Instrument adapters and related devices, systems, and methods

Abstract

An adapter for operably coupling a drive output of a drive output interface to a drive input of an instrument includes a frame and a coupler coupled to the frame. The frame includes a first face configured to be mounted to the drive output interface and a second face configured to receive an instrument mounted thereon. The coupler includes one or more first engagement features configured to engage with the drive output and one or more second engagement features configured to engage with the drive input. The coupler also includes one or more compliance features configured to provide compliance with the drive output in a state where the coupler is engaged with the drive output and a second one of the input engagement features is in contact with the coupler-facing surface of the drive input. A first one of the input engagement features is allowed to move toward the instrument.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Application No. 63 / 325,371, filed on March 30, 2022, entitled “DEVICE ADAPTER AND RELATED DEVICES, SYSTEMS AND METHODS,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] Aspects of the present disclosure generally relate to instrument adapters for remotely controllable instruments, and related devices, systems, and methods. Specifically, aspects of the present disclosure relate to instrument sterile adapters for use in procedures (such as medical procedures) performed in a sterile environment, and related devices, systems, and methods. Background Art

[0004] Remotely controllable instruments such as those used in medical procedures, industrial procedures or other procedures generally include an end effector located at one end of a shaft and a force transfer assembly located at the opposite end of the shaft. The end effector performs one or more functions (e.g., clamping, cutting, imaging, etc.) and is connected to one or more drive inputs of the force transfer assembly through an actuating element. The drive input receives a drive force or other input (e.g., electricity, etc.) to control the freedom of movement and / or function of the instrument. In some systems, the drive force or other input is provided to the drive input of the force transfer assembly through a drive output interface connected to the instrument. For example, the drive output interface may be part of a manipulator of a computer-assisted teleoperation system to which the instrument is detachably connected, wherein the interface includes one or more drive outputs to supply the drive force or other input. Such a computer-assisted teleoperation system may include one or more such manipulators, which can support, move and / or provide force to manipulate the instrument connected thereto, and the manipulator and its corresponding drive output can be operated under remote control of an operator at, for example, a console having a user-operated input device.

[0005] In some configurations, an instrument adapter may be inserted between the instrument and a drive output interface that provides the drive force. For example, the instrument adapter may include couplings that couple the drive output of the interface on one side of the adapter to the drive input of the instrument on the other side of the adapter. The coupling of the adapter mechanically transfers the drive force / motion of the drive output to the drive input. The instrument adapter may also include attachment features that facilitate attachment or mounting of the instrument to the interface, wherein the adapter is mounted directly to the interface and the instrument is in turn mounted to the adapter.

[0006] Various medical procedures, such as surgical, diagnostic, therapeutic or imaging procedures, may require a sterile area in an environment that includes the patient and within a certain distance around the patient. Some industrial procedures (such as the manufacture of sensitive electronic components) may also require or benefit from the establishment of a sterile area. A sterile area refers to an area in which any exposed surface of an object within the area remains sterile (i.e., a state that is substantially free of one or more contaminants (such as biological pathogens, dust, oil, etc.)). Sterile barrier devices, such as sterile drapes, etc., can help establish such a sterile area by covering a non-sterile surface and exposing the sterile surface of the sterile barrier device to the environment of the sterile area, rather than the now covered surface of the object. In this way, the lack of sterility of the covered surface of the object will not affect the sterility of the sterile area.

[0007] In addition to coupling the instrument to the interface, the instrument adapter can also be configured to provide a sterile barrier between the instrument and the interface to which the instrument is coupled. In this case, the instrument adapter can be referred to as an instrument sterile adapter ("ISA"). The ISA can be used in conjunction with other sterile barrier devices (such as sterile drapes) to establish a sterile zone in or around at least a portion of an environment or work site. For example, in some cases, the ISA and the sterile drape can be coupled together to form a sterile drape assembly that together creates a sterile barrier around a portion of a device (e.g., a manipulator of a computer-assisted teleoperation system), including an interface of the device to which the instrument can be coupled. In these examples, the ISA is inserted between the interface of the device and the instrument mounted thereon, and the sterile drape coupled to the ISA is used to cover the remainder of the device (e.g., a manipulator arm). A benefit of using an ISA in the area where the instrument and interface are coupled together is that the ISA can be designed to facilitate force and motion transfer between the drive output of the manipulator interface and the drive input of the instrument's force transfer component while still maintaining a sterile barrier, whereas sterile drapes or other barrier devices may not always be suitable for this purpose as the drapes may interfere with the engagement between the drive output and drive input, interfere with the movement of the drive output / drive input, and / or be damaged by the movement of the drive output.

[0008] When using an instrument adapter (whether sterile or not) to connect an instrument to a drive output interface, it is important that each coupler of the adapter is positively (rigidly, positively) engaged with the corresponding drive output of the interface and the corresponding drive input of the instrument, so that the above-mentioned force / motion transmission can be realized. Specifically, each coupler of the adapter includes engagement features (such as convex and / or concave features), which are configured to match the corresponding complementary engagement features (complementary concave and / or convex features) of the drive output and the drive input. When engaged in this way, the engagement features and the complementary engagement features mechanically couple the drive output, the coupler and the drive input together, so that they are restricted to move together, thereby transmitting the driving force / motion from the drive output to the drive input. In order to successfully engage the engagement features of the coupler with the complementary engagement features of the drive output / input, the engagement and complementary engagement features usually need to be aligned with each other. However, in the installation / setting process of the adapter and / or the instrument, this alignment may not occur initially. In order to solve this problem, some systems are configured to perform a connection procedure after the ISA and / or the instrument are installed to try to align the engagement and complementary engagement features. For example, the coupling procedure may include actuating a drive output of a drive output interface in a predetermined manner while forcing the coupler and drive output / input together until the engagement and complementary features are aligned. However, despite the execution of the coupling procedure, positive engagement between the adapter coupler and its corresponding drive output or drive input may still be difficult to achieve. Therefore, there is a need to improve the ability of a coupler of an instrument adapter to achieve positive engagement with a drive output and / or drive input. Summary of the invention

[0009] Various embodiments of the present disclosure may solve one or more of the above problems, and / or may exhibit one or more of the above desirable features. Other features and / or advantages may become apparent from the following description.

[0010] According to at least one embodiment of the present disclosure, an adapter for operably coupling a drive output of a drive output interface to a drive input of an instrument comprises a frame and a coupler coupled to the frame. The frame comprises a first face configured to be mounted to the drive output interface and a second face configured to receive an instrument mounted thereon. The coupler comprises one or more output engagement features configured to engage with the drive output when the frame is mounted to the drive output interface. The coupler also comprises one or more input engagement features configured to engage with the drive input when the instrument is mounted to the frame. The coupler also comprises one or more compliance features, wherein the one or more compliance features are configured to allow a first input engagement feature in the input engagement feature to move toward the instrument when the coupler is engaged with the drive output and a second input engagement feature in the input engagement feature is in contact with a surface of the coupler facing the drive input. In some embodiments, the compliance feature comprises a tilt feature, which is configured to contact the drive output so that when the coupler is engaged with the drive output, the coupler can tilt around a tilt axis defined by the tilt feature. In some embodiments, the compliant feature includes a flexible support member that couples the second input engagement feature to the remainder of the coupler such that the second input engagement feature is movable relative to the remainder of the coupler by flexure of the flexible support member.

[0011] According to at least one embodiment of the present disclosure, an adapter for operably connecting the drive output of a drive output interface to the drive input of an instrument includes a frame and a coupler connected to the frame. The frame includes a first face configured to be mounted to the drive output interface and a second face configured to receive the instrument mounted thereon. The coupler includes one or more first engagement features configured to engage with the drive output when the frame is mounted to the drive output interface. The coupler also includes one or more second engagement features configured to engage with the drive input when the instrument is mounted to the frame. The coupler also includes one or more compliance features, one or more compliance features configured to allow the engagement axis tangent to the second engagement feature to tilt relative to the drive input in response to contact between the drive input-facing coupler surface and one of the second engagement features when the coupler is engaged with the drive output. In some embodiments, the compliance feature includes a tilt feature. In some embodiments, the compliance feature includes a flexible support member.

[0012] According to at least one embodiment of the present disclosure, an adapter for operably connecting a drive output of a drive output interface to a drive input of an instrument comprises a frame and a coupler connected to the frame. The frame comprises a first face configured to be mounted to the drive output interface and a second face configured to receive an instrument mounted thereon. The coupler comprises one or more first engagement features configured to engage with the drive output when the frame is mounted to the drive output interface. The coupler also comprises one or more second engagement features configured to engage with the drive input when the instrument is mounted to the frame. The coupler also comprises one or more tilting features, one or more tilting features being configured to contact the drive output so that when the coupler is engaged with the drive output, the coupler can tilt around a tilting axis defined by the tilting features.

[0013] According to another embodiment of the present disclosure, the adapter includes a frame and a coupler movably connected to the frame. The frame includes a first face configured to be mounted to a drive output interface and a second face configured to receive an instrument mounted thereon. The coupler is configured to couple the drive output of the drive output interface to the drive input of the instrument and is rotatable about a first axis. When the coupler is engaged with the drive output of the drive output interface, the coupler can be tilted relative to the drive output about a second axis perpendicular to the first axis.

[0014] According to another embodiment of the present disclosure, a sterile drape assembly includes an instrument sterile adapter and a drape coupled to the instrument sterile adapter. The instrument sterile adapter includes a frame and a coupler movably coupled to the frame. The frame includes a first face configured to be mounted to a drive output interface of the device and a second face configured to receive an instrument mounted thereon. The drape is coupled to the frame and configured to cover a portion of the device. The coupler includes one or more first engagement features configured to engage with a drive output of the drive output interface when the frame is mounted to the drive output interface. The coupler also includes one or more second engagement features configured to engage with a drive input of the instrument when the instrument is mounted to the frame. The coupler also includes one or more tilt features, the one or more tilt features being configured to contact the drive output so that the coupler can tilt around a tilt axis defined by the tilt feature when the coupler is engaged with the drive output.

[0015] According to another embodiment of the present disclosure, a method for connecting a drive output interface to an instrument using an adapter includes: installing the adapter to the drive output interface, engaging a connector of the adapter with a drive output of the drive output interface, installing the instrument to the adapter, and engaging the connector with a drive input of the instrument by tilting the connector relative to the drive output and rotating the connector simultaneously.

[0016] According to another embodiment of the present disclosure, a method for connecting an instrument to an adapter, wherein the adapter is connected to a drive output interface, the method comprising, when a connector of the adapter is engaged with a drive output of the drive output interface, engaging a second engagement feature of the connector with a drive input of the instrument by the following steps: rotating the connector, and tilting the connector relative to the drive output and rotating the connector simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present disclosure can be understood through the following detailed description (alone or in conjunction with the accompanying drawings). The accompanying drawings are intended to further assist in understanding the present disclosure and have been incorporated into and become an integral part of this specification. The accompanying drawings illustrate one or more embodiments of the present teachings and together with the specification explain certain principles and operations. In the accompanying drawings:

[0018] Figure 1A is from Figure 1B 1A, coupled to a drive output and in a first state while attempting to engage with a drive input.

[0019] Figure 1B is from Figure 1A The first state observed from perspective 1B Figure 1A A first schematic side view of an adapter coupling in FIG.

[0020] Figure 1C is from Figure 1A The first state observed from the viewing angle 1C Figure 1A A second schematic side view of an adapter coupling in FIG.

[0021] Figure 1D is from Figure 1A The first state observed from the viewing angle 1D Figure 1A A third schematic side view of an adapter coupling in FIG.

[0022] Figure 2A is from Figure 2B The second state observed from perspective 2A while attempting to engage the drive input Figure 1A Schematic plan view of the adapter in FIG.

[0023] Figure 2B is from Figure 2A The second state observed from the perspective 2B Figure 2A A first schematic side view of an adapter coupling in FIG.

[0024] Figure 2C is from Figure 2A The second state observed from the perspective 2C Figure 2AA second schematic side view of an adapter coupling in FIG.

[0025] Figure 2D is from Figure 2A The second state observed from the perspective 2D Figure 2A A third schematic side view of an adapter coupling in FIG.

[0026] Figure 3 is a schematic exploded side view of an embodiment of an instrument adapter comprising Figure 1A The adapter coupler is in a state where the instrument adapter is mounted on the interface and the instrument is mounted on the instrument adapter.

[0027] Figure 4 is a block diagram of an adapter coupling according to various embodiments.

[0028] Figure 5A is a schematic exploded side view of an embodiment of an instrument adapter in a state in which the instrument adapter is mounted on an interface and in a state in which an instrument is mounted on the instrument adapter.

