on the surgical instrument. Thus, the teleoperated actuator in the instrument slide 130 moves only one or more elements of the surgical instrument 120, rather than moving the instrument as a whole. Inputs used to control the instrument as a whole or its elements cause inputs provided by the surgeon to the control system portion (“master” command) to be translated into corresponding actions of the surgical instrument (“slave” response).

[0056] Figure 2 This is a side view of a schematic embodiment of a surgical instrument 120, including a distal portion 250 connected by an elongated tube 210 and a proximal control mechanism 240. The distal portion 250 of the surgical instrument 120 can provide any variety of surgical tools, such as the forceps 254 shown, a needle driver, a cauterization device, a cutting tool, an imaging device (e.g., an endoscope or ultrasound probe), or a combination device including two or more different tools and imaging devices. In the illustrated embodiment, the forceps 254 is connected to the elongated tube 210 by a "wrist connector" 252, which allows for manipulation of the orientation of the forceps relative to the elongated tube 210.

[0057] The surgical instruments used in this invention can control their end effectors (surgical tools) via multiple rods and / or flexible cables. The tubular rods can be combined with cables to provide "push / pull" control of the end effector, wherein the cables can be provided with flexible sections as required. The typical elongated tube 210 used for the surgical instrument 120 is very small, perhaps only five to eight millimeters in diameter, approximately the same diameter as a large soda straw. The micro-mechanisms in the surgical instrument 120 create unique mechanical conditions and problems, where the structure of these mechanisms differs from those found in similar mechanisms constructed on a larger scale, because the forces and strengths of the materials are not proportional to the rate of change of the mechanism's dimensions. These cables must fit within the elongated tube 210 and be able to be bent as they pass through the wrist joint 252.

[0058] To provide a sterile operating area while using a remotely operated surgical system, a barrier is preferably placed between the actuator of the remotely operated surgical system and the surgical instruments in the sterile operating area. Therefore, a sterile element, such as an instrument sterile adapter (ISA), is placed between the surgical instrument 120 and the remote operating controls in the instrument carriage 130. Placing the instrument sterile adapter between the surgical instrument 120 and the instrument carriage 130 has the benefit of ensuring a sterile connection point for the surgical instrument 120 and the instrument carriage 130. This allows the surgical instruments to be removed from the instrument carriage 130 and exchanged with other surgical instruments during the procedure.

[0059] Figure 3A This is a perspective view of the assembly joint supporting the instrument slide 130, which in turn supports the surgical instrument 120 on the support column 320. During surgical preparation, the assembly joint is covered by a sterile drape 300. The sterile drape protects the assembly joint from contamination and provides a sterile surface surrounding it. Most of the sterile drape 300 is a plastic sheet (which may be in the form of a tube or pouch) covering the arm of the assembly joint. For example, a single layer of thermoplastic polyurethane (TPU) can be used. A lubricant may be included to reduce the stickiness of the plastic. The sheet may be 0.004 inches thick. Other suitable materials may be used for the sheet. The sterile drape 300 includes a pouch portion 330 forming a fitting around the instrument slide 130.

[0060] Figure 3B Is it like this? Figure 3A The diagram shows a perspective view of the pouch portion 330 of a sterile drape 300. The pouch portion 330 includes a sterile cover 305 and an instrument sterile adapter 310. The instrument slide may include a motor, power supply, and control system for driving control signals to the surgical instruments. The instrument sterile adapter 310 transmits motion and electrical signals between the instrument slide 130 and a proximal control mechanism 240 of the surgical instrument 120, which is connected to the sterile side of the instrument sterile adapter 310. The instrument sterile adapter 310 includes a latch plate provided for securing the connection between the instrument sterile adapter 310 and the instrument slide 130, and between the instrument sterile adapter 310 and the surgical instrument 120.

[0061] Figure 4A This is a side view of the sterile instrument adapter 310 under the sterile drape. Figure 4BThis is an exploded view of an instrument sterile adapter. The instrument sterile adapter includes a latch plate 400 and an instrument plate 430, which engage together to capture a portion of a pouch 330 between the two plates. The latch plate 400 is provided with a surface 402 for engagement with the instrument slide 130. The instrument plate 430 is provided with a surface 432 for receiving surgical instruments 120. Other elements for transmitting control movements and signals between the surgical instruments 120 and the instrument slide 130 (such as a connector disc 436 and a known presence pin 434) may also be captured between the latch plate 400 and the instrument plate 430. The latch plate 400 further provides a latch for holding the instrument sterile adapter 310 on the instrument slide 130 and for holding the surgical instruments 120 on the instrument sterile adapter.

