Alignment of connector interfaces

Abstract

The invention relates to alignment of connector interfaces. A floating fiber optic connector interface generally includes a retaining bracket, a translating receptacle slidably associated with the retaining bracket, and a biasing element positioned between the retaining bracket and the translating receptacle. The tab portion may permit translation of the translating receptacle relative to the retaining bracket, and the aperture is configured to receive a cradle fiber optic connector. The translating socket may translate relative to the retaining bracket in a plane and may further translate in an insertion direction, and the biasing element may resist translation of the translating socket. The alignment plate may be configured to align the instrument interface for connection to the carriage, including a telescoping support operable to position the plate in a first orientation where the plate is spaced from the carriage and to position the plate in a second orientation where the plate is adjacent to the carriage.

Description

[0001] This application is a divisional application of Chinese patent application 2021800193214 (PCT / US2021 / 021775) entitled "Alignment of Connector Interface" filed on March 10, 2021.

[0002] Cross-reference to related applications This application claims priority to U.S. Provisional Patent Application No. 62 / 989,498, filed March 13, 2020, entitled “ALIGNMENT OF AN OPTICAL FIBERINTERFACE”, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This technology generally relates to connector alignment, and more specifically, to assisting connector alignment and / or reducing particle formation at non-permanent connection joints. Background Technology

[0004] Minimally invasive medical techniques aim to reduce the amount of tissue damaged during medical procedures, thereby reducing patient recovery time, discomfort, and harmful side effects. These techniques can be performed through natural openings in the patient's anatomy or through one or more surgical incisions. An operator (e.g., a physician) can insert minimally invasive medical instruments (surgical, diagnostic, therapeutic, biopsy instruments, etc.) through these natural openings or incisions to reach target tissue locations. One such technique utilizes flexible and / or maneuverable elongated devices, such as flexible catheters, which can be inserted into an anatomical channel and navigated toward a region of interest within the patient's anatomy. Operator control of such elongated devices involves the management of several degrees of freedom, including at least the management of insertion and retraction of the elongated device relative to the patient's anatomy, and the manipulation of the device itself.

[0005] Various cables, including optical fibers, coaxial conductors, copper conductors, and twisted pairs, can be used to transmit communication signals between components in a medical system. Various connectors can be used to perform the connections in these communication cables. When using optical fibers for communication signals, it is desirable to form low-loss joints by precisely aligning the fiber cores to ensure the faces of the cleaved ends are adjacent. For non-permanent connectors for optical fibers, the cleaved ends are kept aligned mechanically. The signal transmitted through optical fiber cables can be degraded due to contamination between the mating faces at the joint. Because particles embed in the fiber faces, forming fiber connections with this contamination damages the fiber faces over time, leading to permanent performance degradation. Summary of the Invention

[0006] According to embodiments of the present technology, a floating connector interface is provided. The floating interface typically includes a retaining bracket with a slot, a translational receptacle slidably associated with the retaining bracket, and a biasing element positioned between the retaining bracket and the translational receptacle. The translational receptacle may include a tab portion extending into the slot to allow translation of the translational receptacle relative to the retaining bracket, and a hole configured to receive a bracket connector. Translation of the translational receptacle may be restricted within a floating plane, and the biasing element may be configured to resist translation of the translational receptacle.

[0007] According to another embodiment of the present technology, a carriage is provided. The carriage typically includes a retaining bracket with a slot, a translation receptacle slidably associated with the retaining bracket, a bracket connector with a housing that can be removably coupled to a hole in the translation receptacle, and a biasing element positioned between the retaining bracket and the translation receptacle. The translation receptacle may include a tab portion extending into the slot to allow translation of the translation receptacle relative to the carriage, wherein the translation can be restricted within a floating plane. The biasing element can be configured to resist translation of the translation receptacle, and the direction in which the instrument connector is inserted into the carriage connector can be perpendicular to the floating plane.

[0008] According to another embodiment of the present technology, a connector alignment device is provided. The connector alignment device typically includes a bracket having a fiber optic connector, a plate configured to removably maintain instrument interface alignment for connection to the bracket, and a telescopic support coupled between the plate and the bracket. The plate may have holes configured to receive the instrument fiber optic connector, and the telescopic support may be operable to position the plate in a first orientation spaced apart from the bracket and to position the plate in a second orientation adjacent to the bracket.

[0009] According to another embodiment of the present technology, an alignment system is provided. The alignment system typically includes a bracket having a housing and a bracket fiber optic connector, an instrument interface having an outer surface and an instrument fiber optic connector, the instrument fiber optic connector being configured to connect to the bracket fiber optic connector when the instrument interface mates with the bracket, and an alignment spar projecting from the housing of the bracket. The alignment spar may have a shape corresponding to the outer surface of the instrument interface and can be configured to align the instrument interface and the bracket such that the instrument fiber optic connector is aligned with the bracket fiber optic connector.

[0010] According to another embodiment of the present technology, an apparatus is provided. The apparatus typically includes an apparatus interface and an apparatus fiber optic connector protruding from the apparatus interface. The apparatus fiber optic connector may include a connector body having an outer surface configured to mate with a bracket fiber optic connector, and a tapered kinematic surface positioned on a distal portion of the connector body. The tapered kinematic surface tapers downward from the outer surface of the connector body to a tip of the connector body. The tapered kinematic surface may be configured to align the apparatus fiber optic connector and the bracket fiber optic connector during installation of the apparatus interface.

[0011] This summary is provided to introduce the selected concepts in a simplified form, which will be further described in the detailed description below. This summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. Attached Figure Description

[0012] The following figures provide a better understanding of many aspects of this technology. The components in the figures are not necessarily drawn to scale. Instead, the focus is on clearly illustrating the principles of the technology. Furthermore, components may appear transparent in some views only for clarity of illustration, not to indicate that the components must be transparent. Components may also be shown schematically.

[0013] FIG. 1A This is a simplified diagram of a medical system configured according to an embodiment of the present technology.

[0014] FIG. 1B yes FIG. 1A A perspective view of the structure of a medical system.

[0015] FIG. 2A and FIG. 2B yes FIG. 1B Left-side view of the manipulator components and medical devices of a medical system.

[0016] FIG. 3 yes FIG. 1B A perspective view of the bracket of a remote-operated medical system, showing the bracket's fiber optic connector.

[0017] FIG. 4A It is configured according to an embodiment of this technology. FIG. 1B A perspective view of the carrier fiber optic connector and floating fiber optic interface of the medical system.

[0018] FIG. 4B yes FIG. 4A Cross-sectional plan view of the floating fiber optic interface.

[0019] FIG. 4C and FIG. 4D yes FIG. 4A A perspective view of the carrier fiber optic connector.

[0020] FIG. 4E and FIG. 4F yes FIG. 4A A cross-sectional side view of the carrier fiber optic connector, showing a friction-reducing roller positioned on at least one side of the connector well.

[0021] FIG. 5 It is configured according to an embodiment of this technology. FIG. 1BA perspective view of the carrier fiber optic connector and floating fiber optic interface of the medical system.

[0022] FIG. 6 It is configured according to an embodiment of this technology. FIG. 1B A perspective view of the translation alignment plate extending from the bracket of the manipulator assembly.

[0023] FIG. 7A and FIG. 7B These are configured according to embodiments of this technology. FIG. 1B Perspective and plan views of the alignment spars of the control components.

[0024] FIG. 7C and FIG. 7D yes FIG. 7A and FIG. 7B The plan view of the aligned spar shows an embodiment of one or more clock features.

[0025] FIG. 8 yes FIG. 1B A perspective view of a medical device fiber optic connector for a medical system, the medical device fiber optic connector having a tapered kinematic surface configured according to an embodiment of the present technology.

[0026] The embodiments of this technology and their advantages are best understood by referring to the following detailed description. It should be understood that similar reference numerals are used to identify similar elements illustrated in one or more figures, wherein the purpose of illustration is to depict embodiments of this disclosure and not to limit the scope of this disclosure. Detailed Implementation

[0027] This technology generally involves the alignment of connector interfaces, for example, between the ends of optical fibers, to reduce particle formation at non-permanent fiber optic joints. Various medical systems may include fiber optic connectors configured to receive fiber optic connectors positioned on one or more modular medical devices. To facilitate fiber optic connector insertion, the system connector can be designed to be fault-tolerant in multiple degrees of freedom, and the operator does not need to perfectly align the device during installation. Preventing connector misalignment during installation reduces the likelihood of fiber damage, generates less contamination, and allows for a correct and complete connection at the fiber ends.