[0029] Figure 5B yes Figure 5A A schematic cross-sectional view of an embodiment of an adapter coupler of the instrument adapter shown in FIG. 1 , the adapter coupler being coupled to a drive output and in a first state while attempting to engage a drive input, wherein the cross section is taken along a line through the center of the adapter coupler and parallel to Figure 5A A flat capture of the page.

[0030] Figure 5C It is in the second state Figure 5B A schematic cross-sectional view of an adapter coupling in FIG. 1 , the cross-sectional view being taken along a line passing through the center of the adapter coupling and with Figure 5A Intercepted on a plane parallel to the page.

[0031] Fig. 6A is from Figure 6B Observed from perspective 6A Figure 5A Schematic plan view of an embodiment of an adapter coupling of an instrument adapter in FIG. 5 , wherein the adapter coupling is coupled to a drive output in a first state while attempting to engage with a drive input.

[0032] Figure 6B is from Fig. 6A The first state observed from the perspective 6B Fig. 6A A first schematic side view of an adapter coupling in FIG.

[0033] Figure 6C is from Fig. 6A The first state observed from the viewing angle 6C Fig. 6AA second schematic side view of an adapter coupling in FIG.

[0034] Fig.6D is from Fig. 6A The first state observed by 6D Fig. 6A A third schematic side view of an adapter coupling in FIG.

[0035] Fig. 7A is from Figure 7B Observed from the perspective of 7A Fig. 6A Schematic plan view of an adapter coupler in a second state while attempting to engage with a drive input.

[0036] Figure 7B is from Fig. 7A The second state observed from the viewing angle 7B Fig. 7A A first schematic side view of an adapter coupling in FIG.

[0037] Figure 7C is from Fig. 7A The second state observed from the viewing angle 7C Fig. 7A A second schematic side view of an adapter coupling in FIG.

[0038] Fig.7D is from Fig. 7A The second state observed from the viewing angle 7D Fig. 7A A third schematic side view of an adapter coupling in FIG.

[0039] Fig. 8A is from Figure 8B The third state observed from the perspective 8A Fig. 6A Schematic plan view of an adapter coupling in which the adapter coupling is fully engaged with the drive input.

[0040] Figure 8B is from Fig. 8A The third state observed from the perspective 8B Fig. 8A A first schematic side view of an adapter coupling in FIG.

[0041] Figure 8C is from Fig. 8A The third state observed from the perspective 8C Fig. 8A A second schematic side view of an adapter coupling in FIG.

[0042] Fig.8D is from Fig. 8A The third state observed from the viewing angle 8D Fig. 8A A third schematic side view of an adapter coupling in FIG.

[0043] Fig. 9 is a perspective view of an embodiment of an instrument adapter showing an instrument engaging side thereof.

[0044] Fig.10 yes Fig. 9 A stereoscopic view of the instrument adapter in FIG. 1 , showing its manipulator engagement side.

[0045] Fig.11A yes Fig. 9 A three-dimensional view of the adapter coupling of the instrument adapter in FIG. 1 , showing its output coupling side.

[0046] Fig. 11B yes Fig.11A A perspective view of a center adapter coupling showing its input engagement side.

[0047] Fig.12 yes Fig. 9 An exploded perspective view of an instrument adapter in a state where the instrument adapter is mounted on a manipulator interface and where an instrument is mounted on the instrument adapter.

[0048] Fig.13 yes Fig. 9 0014] An exploded perspective view of an instrument adapter in FIG. 1 , wherein the instrument adapter is in a state where the instrument adapter is mounted on a manipulator interface.

[0049] Fig.14 yes Fig. 9 Exploded perspective view of an instrument adapter in which an instrument is mounted on the instrument adapter.

[0050] Fig.15 yes Fig. 9 Exploded perspective view of the instrument adapter in FIG.

[0051] Fig.16 yes Fig. 9 A cross-sectional view of an instrument adapter in FIG. Fig.15 16-16 interception.

[0052] Fig.17A is a schematic plan view of an embodiment of an adapter coupling.

[0053] Fig. 17B yes Fig.17A A schematic cross-sectional view of an adapter coupling in FIG. Fig.17A Intercepted from 17B-17B.

[0054] Fig. 17C yes Fig.17A A schematic cross-sectional view of an adapter coupling in FIG. 1 , the adapter coupling being coupled to a drive output and in a first state while attempting to engage a drive input, wherein the cross-sectional view is along Fig.17A Intercepted from 17B-17B.

[0055] Fig.17D yes Fig.17A A schematic cross-sectional view of an adapter coupling in FIG. 1 , the adapter coupling being coupled to a drive output and in a second state while attempting to engage a drive input, wherein the cross-sectional view is along Fig.17A Intercepted from 17B-17B.

[0056] Fig.18 is a perspective view of an embodiment of a manipulator system. DETAILED DESCRIPTION

[0057] As discussed above, positive engagement between a coupler and a drive output or drive input of an instrument adapter can be problematic to achieve reliably and efficiently. Figure 3 An example embodiment of such an adapter is shown in , which includes a schematic exploded side view of an embodiment of the adapter 2100. Fig.16 As shown, the adapter 2100 can be placed between a drive output interface 2170 (e.g., of a manipulator) and an instrument 2180. The adapter 2100 includes one or more adapter couplers 10, each of which is coupled to a corresponding drive output 20 of the drive output interface 2170 and a corresponding drive input 30 of the instrument 2180. The drive output 20, the adapter coupler 10, and the drive input 30 are configured to transmit a drive force by rotation, and they include complementary engagement features that engage (match) with each other to limit their relative rotation. Specifically, as Figure 3As shown, the adapter coupling 10 includes engagement features 12a and 12b disposed on the drive output engagement surface 14 of the adapter coupling 10 and engagement features 11a and 11b disposed on the input engagement surface 13 of the adapter coupling, the engagement features 12a and 12b are respectively engaged (matched) with corresponding complementary engagement features 22a and 22b disposed on the adapter engagement surface 23 of the drive output 20, and the engagement features 11a and 11b are respectively engaged (matched) with corresponding complementary engagement features 31a and 31b disposed on the adapter engagement surface 34 of the drive input 30. The engagement features 12a and 12b may also be referred to herein as "output engagement features", and the engagement features 11a and 11b may also be referred to herein as "input engagement features". The engagement features 12a and 12b and the engagement features 11a and 11b may also be referred to arbitrarily using the label "first" or "second" (e.g., "first engagement feature") to refer to. When all of the aforementioned engagement features are in a mating engagement state, the rotation of the drive output 20 drives the rotation of the adapter coupling 10, thereby driving the rotation of the drive input 30 of the instrument 2180. The rotation of the drive output 20 can be driven by an actuator (such as a servo motor) contained in or connected to the drive output interface 2170. The rotation of the drive input 30 can control one or more degrees of freedom of movement or other functions of the instrument 2180, such as driving the movement of the end effector (not shown) of the instrument or activating its function. In the illustrated embodiment, the engagement features 11a, 11b, 12a, 12b of the adapter coupling are all protrusions, and the complementary engagement features 22a, 22b, 31a, 31b are all grooves, which are configured to receive the protrusions when mating engagement. Those of ordinary skill in the art will understand that in other embodiments, various engagement features and their respective corresponding complementary engagement features may include any other combination of grooves and protrusions.

[0058] Now turn Figures 1A-2D , one possible engagement sequence that may occur that may result in a lack of positive engagement between an adapter coupling and a drive output or input will be schematically illustrated and described below. Figure 1A and 2A is from Figure 3 The adapter 2100 is a plan view of the adapter connector 10 from a top perspective, as shown in FIG. Figure 1B and 2B As shown by arrows 1A and 2A. Figure 1B-1D and 2B-2D are from Figure 1A and 2A Side view from the perspectives indicated by arrows 1B-1D and 2B-2D. Figure 1A and 2A In FIG. 1 , the drive input 30 is made transparent and is indicated by a dotted line. Figure 1A and 2AIn the drawings, the drive output 20 is not shown for clarity, except for the complementary engagement features 22a and 22b shown in phantom.

[0059] exist Figures 1A-2D In the illustrated scenario, it is assumed that the instrument adapter 2100 ( Figures 1A-2D ) has been installed to the drive output interface 2170 ( Figures 1A-2D ), and the adapter coupling 10 of the adapter is already engaged with the drive output 20 of the drive output interface, which means that the engagement features 12a and 12b are in a mating engagement state with the corresponding complementary engagement features 22a and 22b, such as Figures 1A-1D Thereafter, when the device 2180 ( Figures 1A-2D ) to the adapter (see Figure 3 ), the engagement features 11a and 11b are not initially aligned with the complementary engagement features 31a and 31b, respectively. In order to align the engagement features 11a and 11b and the complementary engagement features 31a and 31b with each other to cause a positive mating engagement, the adapter coupler 10 may be rotated by rotating the drive output 20 of the drive output interface 2170. During this process, one or both of the adapter coupler 10 and the drive input 30 may be pushed toward the other (e.g., by a biasing device (e.g., a spring) that applies a biasing force), so that when the engagement features 11a and 11b are finally aligned with the complementary engagement features 31a and 31b, the drive input 30 and / or the adapter coupler 10 move toward each other, thereby causing the engagement features 11a and 11b to form a mating engagement with the complementary engagement features 31a and 31b (e.g., be received in the complementary engagement features 31a and 31b). Prior to the above-mentioned alignment of the engagement features with the complementary engagement features, the engagement features 11a and 11b of the adapter connector 10 and the surface of the drive input 30 are pressed against each other under the action of the biasing force, wherein the engagement features 11a and 11b slide along the bottom surface of the drive input 30 when the adapter connector 10 rotates.

[0060] However, in the above-described engagement sequence, in some cases, the adapter coupling 10 and the drive input 30 are not aligned with each other when attempting to engage the engagement features and the complementary engagement features. Figure 1AIn the illustrated case, a center point 42 of the adapter coupler 10 (corresponding to its axis of rotation) is offset relative to a center point 41 of the drive input 30 (corresponding to its axis of rotation), resulting in a misalignment of the adapter coupler and the drive input (e.g., a skew relative to the alignment of the individual engagement features and complementary engagement features shown). This misalignment between the adapter coupler 10 and the drive input 30 may occur because the adapter coupler 10 retains some freedom of movement after being coupled to the drive output 20. For example, in some systems, the complementary engagement features 22a and 22b are wider along one dimension than the engagement features 12a and 12b, which allows the adapter coupler 10 to move to some extent along an axis 43 that is parallel to the width dimension (and generally parallel to the interface of the adapter coupler's instrument engagement surface and the manipulator interface engagement surface) even when the engagement features 12a and 12b are matingly engaged with the complementary engagement features 22a and 22b. (Note that once the adapter coupler 10 and drive output 20 are engaged, the axis 43 is fixed relative to the adapter coupler 10 and drive output 20, and therefore, when the adapter coupler 10 and drive output 20 rotate relative to the drive input 30, the axis 43 will rotate relative to the drive input 30. In addition, although the axis 43 may intersect the center point 41 of the drive input 30 in certain orientations of the adapter coupler 10 when the adapter coupler 10 rotates relative to the drive input 30, in other orientations of the adapter coupler 10, the axis 43 does not always intersect the center point 41 unless the center points 42 and 41 are exactly aligned. This freedom of movement along the axis 43 can be intentionally built into the system to allow the coupler 10 to rotatably couple the drive output 20 and drive input 30 together in a manner similar to the operation of an Oldham coupling, even though they are not precisely aligned with each other. However, this freedom of movement can also lead to This may cause the adapter coupler 10 to be misaligned with the drive input 30 during installation, which may interfere with the engagement sequence. Even if the dimensions of the parts are completely accurate, this misalignment may occur due to the movement of the adapter coupler 10 along the above-mentioned degrees of freedom of movement. In addition, in addition to or in lieu of the above-mentioned degrees of freedom of movement, actual manufacturing tolerances of the parts may also cause (or contribute to) misalignment. Regardless of how the misalignment occurs, if the adapter coupler 10 is not aligned with the drive input 30, then when the adapter coupler 10 is rotated to attempt to align the engagement features 11a and 11b with the complementary engagement features 31a and 31b of the instrument, the engagement features 11a and 11b may not align with their corresponding complementary engagement features 31a and 31b at the same time as each other. Instead, one of the engagement features 11a and 11b may align with one of the complementary engagement features 31a and 31b, while the other of the engagement features 11a and 11b remains misaligned with the other of the complementary engagement features 31a and 31b.For example, if the adapter coupling 10 is rotated in the direction indicated by arrow 40, it can be seen that in a state where the engagement feature 11a is aligned with the engagement feature 31a, the other engagement feature 11b is not aligned with the engagement feature 31b, as shown. Figures 1A-1C Similarly, in a state where the second engagement feature 11b is aligned with the engagement feature 31b, the engagement feature 11a is not aligned with the engagement feature 31a, as shown in FIG. Figure 2A-2C Although Figures 1A-1D In the state shown, engagement features 11a and 31a are aligned with each other, but engagement feature 11a cannot form a mating engagement with engagement feature 31a (e.g., cannot be received therein) because, in this state, engagement feature 11b is misaligned with engagement feature 31b. Due to the misalignment, engagement feature 11b contacts the surface of drive input 30, such as Figure 1C As shown, and this prevents the engagement feature 11a and the engagement feature 31a from moving toward each other. More specifically, in Figures 1A-1D In the state shown, the adapter coupler 10 and the drive input 30 are highly restrained, so that in this state, neither the adapter coupler 10 nor the drive input 30 can change their respective orientations (their freedom of movement is essentially limited to rotation, movement toward each other in direction 92, and limited translation of the adapter coupler along axes 43 and 45). Therefore, since the orientation of the adapter coupler 10 and the drive input 30 cannot be changed, when the engagement feature 11b contacts the drive input 30, this essentially blocks all movement of the adapter coupler 10 and the drive input 30 toward each other in direction 92, so that although the engagement feature 11a is aligned with the complementary engagement feature 31a, the engagement feature 11a cannot move into the complementary engagement feature 31a. After the above state, the adapter coupler 10 will continue to rotate in the direction 40, and eventually the second engagement feature 11b will be aligned with the engagement feature 31b, as shown in FIG. Figure 2A However, at this time, the first engagement feature 11a is no longer aligned with the engagement feature 31a, as shown in FIG. Figure 2A and 2B As shown. As a result, engagement feature 11a now contacts the bottom of drive input 30 and prevents adapter coupler 10 and drive input 30 from moving toward each other, thereby preventing second engagement feature 11b from engaging engagement feature 31b. Therefore, in summary, due to misalignment of adapter coupler 10 relative to drive input 30, whenever one of engagement features 11a or 11b is aligned with its corresponding engagement feature 31a or 31b, the other of engagement features 11b or 11a is misaligned with its corresponding engagement feature 31b or 31a, thereby preventing engagement features 11a or 11b from achieving positive fit engagement.