[0062] refer to Figure 5A , Figure 5B Figure 6, Figure 7A Figure 7B and Figure 7C The diagram illustrates a top perspective view, a bottom perspective view, a front view, and a cross-sectional view of a latch plate 400 according to an embodiment of the present invention. The latch plate 400 includes a pair of instrument latch arms 405 on a first side and a pair of slide rail latch arms 410 on a second side. The instrument latch arms 405 are longer than the slide rail latch arms 410. A through opening or aperture is provided at the end portion of each of the latch arms 405 and 410 as a latch receiving portion. Therefore, each of the instrument latch arms 405 includes an instrument latch receiving portion 415, and each of the slide rail latch arms 410 includes a slide rail latch receiving portion 420. The instrument latch arms 405 are used to secure a surgical instrument 120 to an instrument sterile adapter 310, and the slide rail latch arms 410 are used to secure the instrument sterile adapter 310 to an instrument slide rail.

[0063] Figure 7A is a cross-sectional view of the latch plate 400 through the plane indicated by section line 7-7 in Figure 6. As can be seen from Figure 7A, the instrument latch arm 405, the sliding frame latch arm 410, and the connecting member 425 can be formed as a single piece with the latch plate 400 and can be made of a flexible material (e.g., a plastic material) that returns to its original shape when no external force is applied.

[0064] Figure 7B and Figure 7CThis is a cross-sectional view of a single latching arm structure in its independent state, passing through the plane indicated by section line 7-7 in Figure 6. The instrument latching arm 405, the corresponding slide latching arm 410, and the corresponding connecting member 425 form a "T" shape, where latching arms 405 and 410 are the two arms of the letter T, and connecting member 425 is the trunk of the letter T. The instrument latching arm extends through the instrument plate 430 and away from the surface 432 of the instrument plate that receives surgical instruments. The slide latching arm 410 extends away from the surface 402 of the latching plate 400 that receives the instrument slide 130. The instrument latching arm 405 engages with the slide latching arm 410 at a joint. The connecting member 425 engages with both arms at this joint. In its undeformed configuration, the connecting member 425 is perpendicular to the slide latching arm and the instrument latching arm. Figure 7C Implicitly, portions of the latch arm structure can elastically deform for locking and unlocking. Connecting member 425 provides a flexible connection between the sliding latch arm 410 and the instrument latch arm 405 to the remainder of the latch plate 400. Those skilled in the art will understand that these features are provided to prevent any of the aforementioned components from deforming beyond their elastic range.

[0065] Figure 7B The latch arms 405 and 410 and the connecting member 425 are shown in their initial state. Figure 7C The diagram shows latch arms 405 and 410 in a bent state, and connecting member 425, wherein instrument latch arm 405 has moved away from the center line of latch plate 400, slide latch arm 410 has moved toward the center line of latch plate, and connecting member 425 has moved upward toward the slide latch arm.

[0066] like Figure 7C It can be seen that when a force is applied to the latch arms, the latch arms 405, 410 can be slightly and pivotally bent inward or outward approximately around the corresponding connecting member 425, and of course, the corresponding connecting member 425 can deform slightly accordingly. In other words, when an inward or outward force is applied to the latch arms 405, 410, a first-stage lever is formed, with the corresponding connecting member 425 serving as approximately the fulcrum. (A first-stage lever is a lever in which the fulcrum is located between the force and the resistance.) In the absence of interference from other objects, bending the instrument latch arm 405 inward causes the corresponding sliding latch arm 410 to move outward, and vice versa. Bending the sliding latch arm 410 has the same effect on the corresponding instrument latch arm 405.