[0028] This disclosure describes various instruments and parts thereof based on their state in three-dimensional space. As used herein, the term orientation refers to the position of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom along the Cartesian X, Y, and Z coordinates). As used herein, the term orientation refers to the rotational placement of an object or part of an object (e.g., three rotational degrees of freedom, such as roll, pitch, and yaw). As used herein, the term pose refers to the orientation of an object or part of an object in at least one translational degree of freedom, and the orientation of the object or part of an object in at least one rotational degree of freedom (e.g., up to six total degrees of freedom). As used herein, the term shape refers to a set of poses, orientations, or orientations measured along the object.

[0029] FIG. 1A This is a simplified diagram of the healthcare system (“System 100”). FIG. 1B This is a perspective view of a system 100 configured according to embodiments of the present technology. System 100 is suitable for surgical, diagnostic, therapeutic, or biopsy procedures, etc. Although some embodiments of system 100 are described herein with reference to such procedures, references to specific medical or surgical instruments and medical or surgical methods are not intended to limit the scope of the present technology. The systems, instruments, and methods described herein can be used for partial and / or non-surgical diagnosis of humans, animals, human cadavers, animal cadavers, human or animal anatomy, as well as industrial systems and general-purpose robots or remote operating systems.

[0030] like FIG. 1A and FIG. 1B As shown, system 100 typically includes a device manipulator 120 (see Figure 120). FIG. 1B The system includes a manipulator assembly 102 for manipulating a medical device 104 while performing various procedures on a patient P. The manipulator assembly 102 can be a remotely operated, non-remotely operated, or hybrid remotely operated component, having selectable degrees of freedom of motion that can be motorized and / or remotely operated, and selectable degrees of freedom of motion that can be non-motorized and / or non-remotely operated. The manipulator assembly 102 can be mounted to an operating table T or a main support 114 (e.g., a movable trolley, support, second unit, etc.). The system may include a main controller 106 configured to allow an operator O (e.g., a surgeon, clinician, physician, etc.) to observe the intervention site and control the manipulator assembly 102.

[0031] The main controller 106 of system 100 may be located near the operating table T or in the same room as the operating table T. In some embodiments, for example, the main controller 106 is positioned near the side of the operating table T where the patient P is located. However, it should be understood that the operator O may be located in a different room or at any distance from the patient P. The main controller 106 typically includes one or more input and control devices (not shown) for controlling the medical device 104 via the instrument manipulator 120. The input and control devices may include any number of various input devices, such as joysticks, trackballs, data gloves, trigger guns, manual controllers, voice recognition devices, body motion or presence sensors, etc. The input and control devices may have the same degrees of freedom as the associated medical device to take advantage of the operator O's familiarity with directly controlling similar instruments. In this respect, the control devices may provide the operator O with telepresence or a sense of integration between the control devices and the medical device. However, the input and control devices may have more or fewer degrees of freedom than the associated medical device 104 and still provide telepresence to the operator O. In some embodiments, the control device may optionally be a manual input device that moves in six degrees of freedom, and the manual input device may also include an actuable handle for actuating instruments (e.g., for closing a gripper, applying a potential to an electrode, delivering medication, etc.).

[0032] The input and control devices of the main controller 106 may include a roller and a trackball. In an example embodiment of system 100, the roller may roll forward or backward to control the advance or retraction of the medical device 104 relative to the patient's anatomy, and the operator O may roll the trackball in various directions to manipulate the orientation of the distal portion and / or distal tip of the medical device 104, for example, to control flexion or articulation. Various systems and methods associated with motion control consoles are described in PCT Publication No. 2019 / 027922 (filed July 30, 2018, entitled "Systems and Methods for Safe Operation of a Device") and U.S. Patent Publication No. 2019 / 0029770 (filed July 30, 2018, entitled "Systems and Methods for Steerable Elongate Device"), the entire contents of which are incorporated herein by reference.

[0033] like FIG. 1AAs shown, the instrument manipulator 120 can be configured to support and manipulate a medical device 104, which has a kinematic structure of one or more non-servo-controlled links (e.g., one or more links that can be manually positioned and locked into place, commonly referred to as a setup structure (SUS)) and / or one or more servo-controlled links (e.g., one or more power links that can be controlled in response to commands). The instrument manipulator 120 may include a plurality of actuators or motors that drive inputs on the medical device 104 in response to commands from the control system 112. The actuators may include a drive system that, when coupled to the medical device 104, can propel the medical device 104 into a natural or surgically generated anatomical orifice in the patient P. In some embodiments, the kinematic structure may be locked in place or unlocked for manual manipulation by an operator O through interaction with switches, buttons, or other types of input devices.

[0034] The instrument manipulator 120 can be configured to position the medical instrument 104 in an optimal orientation and orientation relative to the patient's anatomy or other medical devices. In this regard, a drive system may be included in the instrument manipulator 120 to move the distal end of the medical instrument 104 according to any desired degrees of freedom, which may include three linear degrees of motion (e.g., linear motion along the X, Y, and / or Z Cartesian axes) and three rotational degrees of motion (e.g., rotation about the X, Y, and Z Cartesian axes). Additionally, an actuator may be used to actuate a hinged end effector (not shown) of the medical instrument 104 for grasping tissue in the jaws of a biopsy device or the like. Actuator position sensors, such as resolvers, encoders, potentiometers, and other mechanisms, may provide system 100 with sensor data describing the rotation and orientation of the motor shaft of the instrument manipulator 120. Such position sensor data can be used to determine the motion of the object manipulated by the actuator.

[0035] In some embodiments, optimal position and orientation may include alignment of the manipulator assembly 102 relative to the anatomical structure of the patient P, for example, to minimize friction of the medical device 104 located within the anatomical structure of the patient P (e.g., in anatomical openings, the patient's vascular system, intracavitary passages, etc.) or within medical devices coupled to the patient's anatomy (e.g., cannulas, endotracheal tubes (ETTs), laryngeal esophageal masks (LMAs), etc.). Optimal position and orientation of the manipulator assembly 102 may additionally or alternatively include optimizing the ergonomics of the operator O by providing sufficient workspace and / or ergonomic access to the medical device 104 when various medical tools (such as needles, grippers, scalpels, clips, ablation probes, visualization probes, etc.) are used with the medical device 104.

[0036] Each adjustment of the manipulator assembly 102 (e.g., insertion, rotation, translation, etc.) can be actuated by robotic control or by manual intervention of operator O. For example, each rotation or linear adjustment can be held in a fixed configuration by using brakes. At this point, pressing one or more buttons and switches releases one or more corresponding brakes, allowing operator O to manually position the medical device 104 by positioning the instrument manipulator 120. One or more adjustments can also be controlled by one or more actuators (e.g., motors), allowing the operator to actuate the motor using buttons or switches to change the manipulator assembly 102 in a desired manner, thereby positioning the manipulator assembly 102 in an optimal orientation and orientation. In some embodiments, robotic control of the manipulator assembly 102 can be actuated by activating a button or switch. In one example, one orientation of the button or switch can initiate a powered rotation of the manipulator assembly 102 in a first rotational direction, and another orientation of the button or switch can initiate a powered rotation of the manipulator assembly 102 in another direction.

[0037] The manipulator assembly 102 can be configured such that when a button or switch is activated, operator O can adjust the instrument manipulator 120 along a linear path corresponding to the insertion or retraction of the medical device 104. For safety purposes, the manipulator assembly 102 may only be manually movable in one translational direction (e.g., retraction) and may not be manually movable in the insertion direction of the medical device 104 to prevent operator O from unintentionally or unnecessarily advancing the medical device into the anatomy of patient O.

[0038] like FIG. 1A As shown, system 100 may include a sensor system 108 having one or more subsystems for receiving information about a device coupled to device manipulator 120. Such subsystems may include an orientation / position sensor system (e.g., an electromagnetic (EM) sensor system); a shape sensor system for determining the orientation, orientation, rate, velocity, posture, and / or shape of a distal portion and / or along one or more segments of a flexible body that may form part of medical device 104; and / or a visualization system for capturing images from the distal portion of medical device 104 among other possible sensors.