[0061] In addition to misalignment of the adapter coupler 10 and the drive input 30, other conditions may also prevent positive engagement of the engagement features 11b and 11a with the corresponding engagement features 31b and 31a. For example, if the adapter coupler 10 and the drive input 30 are not parallel to each other, this may prevent positive engagement. The adapter coupler 10 may be non-parallel to the drive input 30, for example, because the instrument is mounted to the adapter in an orientation that is slightly skewed from the nominal correct orientation. Because the adapter coupler 10 is not parallel to the drive input 30, when the engagement features 11b and 11a are aligned with the engagement features 31b and 31a, one of the engagement features 11a or 11b may engage with its corresponding engagement feature 31a or 31b, but the other of the engagement features 11b or 11a will miss its corresponding engagement feature 31b or 31a. This may occur because the corresponding engagement feature 31b or 31a is spaced vertically from the engagement feature 11b or 11a (e.g., positioned too high on the engagement feature 11b or 11a).

[0062] To address these and other challenges, various embodiments disclosed herein provide an adapter having one or more compliance features configured to allow a first input engagement feature to move toward a drive input (e.g., toward an instrument) when the coupler is engaged with the drive output and a second input engagement feature is in contact with a coupler-facing surface of the drive input. In other words, the compliance feature is configured to allow an engagement axis tangent to a free end of the input engagement feature to tilt relative to the drive input in response to contact between a coupler-facing surface of the drive input and one of the input engagement features. In certain embodiments, the compliance feature includes a tilt feature, and the tilt of the engagement axis is caused by tilting of the entire coupler about the tilt feature relative to the drive output and / or the drive input. In other embodiments, the compliance feature includes a flexible support member that carries the second input engagement feature, and the tilt of the engagement axis is caused by flexure of the flexible support member relative to the rest of the coupler and the resulting movement of the second engagement feature carried by it. Combinations of these compliance features may also be considered.

[0063] Regardless of the configuration of one or more compliance features, the inclination of the engagement axis during the engagement sequence allows a portion of the adapter coupler (specifically one of the input engagement features) to move toward the drive input (e.g., toward the instrument) while another portion moves toward the drive input and / or the manipulator interface, or maintains a constant distance from the drive input and / or the manipulator interface. This, in turn, can facilitate engagement in situations where the adapter coupler is not aligned with the drive input because it allows a first pair of engagement / complementary engagement features that are aligned with each other to move toward each other so as to at least partially engage with each other despite the misalignment of the second pair of engagement / complementary engagement features, as described in more detail below. This engagement of the first pair of aligned engagement / complementary engagement features causes the second pair of engagement / complementary engagement features to move into alignment with each other as the adapter coupler continues to rotate, as described in more detail below, thereby allowing the second pair of engagement / complementary engagement features to also engage in a positive fit without "missing" each other. Similarly, the inclination of the engagement axis can facilitate engagement in situations where the drive input is not parallel to the adapter coupler because the inclination of the engagement axis may lift the engagement feature of the adapter coupler high enough to engage with its corresponding complementary engagement feature.

[0064] As described above, in some embodiments, the compliance feature includes one or more tilted features. In some embodiments, the tilted feature takes the form of a protrusion extending from the output engagement surface of the adapter coupling. The tilted feature is configured to contact the surface of the drive output when the adapter coupling engages with the drive output, so that the output engagement surface of the adapter coupling remains spaced apart from the drive output. The tilted feature acts as a fulcrum and defines an axis of rotation around which the adapter coupling can tilt (i.e., pivot). In some embodiments, the axis of rotation can be roughly aligned with a line extending between engagement features on the output engagement surface of the adapter coupling. For example, in some embodiments, the tilted feature includes two protrusions, which are arranged on opposite sides of the adapter coupling near the diameter of the engagement feature.

[0065] As described above, in some embodiments, the compliance feature includes at least one flexible support member that carries the input engagement feature and is flexibly deformable relative to the rest of the coupler. The flexible support member is elastically flexible along at least one dimension so that a force applied to the input engagement feature coupled to the flexible support member in a given direction (e.g., having a directional component along a line extending between the drive output and the drive input) causes the flexible support member to elastically flex, thereby allowing the input engagement feature to move in the given direction. In some embodiments, the flexible support member includes an arm having a fixed end and a free end opposite the fixed end, the fixed end being coupled to the input-facing surface of the coupler, the arm extending between the fixed end and the free end in a direction substantially parallel to the input-facing surface of the coupler. At least a portion of the arm and / or the input-facing surface is flexible so that the free end can be moved in a given direction substantially perpendicular to the input-facing surface by flexing of the flexible portion of the arm and / or the input-facing surface. The input engagement feature can be located at or near the free end of the arm, or somewhere between the free end and the fixed end.

[0066] The compliance feature(s) may reduce or eliminate the above-mentioned problems associated with the adapter coupling failing to achieve positive engagement with the instrument's drive input. Figure 1A The described engagement sequence recalls that when engagement feature 11a was aligned with engagement feature 31a, the alignment engagement feature 11a was unable to move into engagement feature 31a due to the contact of the misaligned engagement feature 11b with surface 34 of the drive input 30. However, in the case of an adapter coupler having a compliant feature according to various embodiments, under the same circumstances, contact between the drive input and the misaligned engagement feature will cause the input engagement feature to move relative to the drive input, causing the engagement axis to tilt, thereby causing the alignment engagement feature to move toward and matingly engage with its complementary engagement feature. Therefore, due to the tilt of the engagement axis, the alignment engagement feature is able to engage with its complementary engagement feature despite the misalignment of the other engagement feature with its complementary engagement feature. Note that in Figures 1A-1D In the case shown, such tilting of the engagement axis 97 is not possible because the orientation of the adapter coupling 10 and the drive input 30 is fixed and there is no other mechanism to allow tilting of the engagement axis 97 (see Figure 1D). Once one engagement feature is in mating engagement with its complementary engagement feature, additional rotation of the drive output with respect to the coupler causes the adapter coupler to move along its translational degree of freedom of motion relative to the drive output (and drive input) until the misaligned engagement feature is aligned with and engaged with the complementary engagement feature, as will be described in more detail below. Thus, due to the tiltability of the engagement axis of the adapter coupler, positive mating engagement of the engagement feature and the complementary engagement feature can be achieved despite the initial misalignment between the adapter coupler and the drive input. Various additional embodiments and aspects of the adapter coupler are configured to allow tilting of the engagement axis to facilitate positive mating with the drive input and drive output (see below). Figure 4-7D for a more detailed description).

[0067] Figure 4 A block diagram of an adapter coupling 1 according to various embodiments is shown. The adapter coupling 1 includes a main body portion 2, one or more output engagement features 4, one or more input engagement features 3, and one or more compliance features 5. The output engagement feature 4 includes a convex engagement feature or a concave engagement feature that is configured to cooperate with a complementary concave engagement feature or a convex engagement feature of a drive output (not shown). For example, in some embodiments, the output engagement feature 4 may include a pin or a lug protruding from the output engagement side of the main body 2. The input engagement feature 3 may include a convex engagement feature or a concave engagement feature that is configured to cooperate with a complementary concave engagement feature or a convex engagement feature of a drive input (not shown) of the instrument. For example, in some embodiments, the input engagement feature 3 may include a pin or a lug protruding from the input engagement side of the main body 2, which is opposite to the output engagement side of the main body 2. The compliance feature 5 is connected to the body 2, the output engagement feature 4 and / or the input engagement feature 3, or is part of the body 2, the output engagement feature 4 and / or the input engagement feature 3, and is configured to allow the first input engagement feature 3 to move toward the drive input when the connector 1 is engaged with the drive output and the second input engagement feature 3 is in contact with the connector-facing surface of the drive input. In other words, (one or more) compliance features 5 are configured to allow the engagement axis tangential to the input engagement feature 3 to tilt relative to the drive input in response to the connector-facing surface of the drive input contacting one of the input engagement features 3. In some embodiments, the compliance feature 5 includes a tilt feature, and the tilt of the engagement axis can be caused by tilting the entire connector 1 around the tilt feature relative to the drive output and / or the drive input. In other embodiments, the compliance feature 5 includes at least one flexible support member connected to one of the input engagement features 3, and the tilt of the engagement axis can be caused by the movement of the input engagement feature 3 connected to the flexible support member relative to the rest of the connector through the flexure of the flexible support member. The following will refer to Figure 4-16 , an example embodiment that may be used as an adapter coupling 1 is described in more detail.

[0068] Figures 5A-8D An embodiment of an instrument adapter 100 ("adapter 100") is shown that can be used as Figure 3 Adapter 1 in. Figures 5A-8D In an embodiment, the adapter coupling includes an inclined feature 115, which can be used as Figure 3 Compliance characteristics in 5. Figure 5A is a schematic side view of an adapter 100 associated with a drive output interface 170 to which the adapter 100 may be mounted and an instrument 180 to which the adapter 100 may be mounted. Figures 6A-8D The adapter coupling 110 of the adapter 100 is shown, along with the drive output 120 and the drive input 130 in various states: Figures 6A-6D Corresponding to the first state, Figures 7A-7D Corresponding to the second state, Figures 8A-8D Corresponding to the third state.

[0069] like Figure 5A As shown, the adapter 100 is configured to be inserted between a drive output interface 170 (e.g., a manipulator interface of a manipulator) and an instrument 180 to connect one or more drive outputs 120 of the drive output interface 170 with one or more drive inputs 130 of a drive input interface of the instrument 180, and to transmit a driving force between the drive output 120 and the drive input 130. In some embodiments, the adapter 100 is an instrument sterile adapter (ISA), and thus, in addition to transmitting a driving force, is also configured to provide a sterile barrier between the interface 170 and the instrument 180. As shown in FIG. 2 , the instrument adapter 100 includes a frame 101 and one or more adapter couplers 110, which will be described in turn below.

[0070] The frame 101 is configured to hold the adapter coupler 110 in place to allow the adapter coupler 110 to couple with the drive output 120 of the drive output interface 170 and the drive input 130 of the drive input interface of the instrument 180. In certain embodiments, the frame 101 is also configured to be removably mounted to the drive output interface 170 and / or removably coupled to the instrument 180. In certain embodiments, the frame 101 includes one or more attachment features that allow the frame 101 to be removably attached to the interface 170 and / or the instrument 180. In embodiments where the adapter 100 is an ISA, the frame 101 also forms part of a sterile barrier between the interface 170 and the instrument 180. In certain embodiments, the frame 101 is coupled with a sterile drape (not shown, but familiar to those of ordinary skill in the art) to form a sterile drape assembly.