[0067] Figure 8A , Figure 8B , Figure 8C and Figure 8D This is a cross-sectional view of the instrument sterile adapter 310, including the latch plate 400, through the plane indicated by section line 7-7 in Figure 6. Figure 8A, Figure 8B , Figure 8C and Figure 8D The diagram shows the sequential assembly of the instrument sterile adapter 310 to the control surface 805 of the instrument slide 130, and the assembly of the proximal control mechanism 240 of the surgical instrument 120 to the instrument sterile adapter.

[0068] refer to Figure 8A The control surface 805 of the instrument slide includes a first fixed latch structure that provides two first angled entry latch surfaces 825 leading to two first locking surfaces 820. This first fixed latch structure may be made of a rigid material that is not easily deformed. When a person attempts to attach the instrument sterile adapter 310 to the control surface 805, the two first angled entry latch surfaces 825 help guide the slide latch arm 410 into the first fixed slide latch structure. The instrument sterile adapter 310 typically includes a translucent pouch that surrounds the instrument slide 130 when the instrument sterile adapter 310 is attached to the control surface 805. Because the instrument sterile adapter 310 is attached to the control surface 805, the pouch can largely obstruct the view of the slide latch structure. The two first angled entry latch surfaces 825 can provide a "saddle-shaped" receiving surface for the slide latch arm 410 to facilitate tactile attachment of the instrument sterile adapter 310 to the control surface 805. When the sterile adapter 310 of the instrument is attached to the control surface 805, the angled introduction latch surface 825 will cause the latch arm structure to elastically deform to allow the slide latch arm 410 to pass over the angled introduction latch surface.

[0069] refer to Figure 8B When the sterile instrument adapter 310 is attached to the control surface 805, the first locking surface 820 of the control surface 805 engages the sliding frame latch receiving portion 420 of the sliding frame latch arm 410 of the latch plate 400. When the sliding frame latch receiving portion 420 engages the first locking surface 820, the elastic deformation of the latch arm structure is greatly released. This secures the sterile instrument adapter 310 to the control surface 805. The sliding frame latch structure of the control surface 805 supports the sliding frame latch arm 410 and prevents it from rotating inward toward each other. This, in turn, prevents the connecting member 425 from bending from its undeformed configuration.

[0070] refer to Figure 8CThe proximal control mechanism 240 includes a second fixed latch structure that provides two second angled introduction latch surfaces 815 leading to two second locking surfaces 810. Introduction ramps 830 may be formed as part of the instrument latch structure. The second fixed latch structure may be made of a rigid material that is not easily deformed. The second fixed instrument latch structure of the proximal control mechanism 240 includes two introduction ramps 830 that assist in guiding the instrument latch arm 405 of the instrument sterile adapter 310 into the instrument latch structure when a person attempts to attach the proximal control mechanism 240 to the instrument sterile adapter 310. The assistance provided by these introduction ramps 830 is desirable because the direct view of the relevant element is partially or completely blocked by the proximal control mechanism 240, which is enclosed by the housing (in... Figure 8C Not shown in, but in Figure 2 (See inside) Closed.

[0071] refer to Figure 8D When the proximal control mechanism 240 of the surgical instrument 120 is attached to the instrument sterile adapter 310, the second locking surface 810 of the proximal control mechanism 240 engages the instrument latch receiving portion 415 of the instrument latch arm 405 of the latch plate 400. This secures the proximal control mechanism 240 of the surgical instrument 120 to the instrument sterile adapter 310. It will be understood that the instrument latch arm 405 must be sufficiently flexible to bend outward beyond the second angled latch surface 815 because when the instrument sterile adapter 310 is attached to the control surface 805, the connecting member 425 is prevented by the slide latch arm 410 from bending toward the instrument slide 130.

[0072] It will be understood that when both the proximal control mechanism 240 of the surgical instrument 120 and the control surface 805 of the instrument slide are attached to the instrument sterile adapter 310, the presence of the proximal control mechanism 240 constitutes a locking mechanism for attaching the instrument sterile adapter 310 to the instrument slide 130. Inward movement of the instrument locking arm 405 is prevented by the attached proximal control mechanism 240. Furthermore, upward movement of the connecting member 425 away from the control surface is prevented by the restricted instrument latch arm 405. As a result, outward movement of the slide latch arm 410 becomes difficult. The slide latch arm 410 may be short and have a large thickness to further increase the difficulty of disengaging from the slide latch arm when the proximal control mechanism 240 is attached to the instrument sterile adapter 310. Because the slide latch arm 410 is prevented from bending outward by the proximal control mechanism 240, the instrument sterile adapter 310 is locked to the attached control surface 805.