[0039] Let's refer to it again. FIG. 1B and FIG. 2ASystem 100 may further include a display system 110 for displaying images or representations of the surgical site and medical device 104 generated by sensor system 108 recorded before or during surgery. Display system 110 may use image data and / or real-time images from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), fluorescence examination, temperature recording, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, endoscopic images, and combinations thereof. Preoperative or intraoperative image data may be presented as two-dimensional, three-dimensional, or four-dimensional images (including, for example, time-based or velocity-based information) and / or images from models created from preoperative or intraoperative image datasets. Display system 110 and main controller 106 may be oriented such that operator O can control medical device 104 and main controller 106 via remotely presented perception.

[0040] The display of visual indicators, markers, and / or images on the display system 110 can be altered via input devices (e.g., buttons, switches, etc.) on the manipulator assembly 102 and / or the main controller 106. For example, actuating a button or switch can place a marker within a rendered model of the patient's anatomy displayed on the display system 110. The marker may correspond to an area within the patient's body where a procedure (e.g., biopsy) has been performed, or otherwise indicate the actual location of a medical device within the patient's anatomy. Such virtual navigation markers can be dynamically referenced using registered preoperative or concurrent images or models. Systems and methods for registration are provided in PCT Publication No. WO2016 / 191298 (published December 1, 2016, entitled "Systems and Methods of Registration for Image Guided Surgery") and U.S. Patent No. 8,900,131 (filed May 13, 2011, entitled "Medical System Provide Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery"), the entire contents of which are incorporated herein by reference.

[0041] Control system 112 may include at least one memory and at least one computer processor (not shown) for implementing control between medical device 104, main controller 106, sensor system 108, and display system 110. Control system 112 may also include programming instructions that can be stored on a non-transitory machine-readable medium to implement some or all of the methods described according to aspects of the art disclosed herein, including instructions for providing information to display system 110. Control system 112 may include two or more data processing circuits, with some processing optionally performed on or near manipulator assembly 102, and other processing performed at main controller 106, etc. The processor of control system 112 can execute instructions of the processes disclosed herein. Any of a variety of centralized or distributed data processing architectures can be employed. Similarly, programming instructions may be implemented as multiple separate programs or subroutines, or they may be integrated into multiple other aspects of the remote operating system described herein. In one embodiment, the control system 112 supports wireless communication protocols such as Bluetooth, IrDA (Infrared Data Communication), HomeRF (Home Radio Frequency Technology), IEEE 802.11, DECT (Digital Enhanced Wireless Communication System), wireless telemetry, and the like.

[0042] The control system 112 can receive force and / or torque feedback from the medical device 104. In response, the control system 112 can send a signal to the main controller 106. In some embodiments, the control system 112 can send a signal instructing one or more actuators of the manipulator assembly 102 to move the medical device 104. The medical device 104 can extend into an internal surgical site within the patient P's body through an opening in the patient P's body. Any suitable conventional and / or specialized actuators can be used with the manipulator assembly 102. One or more actuators can be separate from or integrated with the manipulator assembly 102. In some embodiments, one or more actuators and the manipulator assembly 102 are provided as part of a main support 114, which can be positioned adjacent to the patient P and the operating table T. In some embodiments, the manipulator assembly 102, the control system 112, the sensor system 108, and the display system 110 can be supported by the main support 114, or some or all of these components can be integrated into the main support 114. Alternatively, one or more of these components may be mounted to the operating table T or integrated into the main controller 106.

[0043] The control system 112 may also include a virtual visualization system to provide navigation assistance to the operator O when controlling the medical device 104 during an image-guided surgical procedure. Virtual navigation using the virtual visualization system may be based on a reference to a preoperative or intraoperative dataset of acquired anatomical pathways. During the virtual navigation procedure, the sensor system 108 may be used to calculate the approximate position of the medical device 104 relative to the anatomical structure of the patient P. This position can be used to generate macroscopic tracking images (outside the anatomical structure of the patient P) and virtual images (inside the anatomical structure of the patient P). The control system 112 may implement one or more EM sensors, fiber optic sensors, and / or other sensors to register and display the medical device and preoperatively recorded surgical images, such as those from the virtual visualization system. For example, PCT Publication No. WO2016 / 191298 (published December 1, 2016, entitled “Systems and Methods of Registration for Image Guided Surgery”) discloses such a system, the entire contents of which are incorporated herein by reference. Various systems and methods for monitoring the shape and relative orientation of optical fibers in three dimensions are described in U.S. Patent Nos. 7,781,724 (filed September 26, 2006, entitled "Fiber Optic Position and Shape Sensing Device and Method Relating Thereto"), 7,772,541 (filed March 12, 2008, entitled "Fiber Optic Position and / or Shape Sensing Based on Rayleigh Scatter"), and 6,389,187 (filed June 17, 1998, entitled "Optical Fiber Bend Sensor"), the entire contents of which are incorporated herein by reference.

[0044] System 100 may also include optional operating and support systems (not shown), such as lighting systems, steering control systems, irrigation systems, and / or suction systems. In some embodiments, system 100 may include more than one manipulator assembly and / or more than one master controller. The exact number of remotely operated manipulator assemblies may be customized to factors such as the surgical procedure to be performed and / or space constraints within the operating room. Multiple master controllers may be juxtaposed or located in separate locations. Multiple master controllers allow more than one operator to control one or more remotely operated manipulator assemblies in various combinations.

[0045] The device manipulator 120 can be configured to support and position the elongated device 126 of the medical device 104. Various elongated devices are described in PCT Publication No. WO2019 / 018736 (filed July 20, 2018, entitled "Flexible Elongate Device Systems and Methods"), the entire contents of which are incorporated herein by reference.

[0046] FIG. 2B and FIG. 2A This is a left-side view of the manipulator assembly 102 of a system 100 configured according to an embodiment of the present technology. The manipulator assembly 102 typically includes an instrument manipulator 120 having a bracket 122 for mounting one or more instruments. For example, the bracket 122 may be configured to receive an instrument interface 124 of a medical device 104, such that the medical device 104 is selectively coupled to the instrument manipulator 120 prior to a medical procedure. FIG. 2B The medical device 104 is shown, which has a device fiber optic connector 128 protruding from the device interface 124 and removable from the bracket 122; FIG. 1A A medical device 104 is shown mounted with a bracket 122. When the medical device 104 is mounted with the bracket 122, at least a portion of an elongated device 126 extends beyond the bracket 122 to dock with a patient P (not shown) and can be used with system 100 ( FIG. 3 and 1B During this period, the device is manipulated by instrument manipulator 120. In this respect, instrument manipulator 120 can be configured to insert and retract the elongated device 126 relative to the patient's anatomy by telescopically moving relative to the patient, and can affect other movements within the degrees of freedom of the elongated device 126. Various manipulation configurations associated with the manipulator assembly are described in PCT application number PCT / US19 / 54718 (filed October 4, 2019, entitled "Systems and Methods for Positioning Medical Instruments"), the entire contents of which are incorporated herein by reference.

[0047] FIG. 2A It is in the installation of instrument interface 124 (e.g., such as FIG. 2A (As shown) A perspective view of a portion of the bracket 122 of the instrument manipulator 120. As described above, the bracket 122 of the instrument manipulator 120 can be configured to receive the instrument interface 124 ( FIG. 2B and FIG. 1A ) and may include responses to the control system 112 ( FIG. 4A-FIG. 5The command drives multiple actuators or motors corresponding to the inputs on the instrument interface 124. As shown, the bracket 122 also includes a shielded bracket fiber optic connector (“Bracket Fiber Optic Connector 130”) configured as a receiver instrument fiber optic connector 128. The bracket fiber optic connector 130 can be configured to engage with a floating fiber optic interface to enable easy fiber optic connection in multiple degrees of freedom, which will be referred to below. FIG. 2A A more detailed explanation is needed. Therefore, please refer to the following: FIG. 2B , FIG. 3 and FIG. 4A-FIG. 5 When the instrument fiber optic connector 128 is inserted and connected to the bracket fiber optic connector 130 of the instrument interface 124, the operator O may not need to perfectly align the end of the instrument fiber optic connector 128 during insertion, thus providing flexibility for the operator O. The floating interface also prevents misalignment of the connector, thereby reducing the possibility of damage to one or more fibers and allowing for proper and complete connection of the cut ends of one or more fibers.