[0071] As described above, the adapter 100 includes one or more adapter couplers 110. Figure 5A In FIG. 2 , two adapter couplers 110 are shown, but any number of adapter couplers 110 equal to or greater than one may be included in the instrument adapter 100. Typically, the number of adapter couplers should be at least equal to the number of drive outputs and drive inputs to which the adapter is to be driven and coupled. The adapter couplers 110 are rotatably coupled to the frame 101, and each adapter coupler is configured to couple with one of the drive outputs 120 and one of the drive inputs 130. In FIG. 2 , the adapter couplers 110 are shown in two different rotational orientations, which are offset by 90 degrees from each other to better show their different aspects, but in fact the adapter couplers 110 can have any arbitrary rotational orientation relative to each other. Each adapter coupler 110 includes one or more engagement features 111, which are disposed on the drive input engagement side of the adapter coupler 110 (i.e., on or in surface 113), and are configured to engage with one or more complementary engagement features 131 disposed on the corresponding drive input 130 (i.e., on or in surface 134). Each adapter coupler 110 also includes one or more engagement features 112 disposed on the drive output engagement side of the adapter coupler 110 (i.e., on or in surface 114) and configured to engage with one or more corresponding complementary engagement features 122 disposed on the corresponding drive output 120 (i.e., on or in surface 123). Figures 5A-5C In the embodiment, there are two engagement features 111a and 111b, which are arranged to engage with two complementary engagement features 131a and 131b respectively; and there are two engagement features 112a and 112b, which are arranged to engage with two complementary engagement features 122a and 122b respectively, however, any number of engagement features 111 and 112 may be included in the coupling 110. In addition, in Figures 5A-5C In the embodiment of the present invention, engagement features 111a and 111b are disposed radially opposite to each other on the adapter coupler and on a surface 113 of the adapter coupler 110 near its periphery. Similarly, engagement features 112a and 112b are disposed radially opposite to each other on a surface 114 of the adapter coupler 110 and near its periphery. In addition, the angular positions at which engagement features 111a and 111b are disposed are substantially 90 degrees offset from the angular positions of engagement features 112a and 112b - in other words, a line drawn between engagement features 111a and 111b will be substantially perpendicular to a line drawn between engagement features 112a and 112b.

[0072] Engagement features 111 and 112 may be located at any of a variety of locations on respective sides of adapter coupler 110, and they do not necessarily need to be symmetrically located at the same relative position to one another. For example, in FIGS. 5-8D , engagement feature 111a is located proximate to the periphery (edge) of adapter coupler 110, while engagement feature 111b is located proximate to the periphery of adapter coupler 110 but slightly rearward (as are engagement features 112a and 112b). This asymmetric configuration may be advantageous in certain circumstances; for example, an asymmetric configuration of engagement features 111, 112 as shown in FIGS. 5-8D may serve a keying function, i.e., only allowing certain engagement features to engage with one another (e.g., engagement feature 111a only engages with complementary engagement feature 131a, but not with complementary engagement feature 131b). In certain embodiments, both engagement features 111 and / or both engagement features 112 are located proximate to the periphery, while in other embodiments, both engagement features 111 and / or both engagement features 112 are located rearward from the periphery. In other embodiments, one or more engagement features 111 or 112 can be positioned radially outside the adapter coupling body, for example, on / inside a lip or rim extending radially outward from the adapter coupling 110. In addition, the engagement features 111 do not necessarily need to be located at radially opposite positions to each other. In summary, the number and position of the engagement features 111 and 112 can be arbitrarily selected to suit the needs of the system, as long as the engagement features 111 and 112 can be engaged with the drive output 120 and the drive input 130 to transmit force through rotation. However, in some embodiments, in some cases, it may be beneficial to position the engagement features 111 and 112 close to the periphery, which can not only provide effective torque transmission, but also allow increased vertical movement of the engagement features 111 when the adapter coupling 110 is tilted (as described in more detail below).

[0073] As described above, the engagement feature 111 and the complementary engagement feature 131, and similarly the engagement feature 112 and the complementary engagement feature 122 are configured to cooperate with each other. Non-limiting examples of engagement / complementary engagement features include various male and female features (e.g., pins, lugs, and other similar protrusions for male features, and holes, slots, and other similar grooves for female features). Another example of an engagement / complementary engagement feature includes pairs of interlocking protrusions, such as teeth or interlocking joints that mesh with each other.

[0074] In Figures 5 to Fig.8DIn the drawings, engagement feature 111 includes a protrusion extending from a surface 113 on the drive input engagement side of connector 110, engagement feature 112 includes a protrusion extending from a surface 114 on the drive output engagement side of connector 110, engagement feature 131 includes grooves in a surface 134 on drive input 130, which are configured to receive engagement feature 111, and engagement feature 122 includes grooves in a surface 123 on drive output 120, which are configured to receive engagement feature 112.

[0075] Figures 5A-5C The number, relative arrangement, and configuration of the engagement features shown are not limiting, and it will be appreciated that any arrangement of engagement features 111, 112, 122, and 131 that allows for mating engagement between the coupler 110, the drive output 120, and the drive input 130 may be used. For example, in some embodiments, the engagement features 111 and 112 include concave features, while the engagement features 131 and 122 include convex features. Further, it will be appreciated that the engagement features 111 do not necessarily need to be identical to one another (if there are multiple engagement features 111), and similarly, the engagement features 112 do not necessarily need to be identical to one another (if there are multiple engagement features 112). For example, in some embodiments, one engagement feature 111 may include a convex feature, while another engagement feature 111 may include a concave feature. Further, the engagement feature 111 does not necessarily need to be identical to the engagement feature 112. For example, in some embodiments, the engagement feature 111 includes a concave feature, while the engagement feature 112 includes a convex feature, while in other embodiments the reverse is true. Further, in some embodiments, the engagement features 111 and / or 112 are arranged at positions on / in surfaces 13 and 14 that are different from those on surfaces 13 and 14. Fig.13 Different than shown.

[0076] like Fig. 6A As shown, the engagement feature 131 is larger than the engagement feature 111 in a given dimension. Figures 1A-2D In a similar manner as described, this allows a certain degree of freedom of movement between engagement feature 111 and engagement feature 131 even after mating engagement. Similarly, engagement feature 122 is larger than engagement feature 112 in a given dimension to allow freedom of movement after engagement. These degrees of freedom of movement allow adapter coupler 110 to move relative to drive output 120 along axis 53 and relative to drive input 130 along axis 55 after achieving positive engagement of the various engagement features (112 / 122 and 111 / 130), which allows adapter coupler 110 to transfer rotation between drive output 120 and drive input 130 even if drive output 120 and drive input 130 are not completely concentrically aligned. In other words, these degrees of freedom of movement allow adapter coupler 110 to work similar to an Oldham coupling.

[0077] In some embodiments, in addition to the above dimensions, the tolerances of various other dimensions are kept relatively tight to minimize the movement of the adapter coupling 110 relative to the drive output 120 in directions other than translation along the axis 53 and tilting about the axis 62, and to minimize the movement of the adapter coupling 110 relative to the drive input 130 in directions other than translation along the axis 55 and tilting about the axis 62. However, in some embodiments, the adapter coupling 110 may retain some additional degrees of freedom of movement relative to the drive output 120 and / or the drive input 130 in directions other than the above directions (e.g., due to unavoidable limited manufacturing tolerances, etc.). In addition, in some embodiments, movement along additional degrees of freedom of movement relative to the drive output 120 and / or the drive input 130 is intentionally designed into the system.

[0078] In the embodiment of FIGS. 5-8D , the adapter coupler 110 can also be tilted relative to the frame 101 of the adapter 100. More specifically, in some embodiments, the adapter coupler 110 is loosely secured within the frame 101 in a manner that allows the adapter coupler 110 to rotate within a plane 65 that is generally parallel to the frame 101 (i.e., about an axis that is generally perpendicular to the plane 65, such as about an axis that extends through the center point 52), as indicated by arrow 66 in FIG. 5 , and also allows the adapter coupler 110 to tilt relative to the frame 101 within a limited range of motion about an axis that extends generally parallel to the plane 65 (e.g., about the axis 62). Figure 5C As shown, such tilting of the adapter coupler 110 causes the engagement axis 197, which is tangential to the input engagement features 111a and 111b, to be tilted by an angle θ relative to the nominal position of the engagement axis 197 (generally parallel to the engagement surface of the drive output 120 and / or the drive input 130). Note that the adapter coupler 110 is not only free to tilt when in the disassembled state, but the adapter coupler 110 also includes one or more tilting features 115 (described in more detail below) that are configured to facilitate tilting of the adapter coupler 110 even when the adapter coupler 110 is in positive engagement with the drive output 120. More specifically, the tilting features 115 allow the adapter coupler 110 to tilt relative to the drive output 120 during an attempt to engage with the drive input 130 due to the force applied to the adapter coupler 110 by the drive input 130, and such tilting facilitates such engagement as described above and in more detail below.

[0079] In contrast, in systems lacking such a tilting feature, such as the embodiments shown in FIGS. 1 , 2 , and 17 , the adapter coupler 10 is free to tilt when the adapter 2100 is in the disassembled state, but is not free to tilt during the engagement sequence after the adapter 2100 is engaged with the drive output 20 and during the process of attempting to engage with the drive input 30. Specifically, once the adapter coupler 10 is matingly engaged with the drive output 20, the drive output engagement surface 14 of the adapter coupler 10 is flushly engaged with the surface 23 of the drive output 20, thereby forming a relatively wide and stable base for the adapter coupler 10, and this flush contact on one side of the adapter coupler 10, as well as the pressure applied to the other side of the adapter coupler 10 by the drive input 30, prevents the adapter coupler 10 from tilting relative to the drive output 20 or the frame 101. In other words, any force applied by the drive input 30 to the engagement feature 11 of the adapter coupler 10 is offset by the equal and opposite force applied by the surface 23 to the surface 14, resulting in a net torque of zero on the adapter coupler 10, and thus no tilting.

[0080] Returning to the tiltable adapter coupler 110 of FIGS. 5-8B , each tilt feature 115 comprises a protrusion extending from the surface 114 of the adapter coupler 110. Each tilt feature 115 is configured to contact the surface 123 of the drive output 120 when the engagement feature 112 is matingly engaged with the complementary engagement feature 122 to maintain a slight distance between the surface 114 of the adapter coupler 110 and the surface 123 of the drive output 120 (when the adapter coupler 110 is not tilted). One or more tilt features 115 are arranged to allow the adapter coupler 110 to rotate about the rotation axis 62 (see FIG. 6 ). Figures 6A-6D ) is tilted (rotated), the rotation axis also being referred to as the tilt axis 62, with the tilt feature 115 acting as a fulcrum. More specifically, one or more tilt features 115 form a shelf, step, or table-like structure having at least two portions positioned at diametrically opposed locations on the surface 114, wherein the structure is wider along one dimension ( ) than the width of the body of the adapter coupler 110 and the surface 114. Figure 5A5-8D . Because the shelf-like structure formed by the inclined features 115 is relatively narrow in dimension x, when the adapter coupler 110 is engaged with the drive output 120, the coupler 110 will be relatively easy to tilt about an axis 62 that is generally perpendicular to dimension x, as indicated by arrow 67 (see FIG. 5-8D ). Figure 5C ). In an example embodiment having two inclined features 115 positioned radially relative to each other, axis 62 corresponds to a line extending between the two inclined features. In an embodiment having a single inclined feature 115 extending through surface 114, axis 62 corresponds to a line extending along the longitudinal dimension of inclined feature 115. Tilt of adapter coupler 110 about inclined feature 115 may occur in response to the application of unequal vertical forces to adapter coupler 110 on opposite sides of axis 62 (vertical here refers to the up / down orientation shown in FIG. 5). For example, if a downward force is applied to engagement feature 111a, and no force is applied to engagement feature 111b, a net torque is generated, causing the adapter coupler to tilt in an upward / downward direction. Figures 6A-6D 5-8D, the rotational axis 62 is aligned exactly with the line 53 extending between the engagement features 112 because the inclined feature 115 is positioned at the engagement features 112, but in other embodiments this need not be the case.

[0081] In some embodiments, the inclined feature 115 may have a relatively flat bottom surface that contacts the surface 123 of the drive output 120 in a generally flush manner. For example, the inclined feature 115 may form a shelf or flange that rests on the surface 123 over a relatively localized area around the groove of one of the engagement features 122. In other embodiments, the inclined feature 115 may have a convex bottom surface to further promote or facilitate tilting. In other embodiments, the inclined feature 115 may have a bottom surface that has a relatively sharp ridge or vertex. In some embodiments, the edges of the inclined feature 115 may be chamfered or beveled to further facilitate tilting.