[0073] Figures 9A to 9HA cross-sectional view is shown of a fixed latch structure with a control surface 805 of an instrument slide 130 and a single latch arm structure of a proximal control mechanism 240, passing through the plane indicated by section line 7-7 in Figure 6.

[0074] refer to Figure 9A The sterile adapter is attached to the instrument slide. To attach the sterile adapter 310 to the control surface 805 of the instrument slide 130, a person roughly aligns the sterile adapter with the control surface and pushes the sterile adapter against the control surface. The first angled latching surface 825 helps guide the slide latching arm 410 into the slide latching structure and provides the necessary rough alignment. The latching arm structure of the sterile adapter is shown at the point where the elastic deformation of the latching arm structure will begin.

[0075] refer to Figure 9B The sterile adapter is pressed against the control surface, and the latch arm structure of the sterile adapter deforms to allow the slide latch arm 410 to pass over the locking surface 820. The size and shape of the connecting member 425 can be designed such that most of the elastic deformation occurs in the connecting member when the slide latch arm 410 passes over the locking surface 820. The connecting member 425 can be flexible enough to allow the slide latch arm 410 to rotate and pass over the fixed locking surface 820 in the instrument slide. As the sterile adapter is pushed against the control surface, the first angled latch surface 825 pushes the slide latch arm 410 outward, thereby allowing the sterile adapter 310 to move towards the control surface.

[0076] refer to Figure 9C The sterile instrument adapter is moved toward the control surface until the first locking surface 820 enters the slide rail latch receiving portion 420. At this point, the connecting member 425 can return to its original shape, causing the slide rail latch arm 410 to engage the first fixing locking surface. The slide rail latch arm 410 surrounds the slide rail latch structure, thereby securing the sterile instrument adapter to the control surface of the instrument slide 130. Under these conditions, the sterile instrument adapter is ready to receive the proximal control mechanism of a surgical instrument. In some embodiments, the pair of slide rail latch arms 410 may be shaped and / or spaced apart such that when the pair of slide rail latch arms 410 are closed on the slide rail latch structure, the pair of slide rail latch arms 410 are slightly bent outward compared to their natural form to apply an inward force to the slide rail latch structure for better securing the sterile instrument adapter to the instrument slide.

[0077] refer to Figure 9DThe instrument latch arm 405 can serve as a release lever for the slide latch arm 410. The instrument latch arm 405 is capable of receiving a force 900 that fully bends the connecting member 425, causing the slide latch arm 410 to rotate and allowing it to pass over the fixed locking surface in the instrument slide. With the force 900 pressed against the centerline of the latch plate 400 (e.g., squeezing the two instrument latch arms), as indicated by the arrow, the slide latch arm 410 moves outward. This releases the slide latch receiving portion 420 from the first locking surface 820 of the slide latch structure and allows the sterile instrument adapter to be removed from the instrument slide.

[0078] refer to Figure 9E The proximal control mechanism of the surgical instrument is attached to the instrument's sterile adapter. The sterile adapter is positioned as follows: Figure 8C Under the conditions shown. To attach the proximal control mechanism of a surgical instrument to the instrument sterile adapter, a person roughly aligns the proximal control mechanism with the instrument sterile adapter and pushes the proximal control mechanism toward the instrument sterile adapter. The guide ramp 830 helps guide the instrument latch arm 405 into the fixed instrument latch structure and provides the necessary rough alignment. A transition section 812 can engage the guide ramp 830 with the second locking surface 810. The transition section 812 can be generally parallel to the undeformed instrument latch arm 405. When the proximal control mechanism is positioned to be latched by the instrument sterile adapter, the transition section 812 can be positioned to fit tightly against the instrument latch arm 405. The transition section 812 can hold the surgical instrument in place to allow for preparation of the instrument before it is latched to the instrument sterile adapter. The latch arm structure of the instrument sterile adapter is shown at the point where the elastic deformation of the latch arm structure will begin.