[0048] FIG. 2B Aspects of system 100 are shown, system 100 being configured to reduce medical device 104 and device manipulator 120 (not shown here - see [link]). FIG. 4A Friction at the fiber optic connection between the two components. First, refer to... FIG. 3 For example, for illustrative purposes, the bracket fiber optic connector 130 is shown removed from the housing or protective cover of the bracket 122. The illustrated embodiment includes a floating fiber optic interface assembly (“floating fiber optic interface 160”) that holds the bracket fiber optic connector 130 and together provides a friction-reducing component. The floating fiber optic interface 160 provides the bracket fiber optic connector 130 with various degrees of freedom to move relative to the bracket 122 and reduces contact friction between the fiber optic connector 128 and the walls of the bracket fiber optic connector 130 during installation of the medical device 104. As described above, reducing friction between the connectors can reduce particle generation and lower the risk of damaging the cleaved ends of the optical fiber.

[0049] The bracket fiber optic connector 130 can be positioned relative to the bracket 122 such that only the connector well 136 of the bracket fiber optic connector 130 is visible (see [reference]). FIG. 4A In this respect, such as FIG. 4C and FIG. 4BAs shown, the housing or protective cover of the bracket 122 can mate with a connector lip 134 positioned on the bracket fiber optic connector 130 near the connector well 136. The connector lip 134 can be sized and configured to fill any gaps formed around the connector well 136 to prevent debris and contaminants from entering the internal area of ​​the bracket 122. In these embodiments, the degrees of freedom of the floating fiber optic interface 160 can affect the dimensions of the connector lip 134 such that when the floating fiber optic interface 160 reaches the travel limits of the bracket fiber optic connector 130, the connector lip 134 prevents debris and contaminants from entering.

[0050] The floating fiber optic interface 160 can be configured to allow the bracket fiber optic connector 130 to float in a floating plane (e.g., the XY plane, see below). FIG. 4A It translates relative to bracket 122. FIG. 4C In the illustrated orientation, the floating fiber optic interface 160 typically allows only significant lateral movement of the bracket fiber optic connector 130 within a floating plane whose normal is the insertion direction (e.g., the Z-direction) of the instrument fiber optic connector 128, thereby providing sufficient support for the bracket fiber optic connector 130 during installation of the medical device 104. In some embodiments, components of the floating fiber optic interface 160 have tolerances that allow relatively small amounts of movement in directions other than lateral translation (i.e., movement in the Z-direction, and rotation about the X, Y, and Z axes, and combinations thereof).

[0051] The floating fiber optic interface 160 may include a pair of retaining brackets 162 positioned in an opposing configuration on the sides of the bracket fiber optic connector 130. The retaining brackets 162 may be configured to support a translational socket 164 in the direction of insertion of the instrument fiber optic connector 128 (e.g., the Z direction) and allow sliding translation within a floating plane (e.g., the XY plane). The retaining brackets 162 may include a slot 182 configured to constrain the translational socket 164 in a direction perpendicular to the floating plane and allow translation of the translational socket 164 confined within the floating plane. To achieve such movement, the translational socket 164 may include a tab 184 extending into the slot 182, the tab 184 being sized and configured to restrict movement in a direction perpendicular to the floating plane while allowing translation within the floating plane. In the illustrated embodiment, each retaining bracket 162 includes two slots 182, and the translation socket 164 correspondingly has four tabs 184; however, in other embodiments, the floating fiber optic interface 160 includes any number of retaining brackets 162, slots 182, and tabs 184 suitable for the desired degrees of freedom of the bracket fiber optic connector 130. The retaining brackets 162 may also include various fasteners or other mounting features, such as screws 168, to couple the floating fiber optic interface 160 to the bracket 122. In this respect, the retaining brackets 162 may be rigidly connected to the bracket 122, thereby allowing the bracket fiber optic connector 130 to translate via movement of the translation socket 164 relative to the retaining brackets 162.

[0052] The translation socket 164 may also include a stabilizing extension 166 to resist significant rotation of the bracket fiber optic connector 130 relative to the floating plane (e.g., tilting of the bracket fiber optic connector 130). FIG. 4D and FIG. 4A As shown, for example, the bracket fiber optic connector 130 may have a ledge 138 that mates with the translation socket 164 to control the insertion depth of the bracket fiber optic connector 130 into the floating fiber optic interface 160. The configuration of the ledge 138 provides support for the bracket fiber optic connector 130 during installation of the medical device 104 and may include locking features, such as a retaining screw 180, to prevent separation of the bracket fiber optic connector 130 and the floating fiber optic interface 160 during removal of the medical device 104. In the installation orientation, such as... FIG. 4B As shown, flange 138 abuts against the upper surface of translation socket 164 to set the insertion depth.

[0053] FIG. 4C-FIG. 4FThis is a cross-sectional view of the floating fiber optic interface 160, typically shown from a viewpoint perpendicular to the translation plane of the translation socket 164 (and the bracket fiber optic connector 130 is hidden for clarity). The translation socket 164 includes a connector opening 190 into which the bracket fiber optic connector 130 is inserted during assembly to the floating fiber optic interface 160. The retaining bracket 162 typically captures the translation socket 164 in two directions perpendicular to the translation plane of the floating fiber optic interface 160; however, it allows for in-plane biasing movement during the mounting of the medical device 104 to reduce friction on the connector. To provide biasing movement, the retaining bracket 162 may each include a biasing element (e.g., a helical spring 170 held by a spring retainer 172) that applies opposing biasing forces to the translation socket 164 via arms 174 projecting from the retaining bracket 162. The distal end of the arm 174 includes a head 176 configured to abut against the spring 170 on a first side and against a cam socket 178 of the translation socket 164 on a second side.

[0054] During translation of the translation socket 164 in the positive X direction, the movement of the translation socket 164 toward one of the retaining brackets 162 is transmitted to the corresponding head 176 via the cam socket 178, causing one of the arms 174 to deflect and press the spring 170 against the spring retainer 172. The compression of the spring 170 in the translational direction biases the translation socket 164 back to a neutral position where the spring forces are balanced. In embodiments where the two springs 170 have equal spring forces, the neutral position will be centered between the springs 170. The aforementioned movement in the positive X direction also causes the translation socket 164 to move away from the other of the retaining brackets 162, releasing the pressure on the corresponding spring 170, which may cause the spring 170 to extend and deflect the arm 174, so that the head 176 remains in contact with the cam socket 178 during translation. At this point, both the arm 174 and the head 176 move relative to each other (e.g., in the same direction) as the translation socket 164 moves, while one of the springs 170 is compressed and the other of the springs 170 is extended.

[0055] During translation of the translation socket 164 in the positive Y direction, the non-linear profile of the surface of the cam socket 178 in the Y direction causes each head 176 to move away from the translation socket 164 in opposite directions, thereby deflecting the arms 174 away from each other. Thus, the arms 174 can function as cantilever springs. The deflection of the arms 174 away from each other simultaneously compresses both springs 170, thereby biasing the translation socket 164 back to a neutral position, typically in the valley of the illustrated profile of the cam socket 178. In the illustrated configuration, translation of the translation socket 164 in the opposite negative Y direction has a similar effect on the heads 176, springs 170, and arms 174, again biasing the translation socket 164 back to a neutral position. In other embodiments, the profile of the surface of the cam socket 178 can have any suitable profile (e.g., linear, arcuate, etc.) configured to bias the translation socket 164 in a desired manner, and may not have equal bias in the positive and negative Y directions.

[0056] The floating fiber optic interface 160 may also include one or more features to restrict the travel of the translation socket 164 in any degree of freedom. As shown, for example, the floating fiber optic interface 160 may include a stop pin 186 extending through one or both retaining brackets 162. The stop pin 186 may extend through a travel limiting hole 188 in the translation socket 164, which is sized and configured to limit the translation of the translation socket 164. As shown, the stop pin 186 may be stationary during translation of the translation socket 164. At the desired translation limit, the edge of the travel limiting hole 188 contacts the stop pin 186 to stop the translation of the translation socket 164. The hole 188 is shown as a square to correspondingly limit the travel in each X and Y direction, with a longer limitation for combinations of translation in the X and Y directions; however, any travel limiting shape is within the scope of this technology.

[0057] Turning FIG. 4D-FIG. 4FThe embodiments for reducing friction in the bracket fiber optic connector 130 will now be explained in more detail. The inner surface of the bracket fiber optic connector 130 and the cut end of the fiber optic cable 148 therein can be further protected from debris and contamination by a pair of opposing baffles 132 configured to substantially seal the inner well of the bracket fiber optic connector 130 when the instrument fiber optic connector 128 is not inserted. The fiber optic cable 148 may be at least partially made of silica or other similar materials. In some embodiments, the fiber optic cable 148 comprises a plurality of individual fibers. The baffles 132 may be biased toward a closed position. The baffles 132 may be pivoted toward the inner wall of the connector well 136 by manual manipulation, such as during insertion of the instrument fiber optic connector 128, or by an automated system, such as having actuators, motors, electromagnetic forces, etc. In embodiments with automated baffles 132, one or more sensors may be positioned and configured to send a signal to retract the baffles 132 when the instrument fiber optic connector 128 approaches, when the medical device 104 is mounted on the bracket 122, etc.