[0082] In some embodiments, the one or more tilt features 115 are arranged so that when the adapter coupler 110 is tilted, the engagement feature 111 moves in a generally vertical direction (upward or downward) relative to its position when the adapter coupler 110 is horizontal (upward and downward are relative to each other in this document). Figure 5A 5-8D ). Although the movement of the engagement features discussed herein is vertically upward or downward, it will be understood by those of ordinary skill in the art that as the adapter coupler 110 tilts, the engagement features 111 do not necessarily move in a straight line (e.g., straight up or straight down), but rather their movement may include some horizontal component in addition to the vertical component. For example, in the embodiment shown in FIGS. 5-8D , the tilt features 115 are disposed on opposite sides of the adapter coupler 110 at angular positions offset by approximately 90 degrees relative to the angular positions of the engagement features 111a and 111b, respectively. In this embodiment, the engagement features 112a and 112b are also offset by 90 degrees from the engagement features 111a and 111b, respectively, so that in this embodiment, each tilt feature 115 is located at the same approximate position as the corresponding engagement features 112a and 112b (e.g., completely or partially surrounds the corresponding engagement features). Because the location of the inclined feature 115 is offset by approximately 90 degrees from the engagement features 111a and 111b, the inclined axis 62 of the adapter coupling 110 is substantially perpendicular to the line 54 extending between the engagement features 111a and 111b, as shown in FIG. Fig. 6A , 7A The tilt axis 62 is also perpendicular to the rotation axis of the coupler 110 extending through the center 52 of the adapter coupler 10. Therefore, when the adapter coupler 110 is tilted about the tilt axis 62, the engagement features 111a and 111b will move in the same direction as shown in FIG. Figure 5C The arrows 63 and 64 in FIG. 6A and 6B indicate the vertical movement in opposite directions (upward and downward) (see also FIG. Fig.6D ). The movement of the engagement features 111a and 111b shown by arrows 63 and 64 is illustrated and described relative to a reference frame fixed to the drive output 120, but those skilled in the art will appreciate that the same movement may be described in other ways based on different reference frame selections. (Note that in Fig. 6A , 7A and 8A , the tilt axis 62 is parallel to the translation axis 53 of the adapter coupling 110 along the degree of freedom of movement, so these axes are represented by the same dashed line in the figure). The tilt axis 62 is not necessarily fixed in space and may move depending on the state of the adapter coupling 110.

[0083] When the adapter coupler 110 is matingly engaged with the drive output 120 (i.e., the engagement feature 112 is matingly engaged with the complementary engagement feature 122), the ability of the adapter coupler 110 to tilt helps prevent failure of engagement between the adapter coupler 110 and the drive input 130, as described above with respect to Figures 1A-2D Specifically, when the instrument is mounted to the adapter 100, the surface 134 of the drive input 130 and the engagement features 111a and 111b are pressed together (e.g., by a biasing device 181 (e.g., a spring), which may be included in one or both of the drive output interface 170 and / or the instrument 180. In FIG. 5 and the following description, for simplicity of description, it will be assumed that the biasing device 181 is part of the instrument and is configured to generate a force that presses the drive input 130 downward toward the adapter coupling 110 when the drive output 120 remains stationary, but if other biasing devices are used (e.g., the biasing device 181 is included in the drive output interface 170 to squeeze the drive output 120 upward while keeping the drive input 130 stationary), the same principle also applies. When one of the input engagement features 111a or 111b is aligned with its corresponding complementary engagement feature 131a or 131b, the drive input 130 and the adapter coupling 110 are pressed toward each other, resulting in a downward force F being applied to the other non-aligned engagement feature 111b or 111a without applying such force to the aligned engagement feature 111a or 111b. Figure 5B As shown (in Figure 5B The application of force F to one engagement feature 111a or 111b without applying such force to the other engagement feature 111b or 111a generates a moment that causes the adapter coupler 110 to tilt in one direction or the other about the tilt axis 62, such as Figure 5CAs shown. When both engagement features 111a or 111b are simultaneously pressed against the surface 134 of the drive input 130, such as when the two engagement features 111 are not aligned with their respective corresponding engagement features 131, no net torque is generated (the two opposing torques cancel each other out), and the adapter coupler 110 does not tilt. However, when the adapter coupler 110 is rotated to an orientation in which one of the engagement features 111 is aligned with its corresponding engagement feature 131 and the other of the engagement features 111 is not aligned with its corresponding engagement feature 131, then the surface of the drive input 130 ceases to press against the aligned engagement feature 111 while continuing to press against the misaligned engagement feature 111, and thus a non-zero net torque is applied to the adapter coupler 110, causing the coupler 110 to tilt about the tilted feature 115 that contacts the surface 123 of the drive output 120. The tilting direction of the adapter coupler 110 causes the aligned engagement feature 111 to move upward so as to be at least partially received into its corresponding engagement feature 131, such as Figure 5C As shown by arrow 64 in FIG. 1 , another misaligned engagement feature 111 moves downward, as shown in FIG. Figure 5C This results in the engagement axis 197 being tangential to the engagement features 111a and 111b being tilted at an angle θ, as shown in FIG. Figure 5C As one of the engagement features 111 moves downward due to the tilt, the drive input 130 also moves downward (or the drive output 120 moves upward, depending on the viewing angle) by a distance d1, as shown in FIG. Figure 5C As the alignment engagement feature 111 moves upward when aligned with the corresponding engagement feature 131, the alignment engagement feature 111 is at least partially received into the engagement feature 131, as shown in FIG. Figure 5C As shown, and therefore, as the coupling 110 continues to rotate, the alignment engagement feature 111 will encounter (interfere with) the edge of the corresponding engagement feature 131. This contact between the engagement features 111 and 131 allows the adapter coupling 110 to move relative to the drive output 120 along its remaining degrees of freedom of motion in a manner that aligns the other engagement feature 111 with its engagement feature 131, as described in more detail below.

[0084] Now, we will go through Figures 6A-8D The above principles are described in more detail with reference to the example series of events presented in Figures 6A-6D , a state is shown in which the adapter coupler 110 has been rotated in the direction indicated by arrow 50 until the engagement feature 111a is aligned with the engagement feature 131a. Since the engagement feature 111a is no longer in contact with the surface 134, the downward pressure applied by the drive input 130 to the engagement feature 111b produces a net torque on the adapter coupler 110, causing the adapter coupler to tilt about the tilt axis 62, thereby causing the adapter coupler 110 to present a Figure 6B-6D The orientation shown, wherein engagement feature 111a is raised upward and is partially received into the recess of engagement feature 131a. Thus, as adapter coupling 110 continues to rotate in the direction of arrow 50, engagement feature 111a contacts the edge / rim of engagement feature 131a.

[0085] The contact of engagement feature 111a with the edge of engagement feature 131a, and the continued rotation of adapter coupler 110 in direction 50, generates a net force on adapter coupler 110 that causes adapter coupler 110 to move generally along axis 53 relative to drive output 120. (As described above, axis 53 corresponds to the degree of freedom of motion of adapter coupler 110). This causes engagement feature 112 to rotate as shown in FIG. Figures 6A-6C As engagement feature 111a engages engagement feature 131a, as adapter coupling 110 moves along axis 53 and continues to rotate relative to drive input 30, this causes engagement feature 111b to move toward engagement feature 131b, as shown in FIG. Fig. 6A and 6C As shown by arrow 57 in FIG. Due to this movement of the adapter coupling 110, the center 52 of the adapter coupling 110 is more closely aligned with the center 51 of the drive input 130, and finally the engagement feature 111b is aligned with the engagement feature 131b, as shown in FIG. Figures 7A-7D Once engagement feature 111b is aligned with engagement feature 131b, engagement feature 111b ceases to contact surface 134 of drive input 130, and thus, the force of contact that previously resisted the downward compression of drive input 130 is removed. Thus, drive input 130 is able to move downward, as shown in FIG. Figures 7A-7D As drive input 130 moves downward, engagement feature 111b will engage engagement feature 131b. Drive input 130 will continue to move downward until surface 134 contacts surface 113 of adapter coupler 110, whereupon drive input 130 will apply downward pressure to adapter coupler 110, causing it to tilt (as indicated by arrow 59) back to a horizontal orientation, thereby causing adapter coupler 110 to present a Figures 8A-8D Orientation shown. Figures 8A-8D In the illustrated state, the adapter coupling 110 is positively engaged with the drive output 120 and the drive input 130 due to the mating engagement of the engagement features 111 and 112 with the corresponding complementary engagement features 122 and 131 .

[0086] Although in FIGS. 5-8D , the inclined feature 115 is located at substantially the same position as the engagement features 112a and 112b, in other embodiments, a different arrangement may be used. For example, the inclined feature 115 may be located near the engagement features 112a and 112b, but not necessarily at the same position as them. For another example, the inclined feature 115 may be located at an angular position midway between the engagement features 112a and 112b and the engagement features 111a and 111b along the circumference of the adapter coupling 110.

[0087] In addition, although in the embodiment of FIGS. 5-8D , the one or more inclined features 115 include two inclined features 115, in other embodiments, different numbers and / or configurations of inclined features 115 are contemplated according to the disclosure herein. For example, in some embodiments, the one or more inclined features 115 include a single inclined feature 115 that extends generally in opposite radial directions on the adapter coupling 110 along the direction of the inclined axis 62, and whose lengths can vary. Similarly, a series of shorter length inclined feature segments can also be used.

[0088] 5-8D , the tilt feature 115 is positioned so that the tilt axis 62 is substantially perpendicular to the line 54 extending between the coupling features 111a and 111b, in other embodiments, the tilt feature(s) may be positioned so that the tilt axis produced by the coupler is not perpendicular to the line 54. In general, the closer the tilt axis is to being perpendicular to the line 54, the greater the vertical movement produced by the coupling features 111a and 111b as a result of the tilting of the adapter coupler 110, wherein substantially no vertical movement occurs when the tilt axis is parallel to the line 54. However, in certain embodiments, sufficient vertical movement of the coupling features 111a and 111b may be obtained even when the tilt axis produced by the tilt feature(s) is not perpendicular to the line 54, but is at a non-zero angle.

[0089] 5-8D, when viewed from above the adapter coupling 110 (eg Fig. 6A , 7A 8A ), the tilt axis 62 passes through the center 52 of the adapter coupler 110 , but in other embodiments, the tilt axis does not pass through the center 52 .

[0090] In the above description, the tilt feature 115 is described as a protrusion that extends downward from the surface 114 and contacts and rests on the surface 123 of the drive output 120 when the engagement feature 112 is engaged with the complementary engagement feature 122. However, it should be understood that the adapter coupler can be provided with other types of tilt features to allow the adapter coupler to tilt. For example, in some embodiments, the engagement feature 112 is configured as a protrusion having a length that exceeds the depth of the engagement feature 122 (configured as a groove) so that when engaged, the engagement feature 112 bottoms out in the engagement feature 122, thereby maintaining the surface 114 at a predetermined distance from the surface 123. In these embodiments, the end portion of the engagement feature 112 that contacts the bottom of the engagement feature 122 constitutes the tilt feature 115 and enables the adapter coupler 110 to tilt around a tilt axis extending between the engagement features 112. In either case, the tilt feature is used to prevent flush contact between the surfaces 114 and 123, thereby allowing the adapter coupler 110 to tilt relatively easily in response to a downward force applied to the engagement feature 111.

[0091] Figure 9-15 Another embodiment of an instrument adapter is shown. The instrument adapter 200 can be used as the instrument adapter 100 described above. The various parts of the instrument adapter 200 can be used as the corresponding parts of the instrument adapter 100, and the above description of these parts of the instrument adapter 100 also applies to the corresponding parts of the instrument adapter 200. For the aspects of the instrument adapter 200 that have been described above in conjunction with the corresponding parts of the instrument adapter 100, the description will not be repeated below. The corresponding parts of the instrument adapters 100 and 200 are represented herein by reference numerals having the same last two digits, such as adapter couplers 110 and 210.