[0079] refer to Figure 9F The proximal control mechanism is attached to the instrument sterile adapter. When the proximal control mechanism is pushed toward the instrument sterile adapter, the second angled latch surface 815 pushes the instrument latch arm 405 and bends it away from the fixed instrument latch structure. The instrument latch arm 405 is flexible enough to pass over the fixed locking surface of the surgical instrument. This allows the instrument latch arm 405 to pass over the second locking surface 810.

[0080] refer to Figure 9GThe proximal control mechanism is moved toward the sterile device adapter until the second locking surface 810 enters the device latch receiving portion 415, and the device latch arm returns to its original undeformed shape to engage the second fixed locking surface. The device latch arm 405 surrounds the fixed device locking structure of the proximal control mechanism, thereby securing the proximal control mechanism to the sterile device adapter. In some embodiments, the device latch arm 405 may be shaped and / or spaced such that when the device latch arm 405 is closed on the slide latch structure, the device latch arm is slightly bent outward compared to its natural shape to apply an inward force to the fixed device latch structure to better secure the proximal control mechanism to the sterile device adapter. Securing the sterile device adapter to the sterile device adapter prevents the slide latch arm 410 and the connecting member 425 from moving away from the first locking surface 820, thereby providing interlocking for the attachment of the sterile device adapter to the device slide.

[0081] refer to Figure 9H A latch release device, including the latch arm engagement portion 915, can be used to release the instrument latch arm 405 from the second locking surface 810. It will be understood that when the instrument sterile adapter is coupled to the instrument slide and the proximal control mechanism is coupled to the instrument sterile adapter, the entire latch arm structure is enclosed within the instrument slide and the proximal control mechanism. Therefore, it is necessary to provide a mechanism for applying an outward force to the instrument latch arm 405 to release the proximal control mechanism from the instrument sterile adapter and allow removal of the surgical instrument.

[0082] refer to Figure 8D The proximal control mechanism 240 includes a pair of latch release members 905A and 905B. Figure 10 A perspective view of a single latch release member 905 is shown. Each latch release member 905 includes a button portion 910 and a latch arm engagement portion 915. Figure 8D As can be seen, two identical latch release members 905A and 905B can be assembled opposite each other on the base of the proximal control mechanism 240. When an inward force is applied to the button portion 910 of the pair of latch release members 905A and 905B, the pair of latch release members are pushed inward and brought closer to each other, and the latch arm engagement portions 915A and 915B move outward to apply an outward force to the instrument latch arm 405 to release the proximal control mechanism from the instrument sterile adapter and allow removal of surgical instruments (such as...). Figure 9H (As shown). Once the surgical instrument has been removed, the sterile adapter 310 can be removed from the instrument slide 130 as described above.

[0083] Since it is necessary to provide a mechanism for applying an outward force to the instrument latch arm 405 to release the proximal control mechanism from the instrument sterile adapter and allow removal of the surgical instrument, it is desirable to provide a backup mechanism for applying an outward force to the instrument latch arm in case the main mechanism becomes unusable for any reason.

[0084] refer to Figure 11 The illustration shows a perspective view of the proximal control mechanism 240 of a surgical instrument. The surface of the proximal control mechanism, which directly engages with the sterile adapter of the instrument, is shown. Two release channels 1105 provide a backup surgical instrument release mechanism in case the latch release member 905 cannot be used to release the proximal control mechanism. When the proximal control mechanism 240 is attached to the sterile adapter of the instrument, the release channels 1105 allow a release tool to enter the instrument latch arm 405. This release tool can be a rigid, thin, and elongated tool, such as an Allen wrench.

[0085] Referring further to Figures 12 and 13, an illustration of the operation of the backup release mechanism is shown. Figure 12 is a perspective view of the proximal control mechanism 240 of a surgical instrument attached to the instrument sterile adapter 310. Figure 13 is a detailed cross-sectional view of the circled portion taken along section line 13-13 of Figure 12.

[0086] Each of the release channels 1105 provides access to an opening 1110 in the proximal control mechanism 240 through which the instrument latch arm 405 enters to engage a second locking surface on the proximal control mechanism. Each of the release channels 1105 is shaped such that a person can insert a release tool 1205 through the channel. The distal portion of the release tool 1205 engages the inward side of the instrument latch arm 405. The release tool 1205 acts as a lever to pry the instrument latch arm 405 outward and release it from the corresponding second locking surface 810, while a section 1305 of the channel wall acts as a fulcrum.