[0058] The baffle 132 may be made of polymer, metal, composite material, ceramic, and / or some other material or combination thereof. For example, the baffle 132 may be at least partially made of a metal (e.g., aluminum) plated with another metal (e.g., nickel). Contact between the instrument fiber optic connector 128 and the baffle 132, and subsequent friction / slippage between the instrument fiber optic connector 128 and the baffle 132, may generate loose particles of material from the instrument fiber optic connector 128 and / or the baffle 132. These particles may deposit on the cleaved end of the optical fiber 148. When the instrument fiber optic connector 128 is fully connected to the bracket fiber optic connector 130, the particles present on the cleaved end of the optical fiber 148 may damage the optical fiber 148. More specifically, particles may become trapped between the optical fiber 148 of the bracket fiber optic connector 130 and the optical fiber of the instrument fiber optic connector 128. These particles may scratch, shred, and / or otherwise damage the exposed portion of the optical fiber 148. Damage to fiber optic cable 148 can impair and / or destroy the quality and reliability of information transmitted from various components of system 100 through fiber optic cable 148.

[0059] Conventional remedies or solutions to avoid damage from the aforementioned particles include wiping the ferrules of fiber optic 148 and / or the bracket fiber optic connector 130 with a cloth, cotton swab, or other cleaning material. Other solutions include, for example, inserting a clean instrument into the bracket fiber optic connector 130 before connecting the instrument fiber optic connector 128 to the bracket fiber optic connector 130. While these solutions can remove pre-existing particles from the fiber optic cable, they do not address or resolve the generation of particles that occurs during the connection between the instrument fiber optic connector 128 and the bracket fiber optic connector 130.

[0060] like FIG. 4BAs shown, the bracket fiber optic connector 130 configured according to this technology may further include a friction-reducing roller 146 positioned on at least one side of the connector well 136 of the bracket fiber optic connector 130. The roller 146 may be positioned to abut against the instrument fiber optic connector 128 and bias the instrument fiber optic connector 128 toward the side of the connector well 136 opposite to the roller 146. In this respect, the roller may be biased by a cantilever spring 140 at one end, for example, by fastener 142, attached to the bracket fiber optic connector 130. The end of the cantilever spring 140 having the roller 146 may include a support feature 144 to provide a gap between the roller 146 and the cantilever spring 140, thereby allowing the roller 146 to rotate freely during insertion of the instrument fiber optic connector 128. FIG. 4F As shown, the connector opening 190 may include a release notch 192 to provide clearance for the deflection of the cantilever spring 140 during insertion of the instrument fiber optic connector 128.

[0061] When the instrument fiber optic connector 128 is inserted into the bracket fiber optic connector 130, a portion of the instrument fiber optic connector 128 contacts the roller 146, causing the cantilever spring 140 to gradually deflect away from the connector well 136 (see...). FIG. 5 The biasing force of the cantilever spring 140 pushes the instrument fiber optic connector 128 toward the surface opposite the roller 146 during insertion, thereby reducing the surface contact area between the instrument fiber optic connector 128 and the bracket fiber optic connector 130, which can reduce the chance of particle generation. In some embodiments, multiple rollers may be used to reduce friction between the instrument fiber optic connector 128 and the bracket fiber optic connector 130. Additional rollers 146 may be positioned on the same side, opposite side, and / or adjacent side of the connector well 136 as rollers 146. In these embodiments, the bracket fiber optic connector 130 may include two rollers on opposite sides of the connector well 136, two rollers on the same side of the connector well 136, one or more rollers on each of the four sides of the connector well 136, or any combination thereof. The floating fiber optic interface 160 and the rollers 146 may be used independently or in combination to reduce friction during the installation of the medical device 104. In embodiments where the floating fiber optic interface 160 is used in conjunction with one or more rollers 146, aspects of each component can further reduce the overall friction between the instrument fiber optic connector 128 and the bracket fiber optic connector 130.

[0062] FIG. 4A A perspective view of another embodiment of a floating fiber optic interface assembly (“floating fiber optic interface 160”) is shown, which holds the bracket fiber optic connector 130 and together provides a friction-reducing component. The floating fiber optic interface 160 is similar to the one described above. FIG. 4A The floating fiber optic interface 160 has similarities to it. Therefore, unless otherwise stated, some features of the floating fiber optic interface 160' are used with...FIG. 1B The same superscript symbol (') indicates the corresponding number for similar features of the floating fiber optic interface 160. The floating fiber optic interface 160' can provide various degrees of freedom for the bracket fiber optic connector 130 relative to the bracket 122 ( FIG. 4B This reduces contact friction between the walls of the fiber optic connector 128 and the bracket fiber optic connector 130 during the installation of the medical device 104.

[0063] The floating fiber optic interface 160' can be configured to allow the bracket fiber optic connector 130 to float in a floating plane (e.g., the XY plane, see below). FIG. 5 It is translated within the device fiber optic connector 128 and translated relative to the bracket 122 in the insertion direction (e.g., the Z direction).

[0064] The floating fiber optic interface 160' includes a pair of retaining brackets 162' positioned in a relative configuration on the sides of the bracket fiber optic connector 130. The retaining brackets 162' can be configured to support a translation socket 164' during sliding translation in a floating plane (e.g., an XY plane). The retaining brackets 162' may include a slot 182' configured to constrain the translation socket 164' in a direction perpendicular to the floating plane and allow translation of the translation socket 164' confined within the floating plane. To achieve such movement, the translation socket 164' may include a tab 184' extending into the slot 182', designed and configured to restrict movement of the translation socket 164' relative to the retaining brackets 162' in a direction perpendicular to the floating plane, while allowing translation within the floating plane (the translation socket 164' may also translate relative to the bracket 122 in a direction perpendicular to the floating plane, as will be explained below).

[0065] In the illustrated embodiment, each retainer 162' includes two slots 182', and the translation socket 164' correspondingly has four tabs 184'; however, in other embodiments, the floating fiber optic interface 160' includes any number of retainers 162', slots 182', and tabs 184' suitable for the desired degrees of freedom of the carriage fiber optic connector 130. The retainers 162' may further include various fasteners or other mounting features, such as screws 168', to movably couple the floating fiber optic interface 160' to the carriage 122. The retainers 162' can be slidably connected to the carriage 122 by configuring the retainers 162' to have a hole 175, the size and shape of which is designed to translate axially along the axial portion 173 of the screw 168' (e.g., the unthreaded shoulder 173 of a shouldered screw 168' or other suitable fastener), which allows the carriage fiber optic connector 130 to translate relative to the carriage 122 in the insertion direction.

[0066] fromFIG. 6 The orientation of the floating fiber optic interface 160' shown allows for bias movement of the bracket fiber optic connector 130 via movement of the floating fiber optic interface 160' in the insertion direction (e.g., the negative Z direction) of the instrument fiber optic connector 128. During such movement, the screw 168' is stationary relative to the bracket 122, and the retaining bracket 162' of the floating fiber optic interface 160' travels along the axial portion 173 of the screw 168' until the head 169 of the screw 168' abuts the lower surface of the retaining bracket 162' to stop translation. An insertion biasing element (e.g., a helical spring 171 held by the head 169) provides a connection force (e.g., a bias force in the positive Z direction) during insertion of the fiber optic connector 128 into the bracket fiber optic connector 130, thereby providing adequate support for the bracket fiber optic connector 130 during installation of the medical device 104. In this respect, the helical spring 171 is configured to bias the head 169 away from the retaining bracket 162'. At the end of the journey in the insertion direction, the head 169 may optionally be adjacent to the retaining bracket 162' to further ensure the fiber optic connection.

[0067] The translation socket 164' may include a lower flange portion 165 having an extension 185 in the direction of the screw 168'. The extension 185 may include a cavity 187 configured to receive at least a portion of the head 169 of the screw 168' and hold the screw 168' together with the floating fiber optic connector 160' until the screw 168' is screwed into the bracket 122. Holding the screw 168' through the cavity 187 also resists the force of the coil spring 170 to hold the retaining bracket 162' together with the translation socket 164' until installation. The cavity 187 may have a lower opening (not shown) that allows a tool (e.g., a hex wrench, not shown) to access the head 169 to install and remove the screw 168'. The translation socket 164' may also include a stabilizing extension 166' to resist significant rotation of the bracket fiber optic connector 130 relative to the floating plane (e.g., tilting of the bracket fiber optic connector 130).