[0092] The instrument adapter 200 is configured as an instrument sterile adapter ("ISA") and is therefore also referred to herein as ISA200. Fig. 9 and 10 As shown, ISA 200 includes a frame 201 and an adapter connector 210. Fig.10 As shown, the ISA 200 is configured to be inserted between a manipulator interface 270 and an instrument 280 (e.g., a medical instrument). More specifically, the frame 201 includes a first portion 202 and a second portion 203, which are coupled together at approximately a right angle, wherein the first portion 202 is configured to be placed between the manipulator interface 270 and the instrument 280, such as Fig.10 The first portion 202 of the frame 201 has a first face 204 (also referred to herein as a "manipulator interface face") configured to be mounted to the manipulator interface 270 (see Fig.13) and a second side 205 (also referred to herein as the "instrument engagement side") configured to receive an instrument 280 mounted thereon (see Fig.14 ). The first surface 204 and the second surface 205 are located on opposite sides of the frame 201 and may be referred to as a manipulator engagement side and an instrument engagement side of the frame 201, respectively.

[0093] like Fig. 9 , 10 As shown in FIGS. 15 and 15 , the first portion 202 of the frame 201 includes a plurality of openings 216, each of which is configured to receive and retain an adapter coupling 210 therein. Fig. 9 In FIG. 2 , three openings 216 are shown with adapter couplers 210 received therein, while two openings 216 are shown without adapter couplers 210 to illustrate portions of the openings 216 that would otherwise be obscured. Fig. 9 and 15 As shown, retaining features 217 and 283 are disposed around the edges of the opening 216 and are configured to retain the adapter connector 210 in the opening 216 while allowing the adapter connector 210 to rotate relative to the frame 201, thereby moving vertically relative to the frame 201 (within a limited range of motion) and tilting relative to the frame 201 (within a limited range of motion).

[0094] More specifically, the retention feature 217 includes a lip that extends at least partially around the opening 216, such as Fig. 9 and Fig.15 As shown. The retaining feature 217 is sized to interfere with a lip 219 extending laterally from the bottom side of the adapter coupler 210. Therefore, when the adapter coupler 210 is inserted upward through the opening 216, the engagement between the lip 219 and the bottom surface of the retaining feature 217 will limit the adapter coupler 210 to prevent it from moving upward through the opening 216 beyond a predetermined position. In addition, the retaining feature 217 is sized to interfere with a lip 218 extending laterally from the top side of the adapter coupler 210. Therefore, when the adapter coupler 216 has been inserted into the opening 216, the engagement between the lip 218 and the top surface of the retaining feature 217 limits the adapter coupler 210 to prevent it from moving downward through the opening 216 beyond a predetermined position. In addition, one or more keying features 282 in the form of (one or more) openings in or between the retaining features 217 may be provided (see Fig.15), wherein the keying feature 282 is arranged to allow the lip 218 to bypass the retaining feature 217 when the lip 218 is aligned with the keying feature 282. Therefore, by aligning the lip 218 with the keying feature 282, the adapter coupler 210 can be inserted into the opening 216, and then after the lip 218 passes through the retaining feature 217, the adapter coupler 210 can be rotated, whereupon the retaining feature 217 can engage with the bottom surface of the lip 218 to limit the movement of the adapter coupler 210 and retain the adapter coupler 210 in the opening 216. Additional retaining features 283 can be used to block the keying feature 282 to prevent the adapter coupler 210 from being removed from the opening 216, even if the lip 218 is realigned with the keying feature 282. For example, as Fig.15 As shown, and as described in more detail below, frame 201 can have a multi-layer structure, and retention feature 283 can be disposed in a layer (i.e., layer 202') that is different from retention feature 217 and keying feature 282 (i.e., layer 202"). This can allow adapter coupler 210 to be initially inserted through layer 202' in the manner described above while layer 202" is not assembled on layer 201', then rotate adapter coupler 210 so that lip 218 is not aligned with keying feature 282, and then assemble layer 202" to layer 202', which causes keying feature 282 to be blocked by retention feature 283. In other words, retention feature 283 and retention feature 217 cooperate to form a nearly continuous lip or edge around opening 216 disposed between lips 218 and 219. For example, as shown in FIG. Fig.16 As shown, one side of the retaining feature 283 is opposite to the lip 218 and the other side is opposite to the lip 219, thereby limiting the vertical movement of the adapter coupling relative to the frame 201. Fig.16 , retaining features 217 are not visible because the section is taken through an area containing keying features 282, but in areas where retaining features 217 are present, they are positioned similarly to engagement features 283 and interact with lips 218 and 219 in a manner similar to engagement features 283 to limit movement of adapter coupler 210.

[0095] The above-mentioned coupling mechanism makes the coupling between the adapter connector 210 and the frame 201 relatively loose, and the adapter connector 210 maintains multiple degrees of freedom of movement relative to the frame 201. Specifically, the adapter connector 210 can be Fig.16 The vertical movement (eg, the distance between the lips 218 and 219) within the opening 216 is limited to the range of motion indicated by the middle arrow 2111. Fig.16 2113), can rotate within the frame 201 and relative to the frame 201 (as shown in FIG. Fig.16 2112), can be tilted relative to the frame 201 within a limited range of motion (as shown in FIG. Fig.16 2112), and can be slightly translated left and right relative to the frame 201 (ie, parallel to the instrument engagement surface 205) (eg, Fig.16 (as indicated by arrow 2114).

[0096] like Fig.11A As shown, the adapter coupling 210 includes engagement features 212a and 212b that protrude downward from a first surface 214 ("bottom surface" or "output engagement surface") of the adapter coupling 210 on a side that engages with the drive output (e.g., the top side in the orientation shown in FIG. 5), and engagement features 211a and 211b that protrude upward from a second surface 213 ("top surface" or "input engagement surface") of the adapter coupling 210 on a side that engages with the drive input (e.g., the bottom side in the orientation shown in FIG. 5). Portions of the surface 214 may protrude radially outward to form the above-mentioned lip 219. Similarly, portions of the surface 213 extend radially outward to form the above-mentioned lip 218.

[0097] like Fig.13 As shown, when the ISA 200 is mounted to the manipulator interface 270, the bottom side of the adapter coupler 210 (including the surface 214 and the engagement feature 212) is coupled to the top side of the drive output 220 (including the surface 234 and the engagement feature 222) of the manipulator interface 270. When the ISA 200 is first mounted to the interface 270, the engagement feature 212 of the adapter coupler 210 may not be engaged with (i.e., not received therein) its corresponding engagement feature 222, but the drive output 220 may be rotated in a predetermined manner, thereby causing engagement between the engagement features 212 and 222. The engagement feature 222 may be larger than the engagement feature 212 along one (lateral) dimension thereof, thereby providing the adapter coupler 210 with a degree of freedom of movement in translation relative to the drive output 220 even after the engagement features 212 and 222 are engaged. This degree of freedom of translational movement of the adapter coupler 210 allows translation along an axis 253 extending between the engagement features 212a and 212b (the translation axis 253 is parallel to the tilt axis 262 described further below, and thus in Fig.11A , these axes are represented by the same dashed lines). In some embodiments, the engagement between the engagement features 212 and 222 may limit and substantially prevent relative movement between the adapter coupler 210 and the drive output 220 along any other degrees of freedom of motion other than the translational and tilting degrees of freedom of motion described herein. In addition, the central raised portion 225 of the drive output can be received within the central cavity 299 of the adapter coupler 210. The fit between the central raised portion 225 and the central cavity 299 can provide a certain clearance to allow the adapter coupler 210 to move relative to the drive output 220 within a limited range of motion along the degrees of freedom of motion described herein.

[0098] like Fig.14 As shown, when the instrument 280 is mounted to the ISA 200, the top side of the adapter coupler 210 (including the surface 213 and the engagement feature 211) is coupled to the bottom side of the drive input 230 (including the surface 234 and the engagement feature 231) of the instrument 280. When the instrument 280 is first mounted to the ISA 200, the engagement feature 211 of the adapter coupler 210 may not be engaged with (i.e., not received in) its corresponding engagement feature 231, but the drive output 220 may be rotated in a predetermined manner, thereby causing the engagement features 211 and 231 to be coupled in a manner similar to the above coupling. Figures 6A-8D The engagement feature 231 may be larger than the engagement feature 211 along one dimension thereof, thereby providing the adapter coupler 210 with a degree of freedom of movement for translation relative to the drive input 230 even after the engagement features 211 and 231 are engaged. This degree of freedom of movement for translation of the adapter coupler 210 allows translation relative to the drive input 230 along an axis 244 extending between the engagement features 211a and 211b. In certain embodiments, the engagement between the engagement features 211 and 231 may restrict and substantially prevent relative movement between the adapter coupler 210 and the drive input 230 along any other degree of freedom of movement other than the translational and tilting degrees of freedom of movement described herein.

[0099] like Fig.11A As shown, the adapter coupling 210 also includes a tilt feature 215. The tilt feature 215 includes a protrusion downward from the surface 214, which is located approximately the same as (e.g., partially surrounding) the engagement features 212a and 212b. The tilt feature 215 forms a flange or shelf that is vertically offset from the surface 214 and keeps the surface 214 away from the corresponding surface 223 of the drive output 220 of the manipulator interface 270. The tilt feature 215 is relatively narrow in the dimension X perpendicular to the translation axis 253 extending between the engagement features 212, and the tilt feature 215 extends along this dimension less than the entire width of the adapter coupling 210. Therefore, when the adapter coupling is engaged with the drive output 220 of the manipulator interface 270, the tilt feature 215 allows the adapter coupling 210 to tilt relative to the drive output 220 about the tilt axis 262 (parallel to the translation axis 253) extending between the tilt feature 215. More specifically, when projected vertically onto a plane, the tilt feature 215 is positioned on the inner side of the engagement feature 211 (i.e., closer to the axis 253 than the engagement feature 211) along the edge of the above-mentioned dimension X, so that a downward force applied to one of the engagement features 211 generates a moment on the adapter connector 210 that tilts the adapter connector 210 about the tilt axis 262.

[0100] As described above, in some embodiments, the first portion 202 of the frame 201 is formed from a plurality of layers sandwiched together. Fig. 9 and 15 As shown, in some embodiments, the first portion 202 includes two layers 202' and 202". In some embodiments, the layers 202' and 202" are permanently connected together. For example, the layers 202' and 202" can be connected together by heat riveting or any other desired connection technology (such as mechanical fasteners, adhesives, friction fit, welding, etc.). Optionally, in some embodiments, the sterile drape 300 is coupled to the first portion 202, such as Fig.14 Specifically, in certain embodiments, the sterile drape 300 is coupled to the ISA 200 by sandwiching portions of the drape 300 between layers 202' and 202", and then connecting layers 202' and 202" together with the drape 300 retained therein.

[0101] The first portion 202 of the frame 201 also includes attachment features 208 and 209, such as Fig. 9 and Fig.10 Attachment feature 208 is configured to removably attach ISA 200 to manipulator interface 270 by engaging complementary attachment feature 278, as shown in FIG. 11 . Attachment feature 209 is configured to removably attach instrument 280 to ISA 200 by engaging complementary attachment feature 288, as shown in FIG. Fig.14 shown.

[0102] like Fig. 9 , 10 As shown in FIG. 14 , the second portion 203 is configured to engage with a portion of the instrument 280 to assist in guiding the instrument 280 into a desired position when the instrument 280 is mounted to the ISA 200. Specifically, in Figure 9-14 In the embodiment of the present invention, the second portion 203 has a convex curved surface 206 (see Fig. 9 ), which convex curved surface mates with a complementary concave surface 289 of the instrument 280 (see Fig.12 ) to limit the movement of the instrument 280. Fig. 9 As shown, the second portion 203 may also include additional alignment features, such as a tapered or bullet-shaped alignment feature 207 , which gradually further constrains the instrument 280 as the instrument 280 moves further along the second portion 203 toward the first portion 202 .

[0103] Figures 17A-17D An embodiment of an adapter coupling 310 is shown that can be used as Figure 3Adapter coupler 310 may be similar to adapter couplers 110 and 210, and thus, components of adapter coupler 310 that are similar to components already described above will not be described again. Adapter coupler 310 may be used as part of an adapter (not shown) that is similar to adapter 100.

[0104] The adapter coupling 310 includes a body 302, an input engagement feature 311 that engages with a complementary engagement feature 331 of a drive input 330 of the instrument, an output engagement feature 312 that engages with a complementary engagement feature (not shown) of a drive output 320, and one or more flexible support members 398, each of which carries a corresponding one of the input engagement features 311. Figures 17A-17E In the embodiment, the flexible support member(s) 398 are used as Figure 4 In some embodiments, only one flexible support member 398 is provided, but in other embodiments, multiple flexible support members 398 may be provided. Fig.17A In the embodiment of the present invention, the first flexible support member 398 carrying the engagement feature 311b is shown in solid lines, while the optional second flexible support member 398' carrying the engagement feature 311a is shown in dashed lines. Below, for convenience, only one flexible support member 398 is described, but its description can also be applied to other flexible support members 398 that respectively carry additional input engagement features 311 (if present).