[0087] Although certain exemplary embodiments have been shown and described in the accompanying drawings, it should be understood that these embodiments are illustrative only and not limiting of the scope of the invention, and since many modifications and alterations will readily occur to those skilled in the art, the invention is not limited to the specific structures and arrangements shown and described. Therefore, this specification is to be regarded as illustrative rather than limiting.

Claims

1. A method for attaching surgical instruments to an instrument carriage, the method comprising: The instrument sterile adapter (310) is engaged with the instrument slide (130) using the slide latch arm (410) of the instrument sterile adapter (310); The surgical instrument (120) is engaged with the sterile instrument adapter using the instrument latch arm (405) of the sterile instrument adapter. The sliding frame latch arm and the instrument latch arm are connected to the remainder of the instrument sterile adapter via a connecting member (425) such that the sliding frame latch arm cannot detach from the instrument sliding frame when the instrument latch arm is engaged with the surgical instrument.

2. The method of claim 1, further comprising preventing the slide latch arm from disengaging from the instrument slide arm in the engaged state of the surgical instrument by preventing movement of the instrument latch arm in a first direction.

3. The method according to claim 2, wherein, The first direction is toward the surgical instrument, and preventing movement of the instrument latch arm in the first direction includes blocking the instrument latch arm with the surgical instrument.

4. The method of claim 2 or claim 3, further comprising disengaging the instrument latch arm from the surgical instrument by moving the instrument latch arm in a second direction opposite to the first direction.

5. The method of claim 1, further comprising, in the engaged state of the sliding frame latch arm and the instrument sliding frame and in the disengaged state of the instrument latch arm and the surgical instrument, disengaging the sliding frame latch arm from the instrument sliding frame by moving the instrument latch arm in a first direction.

6. The method according to claim 5, wherein, In the disengaged state of the instrument latch arm from the surgical instrument, the instrument latch arm is disengaged from the instrument slide by moving the instrument latch arm in the first direction through elastic deformation of the connecting member, thereby disengaging the instrument latch arm in the second direction opposite to the first direction.

7. The method according to claim 6, wherein, In the engaged state of the instrument latch arm and the surgical instrument, the surgical instrument blocks the movement of the instrument latch arm in the first direction, preventing the sliding frame latch arm from disengaging from the instrument sliding frame.

8. The method of claim 1, wherein engaging the instrument latch arm with the surgical instrument comprises resiliently deforming the instrument latch arm.

9. The method of claim 1, further comprising disengaging the instrument latch arm from the surgical instrument by elastically deforming the instrument latch arm.

10. The method according to claim 1, Engaging the sliding frame latch arm to the instrument sliding frame includes engaging the sliding frame latch arm to a first fixed locking surface (820) in the instrument sliding frame; and Engaging the instrument latch arm to the surgical instrument includes engaging the instrument latch arm to a second fixed locking surface (810) in the surgical instrument.

11. The method according to claim 10, Engaging the sliding latch arm with the first fixed locking surface includes engaging the first opening (420) of the sliding latch arm with the first fixed locking surface; and Engaging the instrument latch arm with the second fixed locking surface includes engaging the second orifice (415) of the instrument latch arm with the second fixed locking surface.

12. The method of claim 10, further comprising: At least a portion of the instrument slide is covered by a flexible pouch attached to the plastic sheet above an opening in the plastic sheet by inserting the portion of the instrument slide into the pouch through the opening, the pouch being attached to the instrument sterile adapter. as well as The plastic sheet covers at least a portion of the controller, which is connected to the instrument slide.

13. The method of claim 1, further comprising: With the instrument latch arm disengaged from the surgical instrument, by applying force to the instrument latch arm, the end of the instrument latch arm moves inward toward the center line of the instrument sterile adapter, and the end of the slide rail latch arm moves outward away from the center line of the instrument sterile adapter toward the disengaged state from the instrument slide rail.

14. The method of claim 1, further comprising: By elastically deforming the instrument latch arm, the end of the instrument latch arm moves outward away from the centerline of the instrument sterile adapter toward a disengaged state.

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