[0068] FIG. 6 Another embodiment of a friction-reducing interface between medical device 204 and instrument manipulator 220 configured for use with system 100 is shown. Instrument manipulator 220 may include a translation alignment plate 282 coupled to the upper surface of bracket 222. FIG. 1A-FIG. 3 The medical device 204 and the device manipulator 220 shown have some features similar to those described above. FIG. 6 The features of medical device 104 and device manipulator 120. Therefore, unless otherwise stated, the features of medical device 204 and device manipulator 220 are represented in the 200 series by the same numbers corresponding to the similar features of medical device 104 and device manipulator 120 represented in the 100 series.

[0069] The translation alignment plate 282 can be configured to linearly translate from a first position above the upper surface of the bracket 222, where the instrument fiber optic connector 228 is not inserted into the bracket fiber optic connector 230, to a second position adjacent to the bracket 222, where the instrument fiber optic connector 228 is inserted into the bracket fiber optic connector 230. The translation alignment plate 282 may include one or more telescopic supports 232 that restrict the translation alignment plate 282 to linear translation. The supports 232 may also be configured to suppress the translation of the translation alignment plate 282 to control the connection rate between the instrument fiber optic connector 228 and the bracket fiber optic connector 230, as high-pulse connections can damage the cleaved ends of the optical fibers.

[0070] like FIG. 4A-FIG. 4F As shown, the translation alignment plate 282 also includes a fiber optic connector channel 284 to receive the instrument fiber optic connector 228 when the medical device 204 initially mates with the translation alignment plate 282 in a first orientation. The translation alignment plate 282 may also include one or more alignment marks 294 configured to position the medical device 204 relative to the translation alignment plate 282 such that the instrument fiber optic connector 228 is generally aligned with the bracket fiber optic connector 230 as the translation alignment plate 282 moves from the first orientation to a second orientation. To form a connection between the instrument fiber optic connector 228 and the bracket fiber optic connector 230, the medical device 204 is first aligned and coupled to the translation alignment plate 282, and then the medical device 204 and the translation alignment plate 282 are simultaneously lowered from the first orientation to the second orientation, inserting the instrument fiber optic connector 228 into the bracket fiber optic connector 230. The lowering of the translation alignment plate 282 can be manual or automatic, for example, using one or more motors and sensors (not shown). In other embodiments, the translation alignment plate 282 may not be lowered until the cleanliness of one or more system components has been verified by sensors (not shown) or manually. In some embodiments, the baffle of the bracket fiber optic connector 230 may be configured to open when the medical device 204 is coupled to the translation alignment plate 282 (automatically opened using a sensor / motor combination, or manually opened via a mechanical linkage).

[0071] The translation alignment plate 282 can be used independently or with... FIG. 7A The floating fiber optic interface 160 and / or roller 146 are used in combination to reduce friction during the installation of the medical device 104. In embodiments where the translation alignment plate 282 is used in combination with the floating fiber optic interface 160 and / or one or more rollers 146, aspects of each component can further reduce overall friction between the device fiber optic connector 128 and the bracket fiber optic connector 130.

[0072] As the translation alignment plate 282 lowers from the first position to the second position, various other mechanical and / or electrical connections are formed between the bracket 222 and the medical device 204. To facilitate mechanical connections, the translation alignment plate 282 may include various openings for movement via controls of the instrument manipulator 220, such movement being transmitted to various receiving components of the medical device 204. Similarly, the translation alignment plate 282 may include electrical connectors to form a connection between the instrument manipulator 220 and the medical device 204. In some embodiments, the translation alignment plate 282 has one or more intermediate components to transmit movement and / or signals from the instrument manipulator 220 to the medical device 204. In embodiments with intermediate components, the translation alignment plate 282 may serve as a clean connection for a sterile environment, such as a curtain coupled to the periphery of the translation alignment plate 282.

[0073] FIG. 7B and FIG. 7A Another embodiment of a friction-reducing interface between a medical device 304 and a device manipulator 320 configured for use with system 100 is shown. The device manipulator 320 may include an alignment spar 394 positioned on the device manipulator 320 adjacent to a bracket 322. FIG. 7B and FIG. 1A-FIG. 3 The medical device 304 and the device manipulator 320 shown have some features similar to those described above. FIG. 7B The features of medical device 104 and device manipulator 120 are therefore, unless otherwise stated, the features of medical device 304 and device manipulator 320 are represented in the 300 series by the same numbers corresponding to the similar features of medical device 104 and device manipulator 120 represented in the 100 series.

[0074] The alignment spar 394 can protrude from the housing or protective cover of the instrument actuator 320. For example... FIG. 7A As shown, the alignment spar 394 may have a mating surface 396 that substantially corresponds to the size, shape, and profile of the outer surface of the instrument interface 324 of the medical device 304. See again. FIG. 7B and FIG. 7CFor example, the mating surface 396 may be arcuate and configured to tightly abut against the instrument interface 324 to guide the alignment of the medical device 304 with the bracket 322 during insertion of the instrument fiber optic connector 328 into the bracket fiber optic connector 330. At this point, as operator O (not shown) installs the medical device 304 with the bracket 322, operator O initially engages the mating surface 396 with the instrument interface 324 while the instrument fiber optic connector 328 remains disengaged from the bracket fiber optic connector 330. As operator O lowers the medical device 304 (moving it toward the bracket 322), the instrument interface 324 remains in contact with the mating surface 396 to provide path alignment between the instrument fiber optic connector 328 and the bracket fiber optic connector 330. As the medical device 304 moves further toward the bracket 322 (and the instrument interface 324 maintains contact with the mating surface 396), friction between the instrument fiber optic connector 328 and the bracket fiber optic connector 330 can be reduced during insertion because they can be roughly aligned before contact.

[0075] FIG. 7C Another embodiment of a friction-reducing interface between a medical device 304 and an instrument manipulator 320 configured for use with system 100 is shown. In some embodiments, the mating surface 396 may include a clocking feature, such as a keyway 325 extending in the instrument interface 324 and configured to abut against a key protrusion 397 extending from the mating surface 396 of the instrument manipulator 320. The abutment of the keyway 325 and the key protrusion 397 is configured to orient the medical device 304 relative to the carrier 322. Although in FIG. 7D The key protrusion 397 extends from the engagement surface 396, but in other embodiments, the key protrusion 397 can be used to orient the medical device 304 without the alignment spar 394, wherein the key protrusion 397 can extend from the device manipulator 320.

[0076] FIG. 4A-FIG. 5Another embodiment of a friction-reducing interface between a medical device 304 and an instrument manipulator 320 configured for use with system 100 is shown. In some embodiments, the bracket 322 may include a synchronization feature, such as a pin 398, extending from the bracket 322 and configured to abut a notch 327 in the instrument interface 324. The abutment of the notch 327 and the pin 398 is configured to orient the medical device 304 relative to the bracket 322. As shown, a plurality of pins 398 and corresponding notches 327 may be used to orient the medical device 304 relative to the bracket 322. In other embodiments, the pins 398 are tapered to gradually orient the medical device 304 as it is lowered toward the bracket 322. Although the pins 398 are shown extending from the instrument manipulator 320 having an alignment spar 394, in other embodiments, the pins 398 may be used to orient the medical device 304 without the alignment spar 394.

[0077] The aligning spar 394 can be used alone or in conjunction with... FIG. 7C The floating fiber optic interface 160, roller 146 and / or translation alignment plate 282 and / or with FIG. 7D and FIG. 8 The synchronization features are used in combination to reduce friction during the installation of the medical device 104. In embodiments where the alignment spar 394 is used in conjunction with the floating fiber optic interface 160, one or more rollers 146 and / or the translation alignment plate 282, aspects of each component can further reduce the overall friction between the device fiber optic connector 128 and the bracket fiber optic connector 130.

[0078] FIG. 8 Another embodiment of a friction-reducing interface between medical devices 404 configured for use with system 100 is shown. The device fiber optic connector 428 may include a tapered kinematic surface 440 positioned on the distal portion of the device fiber optic connector 428. FIG. 1A-FIG. 3 The medical device 404 shown has some features similar to those described above. FIG. 4A-FIG. 7B The features of medical device 104. Therefore, unless otherwise stated, the features of medical device 404 are represented in the 400 series by the same numbers corresponding to the similar features of medical device 104 represented in the 100 series.