[0105] like Fig.17A and 17B As shown, the flexible support member 398 includes an arm having a coupling end 393 attached to the body 302 and a free end 391 opposite the coupling end 393. The arm extends between the coupling end and the free end, generally parallel to the input-facing surface 313 of the coupler 310. In some embodiments, the flexible support member 398 is part of or integrally connected to the input-facing surface 313. An open area 396 is provided below the flexible support member 398, and at least a portion of the flexible support member 398 is resiliently flexible so that the free end 391 of the flexible support member 398 can be as shown. Fig. 17B 398 moves generally downward or upward into and out of the open area 396 as indicated by arrows 395 in FIG. Fig. 17B and Fig. 17C The static position shown by the solid line is Fig. 17B The dashed line and Fig.17DThe flexible support member 398 flexes and moves (e.g., to some extent pivotally) between the flexed positions shown. The resilient flexure of the flexible support member 398 causes the flexible support member 398 to generate a biasing force (e.g., a spring force) that resists movement of the flexible support member 398 away from the resting position and also causes the flexible support member 398 to return to the resting position if so moved (once any force moving the flexible support member 398 is removed).

[0106] As described above, one of the engagement features 311b is carried by the flexible support member 398 at or near its free end, such as Figures 17A-18 D. Therefore, when the flexible support member 398 moves between the rest position and the flexed position, the engagement feature 311b moves generally vertically relative to the rest of the coupler 310. Specifically, when one input engagement feature 311a is aligned and the other 311b is misaligned, the coupler 310 and the drive input 330 are pressed against each other, which causes a downward force F to be applied from the drive input 330 to the misaligned engagement feature 311b, as shown in FIG. Fig. 17C As shown, the force F overcomes the biasing force of the flexible support member 398 and causes the engagement feature 311b to move downward relative to the rest of the coupler 310 (as shown by arrow 68), thereby causing the flexible support member 398 to flex (i.e., move from a rest position to a flexed position), as shown. Fig.17D The downward movement of the engagement feature 311b causes the engagement axis 397 to tilt relative to its nominal position by an angle like Fig.17D As the engagement feature 311b moves downward, this allows the drive input 330 to also move downward by a distance d2, as shown in FIG. Fig. 17C and 17D 310 and 311b are aligned with each other (engagement feature 311a is aligned with engagement feature 331a and therefore does not prevent downward movement of drive input 330). Due to the downward movement of drive input 330, the aligned engagement feature 311a moves into (at least partially) engagement with engagement feature 331a. Subsequently, continued rotation of coupler 310 causes engagement feature 311b to engage in a manner similar to that described above with respect to adapter couplers 110 and 210. Thus, despite the initial misalignment between engagement feature 311 and its complementary engagement feature 331, the tilting of engagement axis 397 caused by the flexure of flexure support feature 398 allows engagement feature 311 to positively engage with its complementary engagement feature 331.

[0107] In embodiments where only one flexure support feature 398 is provided to carry an input engagement feature 311, the engagement axis 397 may only be able to tilt to one side of the neutral position. In some cases, it may be desirable to allow the engagement axis 397 to tilt to more than one side of the neutral position. Thus, in some embodiments, one or more additional flexure support features 398 are provided to carry other input engagement features, such as Fig.17A Optional second flexure support feature 398' shown carrying input engagement feature 311a. Additional flexure support features 398 may be configured similarly to the flexure support features 398 described above, and they may facilitate tilting of the engagement axis 397 in a similar manner as described above, except that each flexure support feature 398 may allow tilting to a different side of the neutral position.

[0108] In other embodiments, by configuring the engagement features 311a and 311b so that the free end of the engagement feature 311b carried by the flexible support member 398 is higher than the free end of the other engagement features 311a that are not carried by the flexible support member in their rest / nominal position, the inclination of the engagement axis 397 can be achieved in multiple directions. For example, Fig. 17B An optional modified engagement feature 311a' is shown in phantom and is similar to engagement feature 311a, but is shorter and, therefore, has a free end that is lower than the free end of engagement feature 311b. The height difference between engagement features 311a and 311b may also be achieved in other ways, such as by increasing the length of engagement feature 311b or configuring flexible support member 398 to have a resting / nominal position in which engagement feature 311b is elevated relative to engagement feature 311a. Due to the height difference between engagement features 311a and 311b, in the rest state of adapter coupler 310, engagement axis 397 has been tilted in a direction that is not parallel to the coupling surfaces of drive output 120 and / or drive input 130. Thus, as shown in FIG. Fig.17E As shown, when the lower engagement feature 311a is misaligned and the upper engagement feature 311b is aligned, the upper engagement feature 311b is able to move to engage with the engagement feature 331b due to the inclination of the engagement axis 397. When the flexible support member 398 is deflected downward, the engagement axis 397 can also be tilted in the opposite direction, thereby lowering the engagement feature 311 carried thereon. For example, when the upper engagement feature 311b carried by the flexible support member 398 is misaligned, the flexible support member 398 is deflected downward and causes the engagement axis 397 to tilt, which is the same as described above. Therefore, the tilting of the engagement axis 397 away from parallel in two directions can be achieved.

[0109] Those of ordinary skill in the art will appreciate that with respect to the structure and configuration of the engagement features 311a and 311b, Figures 17A-17E The description may be reversed, and further, modifications may be made as needed based on the operating principles described herein to employ other numbers of engagement features and corresponding flexible support member arrangements, etc.

[0110] Now turn Fig.18 , an example manipulator assembly 1000 will be described. Manipulator assembly 1000 can be part of a computer-assisted manipulator system ("manipulator system"), sometimes also referred to as a robot-assisted system or a robotic system. Manipulator assembly 1000 may include one or more manipulators 1001 that can be operated with the assistance of an electronic controller (e.g., a computer) to move and control the functions of one or more instruments 1002 when coupled to manipulator 1001. Manipulator 1001 includes a plurality of mechanical links connected by joints. Instrument 1180 can be removably coupled to (or permanently coupled to) one of the links, typically a distal link in the plurality of links. Specifically, instrument 1180 can be coupled to manipulator interface 1170 via instrument sterile adapter 1100. The joints can be operated to move the links relative to each other (i.e., rotate and / or translate), providing various degrees of freedom for the manipulator to enable manipulator 1001 to move the instrument around a work site. The manipulator 1001 of the manipulator system may be used to transmit various forces and torques to the instrument 1180 to perform various procedures, such as medical procedures or non-medical procedures (eg, industrial procedures).

[0111] The manipulator interface 1170 can be used as one of the interfaces 170 and 270 described above, and includes a drive output (similar to the drive output 120 or 220) to interface with a corresponding drive input (similar to the drive input 130 or 230) of the instrument 1180 and mechanically transmit a drive force thereto to control the freedom of motion and / or other functions of the instrument 1180. Power, data signals, vacuum suction, inflation, irrigation, and / or other useful flows can also be transmitted to the instrument 1180 through various interfaces, which may include interfaces of the manipulator 1001 or interfaces of other components or subsystems (e.g., auxiliary systems) to which the instrument 1180 is operably connected or connected. As described above, the manipulator system is operably connected (e.g., through a controller) to a console (not shown) having a user input device that records user input and controls the operation of the system based on the input. In some cases, the input device can be arranged so that when the input device is actuated, the instrument 1180 is controlled to follow or imitate the movement of the input device, which can provide the user with a sense of direct control of the instrument.

[0112] Instrument 1180 can be used as one of the above-mentioned instruments 180 and 280. In some embodiments, the instrument is a medical instrument that can be used to perform a medical procedure, such as, for example, a surgical, diagnostic or therapeutic procedure. The medical instrument may include various instruments for performing a medical procedure, such as a therapeutic instrument, a diagnostic instrument, a surgical instrument and / or an imaging instrument. In some examples, the medical instrument can be inserted into the patient through a natural orifice or incision (including other guides inserted through a port or incision). For example, in performing minimally invasive surgical procedures, such remotely controlled instruments may be particularly useful. Minimally invasive surgical procedures may be designed to reduce the amount of damaged tissue during surgery, such as by reducing the number and / or size of incisions through which the medical instrument is inserted. In other embodiments, instrument 1180 may be a non-medical instrument, such as an industrial instrument.

[0113] Instrument sterile adapter 1100 may be any of the instrument adapters 100 and 200 described above, and may include an adapter coupler (similar to adapter coupler 110 or 210) that couples the drive output of interface 1170 to the drive input of instrument 1180 in the manner described above with respect to instrument adapters 100 and 200. Instrument sterile adapter 1100 also includes tilt features similar to tilt features 115 or 215 that allow the adapter coupler to be tilted. Fig.18 As shown, in the installed configuration, instrument sterile adapter 1100 is positioned between interface 1170 and instrument 1180 .

[0114] As used herein and in the appended claims, reference to a coupling of an adapter that is engaged or in an engaged state with a drive output or drive input should be understood to mean that the coupling's engagement features are matingly engaged with corresponding complementary engagement features of the drive output or drive input. For example, referring to ISA 200, if engagement feature 112 is matingly engaged with complementary engagement feature 122 of drive output 120, then adapter coupling 210 is engaged with drive output 120; similarly, if engagement feature 111 is matingly engaged with complementary engagement feature 131 of drive input 130, then adapter coupling 210 is engaged with drive input 130.

[0115] The embodiments described herein can be very suitable for various medical procedures requiring equipment sterility, as described above. These procedures can be applied to, for example, human patients, animal patients, human cadavers, animal cadavers, and parts of human or animal anatomical structures. The medical procedures considered herein include any of the procedures described herein, including non-surgical diagnosis, cosmetic procedures, imaging of human or animal anatomical structures, data collection from human or animal anatomical structures, training of medical or non-medical personnel, and procedures performed on tissue removed from human or animal anatomical structures (not returned to human or animal anatomical structures). Even if suitable for such medical procedures, these embodiments can also be used for benchtop procedures of non-biological materials and parts that are not human or animal anatomical structures. In addition, some embodiments are also suitable for non-medical applications, such as industrial robot uses, and sensing, inspection and / or manipulation of non-tissue workpieces. In non-limiting embodiments, the techniques, methods and devices described herein can be used in or as part of a computer-assisted surgical system using robotic technology, such as the da However, those skilled in the art will appreciate that the aspects disclosed herein may be embodied and implemented in a variety of ways and systems, including manually operated instruments and computer-assisted teleoperated systems, whether in medical or non-medical applications. Reference to surgical systems is illustrative and should not be considered limiting of the scope of the disclosure herein.

[0116] As used herein and in the claims, terms such as computer-assisted manipulator system, remotely manipulator system or manipulator system should be understood to refer broadly to any system including one or more controllable kinematic structures ("manipulators"), which include one or more links connected together by one or more joints that can be operated to cause the kinematic structures to move. Such systems may sometimes be referred to as robot-assisted systems or robotic systems in the art and in common use. The manipulator may have an instrument permanently or removably mounted thereon, and may move and operate the instrument. The joint may be driven by a drive element that may utilize any convenient form of power, such as, but not limited to, an electric motor, a hydraulic actuator, a servo motor, etc. The operation of the manipulator may be controlled by a user (e.g., by remote operation), by a computer automatically (so-called autonomous control), or by some combination of these. In examples where a user controls at least some of the operations of the manipulator, an electronic controller (e.g., a computer) may facilitate or assist the operation. For example, an electronic controller may "assist" the user-controlled operation by converting a control input received from a user into an electrical signal that actuates a drive element to operate the manipulator, providing feedback to the user, implementing safety restrictions, etc. The term "computer" as used in "computer-assisted manipulator system" refers broadly to any electronic control device used to control or assist the operation of a user-controlled manipulator, and is not intended to be limited to things formally defined as or colloquially referred to as "computers." For example, the electronic control device in a computer-assisted manipulator system can range from a traditional "computer" (e.g., a general-purpose processor plus a memory that stores instructions for execution by the processor) to a low-level special-purpose hardware device (analog or digital) (such as a discrete logic circuit or an application-specific integrated circuit (ASIC)) or anything in between. In addition, the manipulator system can be implemented in a variety of contexts to perform various procedures, both medical and non-medical. Therefore, although some of the examples described in more detail herein may focus on a medical context, the devices and principles described herein are also applicable to other contexts, such as industrial manipulator systems.

[0117] It should be understood that both the general description and the detailed description provide exemplary embodiments that are illustrative in nature and are intended to provide an understanding of the present disclosure without limiting the scope of the present disclosure. Various mechanical, compositional, structural, electrical and operational changes may be made without departing from the spirit and scope of the description and claims. In some cases, in order not to confuse the embodiments, known circuits, structures and techniques are not shown or described in detail. The same numbers in two or more drawings represent the same or similar elements.