[0079] As shown, the tapered kinematic surface 440 may be a truncated cone, tapering from the outer surface of the instrument fiber connector 428 to a tip 442 near the distal end of the instrument fiber connector 428. During the mounting of the medical device 404 to the bracket of the instrument manipulator (not shown), the smaller size of the tip 442 compared to the body of the instrument fiber connector 428 allows for a larger initial alignment range with the bracket fiber connector. As the instrument fiber connector 428 is further inserted into the bracket fiber connector, the tapered kinematic surface 440 aligns the instrument fiber connector 428, thereby allowing insertion of the bracket fiber connector. The tapered kinematic surface 440 can provide alignment constraints from the medical device 404 to the bracket 422. Therefore, alignment constraint features of the instrument interface 424 can be eliminated, preventing over-constraint of the connection between the medical device 404 and the bracket 422. In other embodiments, the kinematic surface 440 may be any suitable shape to guide the instrument fiber connector 428 into the bracket fiber connector, including tapered squares, ellipses, triangles, etc.

[0080] The tapered kinematic surface 440 can be used independently or with... ​ The floating fiber optic interface 160, roller 146, translation alignment plate 282, and / or alignment spar 394 are used in combination to reduce friction during the installation of the medical device 104. In embodiments where the tapered kinematic surface 440 is used in combination with the floating fiber optic interface 160, one or more rollers 146, translation alignment plate 282, and / or alignment spar 394, aspects of each component can further reduce overall friction between the device fiber optic connector 128 and the bracket fiber optic connector 130.

[0081] Example Several aspects of this technology are illustrated in the following examples: 1. A floating connector interface, comprising: A retaining bracket with a groove; The translation socket associated with the sliding support includes: The tab portion extends into the slot to allow the translation socket to translate relative to the retaining bracket, wherein the translation is confined within the floating plane; and The hole is configured to receive the bracket connector; and A biasing element is positioned between a retaining bracket and a translation socket, wherein the biasing element is configured to resist translation of the translation socket.

[0082] 2. The floating connector interface according to Example 1, wherein the retaining bracket includes a first retaining bracket, the slot includes a first slot, the tab portion of the translation socket includes a first tab portion, and the floating connector interface further includes: A second retaining bracket is positioned on the edge of the translation socket opposite to the first retaining bracket. The second retaining bracket has a second groove configured to receive a second tab portion of the translation socket and allow the translation socket to translate relative to the first and second retaining brackets.

[0083] 3. The floating connector interface according to Example 2, wherein the biasing element includes a first biasing element, and wherein the floating connector interface further includes a second biasing element located between a second retaining bracket and a translation socket, wherein the second biasing element is positioned opposite the first biasing element.

[0084] 4. The floating connector interface according to Example 3, wherein the first biasing element and the second biasing element have opposite biasing forces to push the translation socket to a neutral position in a direction aligned with the biasing forces.

[0085] 5. The floating connector interface according to Example 3 or Example 4, wherein the first and second biasing elements include helical springs.

[0086] 6. The floating connector interface according to any one of Examples 2-5, wherein the first retaining bracket further includes a first arm and the second retaining bracket further includes a second arm, and wherein the first arm and the second arm are configured to deflect relative to each other as the translation socket moves in a direction aligned with the biasing force.

[0087] 7. The floating connector interface according to Example 6, wherein: The first arm also includes a first head at the distal end of the first arm. The second arm also includes a second head at the distal end of the second arm. The translation socket also includes a first cam socket configured to mate with the first head and a second cam socket configured to mate with the second head, and The first and second cam sockets have cam profiles configured to deflect the first and second arms away from each other during translational movement of the socket in a direction perpendicular to the bias force.

[0088] 8. The floating connector interface according to Example 7, wherein the cam profile is shaped such that the bias force pushes the translation socket to a neutral position in a direction perpendicular to the bias force.

[0089] 9. The floating connector interface according to any one of Examples 1-8, wherein: The retainer has a hole configured to slidably receive a fastener therein, such that the retainer can translate along the axial direction of the fastener; The floating connector interface also includes an insertion biasing element located between the head of the retainer and the fastener; and The insertion bias element is configured to bias the head of the fastener away from the retaining bracket.

[0090] 10. The floating connector interface according to any one of Examples 1-9, wherein the floating connector interface includes a floating fiber optic connector interface, and wherein the bracket connector includes a bracket fiber optic connector.

[0091] 11. A bracket, comprising: A retaining bracket with a groove; A translation socket associated with the sliding of the retaining bracket includes a tab portion extending into the slot to allow translation of the translation socket relative to the bracket, wherein the translation is restricted within a floating plane; A bracket connector having a housing that removably couples into a sliding socket; and A biasing element is positioned between a retaining bracket and a translation socket, wherein the biasing element is configured to resist translation of the translation socket, and wherein the instrument connector is inserted into the bracket connector in a direction perpendicular to the floating plane.

[0092] 12. The bracket according to Example 11, wherein the retaining bracket includes a first retaining bracket, the slot includes a first slot, and the tab portion of the translation socket includes a first tab portion, and wherein the bracket further includes: A second retaining bracket is positioned on the edge of the translation socket opposite to the first retaining bracket. The second retaining bracket has a second groove configured to receive a second tab portion of the translation socket and allow the translation socket to translate relative to the first and second retaining brackets.

[0093] 13. The bracket according to Example 12, wherein the biasing element includes a first biasing element, and wherein the bracket further includes a second biasing element located between a second retaining bracket and a translation socket, the second biasing element being positioned opposite the first biasing element.

[0094] 14. The bracket according to Example 13, wherein the first and second biasing elements have opposite biasing forces to push the translation socket to a neutral position in a direction aligned with the biasing forces.

[0095] 15. The bracket according to Example 13 or Example 14, wherein the first and second biasing elements comprise helical springs.

[0096] 16. The bracket according to any one of Examples 12-15, wherein the first retaining bracket further includes a first arm and the second retaining bracket further includes a second arm, and wherein the first arm and the second arm are configured to deflect relative to each other as the translation socket moves in a direction aligned with the biasing force.

[0097] 17. The bracket according to Example 16, wherein: The first arm has a first head at the distal end of the first arm, and the second arm has a second head at the distal end of the second arm. The translation socket also includes a first cam socket configured to mate with the first head and a second cam socket configured to mate with the second head, and The first and second cam sockets have cam profiles configured to deflect the first and second arms away from each other during translational movement of the socket in a direction perpendicular to the bias force.

[0098] 18. The bracket according to Example 17, wherein the cam profile is shaped such that the bias force pushes the translation socket to a neutral position in a direction perpendicular to the bias force.

[0099] 19. The bracket according to any one of Examples 11-18, wherein: The retainer also includes a hole configured to slidably receive a fastener therein, allowing the retainer to translate along the axial direction of the fastener; The bracket also includes an insertion biasing element located between the retaining bracket and the head of the fastener; and The insertion bias element is configured to bias the head of the fastener away from the retaining bracket.

[0100] 20. The bracket according to any one of Examples 11-19 further includes a roller positioned on a first side of the well in the housing, wherein the roller is biased toward the well by a cantilever spring.

[0101] 21. The bracket according to Example 20, wherein the hole includes a cutout for a clearance of the cantilever spring.

[0102] 22. The bracket according to Example 20 or Example 21 further includes a second roller positioned on a second side of the well opposite to a first side of the well, wherein the second roller is biased toward the first roller by a second cantilever spring.

[0103] 23. The bracket according to Example 22 further includes a third roller positioned on a third side of the well adjacent to either the first or second side of the well, wherein the third roller is biased toward the well by a third cantilever spring.

[0104] 24. The bracket according to Example 23 further includes a fourth roller positioned on a fourth side of the well opposite to a third side of the well, wherein the fourth roller is biased toward the third roller by a fourth cantilever spring.

[0105] 25. The bracket according to any one of Examples 22-24, wherein the bracket connector further includes a baffle positioned in the well.

[0106] 26. The bracket according to any one of Examples 11-25, wherein the housing has a flange configured to mate with a translation socket to control the insertion depth of the bracket connector within the hole.

[0107] 27. The bracket according to any one of Examples 11-26, wherein the translation socket has a locking feature to retain the housing within the hole.