[0118] In addition, the terms used herein to describe various aspects of the present invention (such as spatial and relational terms) are selected to help the reader understand exemplary embodiments of the present invention, but are not intended to limit the present invention. For example, spatial terms (such as "below", "below", "lower", "above", "upper", "near side", "distal side", "upward", "downward" and the like) can be used in this article to describe the directions as shown in the accompanying drawings or the spatial relationship of one element or feature relative to another element or feature. These spatial terms are used relative to the accompanying drawings and are not limited to a specific reference system in the real world. Therefore, for example, the direction "upward" in the accompanying drawings does not necessarily correspond to "upward" in the world reference system (e.g., away from the surface of the earth). In addition, if a reference system different from the reference system shown in the accompanying drawings is considered, the spatial terms used herein may need to be interpreted differently in the different reference system. For example, a direction referred to as "upward" relative to one of the accompanying drawings may correspond to a direction referred to as "downward" relative to a different reference system rotated 180 degrees from the reference system of the accompanying drawings. As another example, an item described herein as being "above" or "on top of" a second item relative to the drawing would be "below" or "beneath" the second item relative to the world reference system if the device is flipped 180 degrees in the world reference system compared to how the device is illustrated in the drawing. Thus, different spatial terms may be used to describe the same spatial relationship or direction, depending on which reference system is being considered. Furthermore, the poses of the items shown in the drawing are selected for ease of illustration and description, but in practical implementations, the items may be posed differently.

[0119] In addition, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. The terms "comprises", "comprising", "includes", and the like specify the presence of the features, steps, operations, elements, and / or parts set forth, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or groups. Unless otherwise specifically stated, components described as coupled may be coupled directly, either electrically or mechanically, or they may be coupled indirectly via one or more intermediate components. Unless the context of the description indicates otherwise, mathematical and geometric terms are not necessarily intended to be used according to their strict definitions, as one of ordinary skill in the art will understand that, for example, substantially similar elements that function in a substantially similar manner may easily fall within the scope of a descriptive term, even if the term also has a strict definition.

[0120] Whenever feasible, elements and their associated aspects described in detail with reference to one embodiment may be included in other embodiments that are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment but not described with reference to a second embodiment, the element can still be claimed to be included in the second embodiment.

[0121] Unless otherwise specified herein or implied by the context, when approximate terms (such as "substantially," "about," "about," "around," "roughly," etc.) are used in conjunction with a stated value, attribute, or relationship (such as a range endpoint or a geometric attribute / relationship, such as parallel, perpendicular, straight, etc.), it should be understood to mean that the value, attribute, or relationship does not need to be mathematically precise, but rather refers to a range of variation that includes, but is not limited to, the stated value, attribute, or relationship. Specifically, the range of variation around the stated value, attribute, or relationship at least includes variations that are insignificant to the value, attribute, or relationship, such as variations that are equivalent to the stated value, attribute, or relationship. The range of variation around the stated value, attribute, or relationship also includes at least those variations that are typical in the relevant field for the type of item in question due to manufacturing or other tolerances. In addition, the range of variation also includes variations that are at least within ±5% of the specified value, attribute, or relationship. Thus, for example, a line or surface may be considered to be "substantially parallel" to a reference line or surface if any of the following conditions are true: the minimum angle between the line / surface and the reference is less than or equal to 4.5° (i.e., 5% of 90°), the angle is less than or equal to manufacturing or other tolerances typical in the art, or the constructed line / surface is functionally equivalent to a completely parallel line / surface.

[0122] In view of the disclosure herein, further modifications and alternative embodiments will be understood by those of ordinary skill in the art. For example, in order to make the operation clearer, these devices and methods may include additional components or steps omitted from the diagrams and descriptions. Therefore, this description is only interpreted as an illustrative explanation, and is intended to teach those skilled in the art the general way of implementing this teaching. It should be understood that the various embodiments shown and described herein should be considered exemplary. Elements and materials, and the arrangement of these elements and materials, can be replaced with elements and materials shown and described herein, parts and processes can be reversed, and after benefiting from the description herein, some features of this teaching can be used independently and are obvious to those skilled in the art. Without departing from the spirit and scope of this teaching and the appended claims, the elements described herein may be changed.

[0123] It should be understood that the specific examples and embodiments described herein are non-limiting and that modifications in structure, dimensions, materials and methods may be made without departing from the scope of the present invention.

[0124] Other embodiments according to the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein.It is intended that the specification and examples be considered exemplary only, and that the following claims be construed to have the broadest scope, including equivalents under applicable law.

Claims

1. An adapter for operably coupling a drive output to a drive input of an instrument, comprising: a frame comprising a first side and a second side, the first side being configured to be mounted to the drive output interface, the second side being configured to receive an instrument mounted thereon; as well as a coupler movably coupled to the frame and comprising: one or more output engagement features configured to engage a drive output of the drive output interface when the frame is mounted to the drive output interface; one or more input engagement features configured to engage a drive input of the instrument when the instrument is mounted to the frame; and One or more compliant features, wherein the one or more compliant features are configured to allow a first one of the input engagement features to move toward the drive input when the connector is engaged with the drive output and a second one of the input engagement features is in contact with a connector-facing surface of the drive input.

2. An adapter according to claim 1, wherein the one or more compliant features include one or more tilt features, and the one or more tilt features are configured to contact the drive output so that when the connector is engaged with the drive output, the connector can tilt around a tilt axis defined by the tilt features.

3. An adapter according to claim 1, wherein the one or more compliant features include a flexible support member, which carries the second input engagement feature and is configured to elastically flex relative to the rest of the connector so that the second input engagement feature can move relative to the rest of the connector.

4. An adapter for operably coupling a drive output to a drive input of an instrument, comprising: a frame comprising a first side and a second side, the first side being configured to be mounted to the drive output interface, the second side being configured to receive an instrument mounted thereon; as well as a coupler movably coupled to the frame and comprising: one or more output engagement features configured to engage a drive output of the drive output interface when the frame is mounted to the drive output interface; one or more input engagement features configured to engage a drive input of the instrument when the instrument is mounted to the frame; and One or more compliant features configured to allow an engagement axis tangential to the input engagement feature to tilt relative to the drive input, the drive output, or both, in response to contact of a coupling-facing surface of the drive input with one of the input engagement features.

5. An adapter according to claim 1, wherein the one or more compliant features include one or more tilt features, and the one or more tilt features are configured to contact the drive output so that when the connector is engaged with the drive output, the connector can tilt around a tilt axis defined by the tilt features.

6. An adapter according to claim 1, wherein the one or more compliant features include a flexible support member, which carries a second input engagement feature and is configured to elastically flex relative to the rest of the connector so that the second input engagement feature can move relative to the rest of the connector.

7. An adapter for operably coupling a drive output to a drive input of an instrument, comprising: a frame comprising a first side and a second side, the first side being configured to be mounted to the drive output interface, the second side being configured to receive an instrument mounted thereon; as well as a coupler movably coupled to the frame and comprising: one or more first engagement features configured to engage with a drive output of the drive output interface when the frame is mounted to the drive output interface; one or more second engagement features configured to engage a drive input of the instrument when the instrument is mounted to the frame; and One or more tilt features are configured to contact the drive output so that the coupler can tilt about a tilt axis defined by the tilt features when the coupler is engaged with the drive output.

8. The adapter according to claim 7, wherein: The one or more second engagement features include two second engagement features arranged at diametrically opposed locations; and The tilt axis is substantially perpendicular to a line extending between the second engagement features.

9. The adapter of claim 7, wherein each of the one or more ramp features comprises a protrusion that projects from a first surface on a drive output engagement side of the coupler.

10. The adapter of claim 9, wherein the one or more ramped features are configured to contact a second surface of the drive output when the coupler is engaged with the drive output to prevent the first surface from being in flush contact with the second surface.

11. The adapter of claim 9, wherein each of the one or more angled features is located adjacent to or partially surrounds one of the one or more first engagement features.

12. The adapter of claim 7, wherein the one or more tilt features are arranged such that the tilt axis is not aligned with any of the second engagement features.

13. The adapter of claim 7, wherein the adapter is an instrument sterile adapter.

14. The adapter according to claim 7, wherein: The one or more first engagement features include male features that project from a first surface of the coupler and are configured to engage with complementary female features in a second surface of the drive output, and Each of the one or more ramped features includes a portion of one of the first engagement features configured to bottom out in the complementary concave feature and prevent flush contact between the first surface of the coupler and the second surface of the drive output.

15. The adapter of claim 7, wherein: The one or more first engagement features are configured to engage with one or more first complementary engagement features of the drive output; as well as The one or more second engagement features are configured to engage with one or more second complementary engagement features of the drive input.

16. The adapter of claim 15, wherein each of the first engagement feature and the second engagement feature comprises a male feature, and each of the first complementary engagement feature and the second complementary engagement feature comprises a female feature.

17. The adapter of claim 15, wherein each of the first engagement feature and the second engagement feature comprises a female feature, and each of the first complementary engagement feature and the second complementary engagement feature comprises a male feature.

18. The adapter of claim 7, wherein the drive output interface is part of a manipulator of a computer-assisted manipulator system and the instrument is a medical instrument.

19. The adapter of claim 7, wherein the coupler has translational freedom of movement relative to the drive output under a condition in which the first engagement feature is engaged with the drive output.

20. The adapter of claim 7, wherein the tilt axis is substantially perpendicular to the axis of rotation of the coupler.

21. An adapter, comprising: a frame comprising a first side and a second side, the first side being configured to be mounted to the drive output interface, the second side being configured to receive an instrument mounted thereon; as well as a coupling movably coupled to the frame and rotatable about a first axis, wherein: The coupler is configured to couple the drive output of the drive output interface to the drive input of the instrument; as well as In a state in which the coupling is engaged with a drive output of the drive output interface, the coupling is tiltable relative to the drive output about a second axis perpendicular to the first axis.

22. The adapter of claim 21, wherein: the coupling comprising one or more first engagement features configured to engage with one or more first complementary engagement features of the drive output; as well as The coupling includes one or more second engagement features configured to engage with one or more second complementary engagement features of the drive input.

23. An adapter according to claim 21, wherein the connector includes one or more tilting features, and the one or more tilting features are configured to contact the drive output so that when the connector is engaged with the drive output, the connector can tilt around a tilt axis defined by the tilting features.

24. A sterile drape assembly comprising: An instrument sterile adapter, the instrument sterile adapter comprising: a frame comprising a first side and a second side, the first side being configured to be mounted to a drive output interface of a device, the second side being configured to receive an instrument mounted thereon; a coupler movably coupled to the frame and comprising: one or more first engagement features configured to engage with a drive output of the drive output interface when the frame is mounted to the drive output interface; one or more second engagement features configured to engage a drive input of the instrument when the instrument is mounted to the frame; and one or more compliant features configured to allow an engagement axis tangential to the second engagement feature to tilt relative to the drive input, the drive output, or both, in response to one of the second engagement features contacting a coupler-facing surface of the drive input when the coupler is engaged with the drive output; and A drape is coupled to the frame of the instrument sterile adapter and is configured to cover a portion of the device.

25. A sterile drape assembly according to claim 24, wherein the one or more compliant features include one or more tilt features, and the one or more tilt features are configured to contact the drive output so that when the connector is engaged with the drive output, the connector can tilt around a tilt axis defined by the tilt feature.

26. The sterile drape assembly of claim 24, wherein the one or more compliant features include a flexible support member that carries one of the second engagement features and is configured to resiliently flex relative to the remainder of the connector so that one of the second engagement features can move relative to the remainder of the connector.

27. A method for connecting a drive output interface to an instrument using an adapter, comprising: Install the adapter to the drive output interface; engaging a coupler of the adapter with a drive output of the drive output interface; mounting the instrument to the adapter; as well as The coupler is engaged with the drive input of the instrument by tilting the coupler relative to the drive output while rotating the coupler.

28. A method of coupling an instrument to an adapter, the adapter being coupled to a drive output interface, the method comprising: In a state where the coupler of the adapter is engaged with the drive output of the drive output interface, the second engagement feature of the coupler is engaged with the drive input of the instrument by: rotating the coupling; as well as The coupling is tilted relative to the drive output and the coupling is simultaneously rotated.

29. A method of coupling an instrument to an adapter, the adapter being coupled to a drive output interface, the method comprising: In a state where the coupler of the adapter is engaged with the drive output of the drive output interface, the second engagement feature of the coupler is engaged with the drive input of the instrument by: rotating the coupling; as well as An engagement axis tangential to the second engagement feature is tilted relative to the drive input, the drive output, or both while rotating the coupling.

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