[0108] 28. The bracket according to any one of claims 11-27, wherein the floating connector interface includes a floating fiber optic connector interface, and wherein the bracket connector includes a bracket fiber optic connector.

[0109] 29. A connector alignment device, comprising: A bracket with a fiber optic connector; A plate configured to removably retain instrument interface alignment for attachment to a bracket, the plate having holes configured to receive instrument fiber optic connectors; and The telescopic support is coupled between the plate and the bracket. The telescopic support is operable to position the plate in a first position spaced apart from the bracket, and in a second position adjacent to the bracket.

[0110] 30. The connector alignment device according to Example 29, wherein the aperture is configured to position the instrument fiber optic connector to align with the bracket fiber optic connector when the plate is in a first orientation.

[0111] 31. The connector alignment device according to Example 29 or Example 30, wherein the telescopic support is operable to linearly translate the plate between a first orientation and a second orientation.

[0112] 32. The connector alignment device according to any one of Examples 29-31, wherein when the plate is in the second orientation, the instrument fiber optic connector is connected to the bracket fiber optic connector.

[0113] 33. The connector alignment device according to any one of Examples 29-32, wherein the movement of the telescopic support is damped.

[0114] 34. The connector alignment device according to any one of Examples 29-32, wherein the telescopic support further includes one or more springs to apply a biasing force to the plate toward a first orientation.

[0115] 35. The connector alignment device according to Example 29, wherein the movement of the plate is automatic.

[0116] 36. The connector alignment device according to any one of Examples 29-35, wherein the plate further includes a connector configured to transmit one or more of mechanical movement or electrical signals between the instrument interface and the carriage.

[0117] 37. A connector alignment device according to any one of Examples 29-36, wherein the plate is adjustable to align the instrument interface with the carriage.

[0118] 38. The connector alignment device according to any one of Examples 29-37, wherein the plate further includes one or more intermediate components configured to transfer mechanical movement from the carriage to the instrument interface.

[0119] 39. A connector alignment device according to any one of Examples 29-38, wherein the plate has clean connection features.

[0120] 40. The connector alignment device according to any one of Examples 29-39 further includes a curtain connected to the periphery of the plate.

[0121] 41. An alignment system, comprising: A bracket with a housing and a fiber optic connector; A device interface having an outer surface and a device fiber optic connector configured to connect to a bracket fiber optic connector when the device interface mates with a bracket; and Alignment spars protruding from the housing of the bracket have a shape corresponding to the outer surface of the instrument interface and are configured to align the instrument interface and the bracket, thereby aligning the instrument fiber optic connector with the bracket fiber optic connector.

[0122] 42. The alignment system according to Example 41, wherein the alignment spar is integrated into the housing.

[0123] 43. The alignment system according to Example 41 or Example 42, wherein the alignment spar is arcuate.

[0124] 44. The alignment system according to Example 41, wherein the housing further includes a key protrusion extending from the housing, and the instrument interface further includes a keyway configured to mate with the key protrusion, wherein the mating of the keyway and the key protrusion is configured to orient the instrument interface to the bracket during connection of the instrument fiber optic connector and the bracket fiber optic connector.

[0125] 45. The alignment system according to Example 43, wherein the key protrusion extends from the alignment spar.

[0126] 46. ​​The alignment system according to Example 41, wherein the bracket further includes a pin and the instrument interface further includes a notch configured to mate with the pin, wherein the mating of the notch and the pin is configured to orient the instrument interface toward the bracket during connection of the instrument fiber optic connector and the bracket fiber optic connector.

[0127] 47. The alignment system according to Example 45, wherein the bracket includes a plurality of pins and the housing includes a plurality of recesses corresponding to the plurality of pins.

[0128] 48. The alignment system according to Example 46 or Example 47, wherein the pin is tapered.

[0129] 49. The alignment system according to Example 41, wherein the bracket fiber optic connector is coupled to the floating fiber optic connector interface of Example 1.

[0130] 50. An apparatus comprising: Device interface; and A device fiber optic connector protruding from the device interface, the device fiber optic connector comprising: Connector body having an outer surface configured to mate with a bracket fiber optic connector; and A tapered kinematic surface, positioned on the distal portion of the connector body, tapers downward from the outer surface of the connector body to the tip of the connector body, wherein the tapered kinematic surface is configured to align the instrument fiber optic connector and the bracket fiber optic connector during instrument interface installation.

[0131] 51. The apparatus according to Example 50, wherein the conical kinematic surface comprises a truncated conical kinematic surface.

[0132] 52. The apparatus according to Example 50 or Example 51, wherein the shape of the conical kinematic surface includes one or more of a tapered square, a tapered ellipse, or a tapered triangle.

[0133] 53. The apparatus according to any one of Examples 50-52, wherein the bracket fiber optic connector is coupled to the floating fiber optic connector interface of Example 1.

[0134] in conclusion The above detailed description of embodiments of this technology is not intended to be exhaustive or to limit the technology to the precise forms disclosed above. Although specific embodiments and examples of the technology have been described above for illustrative purposes, various equivalent modifications can be made within the scope of this technology, as will be recognized by those skilled in the art. For example, although the steps are presented in a given order, alternative embodiments may perform the steps in a different order. Furthermore, the various embodiments described herein may be combined to provide further embodiments. References herein to "an embodiment," "an embodiment," or similar expressions mean that a particular feature, structure, operation, or characteristic described in connection with the embodiment may include in at least one embodiment of this technology. Therefore, such phrases or expressions appearing herein do not necessarily refer to the same embodiment.

[0135] For ease of reference, the same reference numerals are used throughout this disclosure to identify similar or analogous parts or features; however, the use of the same reference numerals does not imply that these features should be interpreted as identical. In fact, in many examples described herein, features with the same number have multiple embodiments that differ from each other in structure and / or function. Furthermore, the same shading may be used to indicate materials with similar composition in cross-section, but the use of the same shading does not imply that the materials should be interpreted as identical unless specifically indicated herein.

[0136] Furthermore, unless the word “or” is explicitly limited to referring only to a single item other than the others when referring to a list of two or more items, its use in such a list will be interpreted as including (a) any single item in the list, (b) all items in the list, or (c) any combination of items in the list. Singular or plural terms may also include plural or singular terms, respectively, where the context permits. Furthermore, the term “comprising” is used throughout to indicate that at least the listed features are included, without excluding any further number of the same features and / or other features of other types. Directional terms such as “up,” “down,” “front,” “back,” “vertical,” and “horizontal” may be used herein to express and clarify relationships between various elements. It should be understood that these terms do not indicate absolute orientation. Moreover, while advantages associated with certain embodiments of the present technology have been described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments must exhibit such advantages to fall within the scope of the present technology. Therefore, this disclosure and related technologies may cover other embodiments not explicitly shown or described herein.

Claims

1. A floating connector interface, comprising: A retaining bracket with a groove; A translation socket associated with the sliding of the retaining bracket, the translation socket comprising: A tab portion extending into the slot allows the translation socket to translate relative to the retaining bracket, wherein the translation is restricted within the floating plane; and The hole is configured to receive the bracket connector; and A biasing element is positioned between the retaining bracket and the translation socket, wherein the biasing element is configured to resist translation of the translation socket.

2. The floating connector interface according to claim 1, wherein the retaining bracket includes a first retaining bracket, the slot includes a first slot, the tab portion of the translation socket includes a first tab portion, and the floating connector interface further includes: A second retaining bracket is positioned on the edge of the translation socket opposite to the first retaining bracket. The second retaining bracket has a second groove configured to receive a second tab portion of the translation socket and allow the translation socket to translate relative to the first retaining bracket and the second retaining bracket.

3. The floating connector interface of claim 2, wherein the biasing element includes a first biasing element, and wherein the floating connector interface further includes a second biasing element positioned between the second retaining bracket and the translation socket, wherein the second biasing element is positioned opposite the first biasing element.

4. The floating connector interface of claim 3, wherein the first biasing element and the second biasing element have opposite biasing forces to push the translation socket to a neutral position in a direction aligned with the biasing forces.

5. The floating connector interface according to claim 3 or claim 4, wherein the first biasing element and the second biasing element comprise a helical spring.

6. The floating connector interface according to any one of claims 2-5, wherein the first retaining bracket further includes a first arm, and the second retaining bracket further includes a second arm, and wherein the first arm and the second arm are configured to deflect relative to each other as the translation socket moves in a direction aligned with the biasing force.

7. The floating connector interface according to claim 6, wherein: The first arm also includes a first head at the distal end of the first arm. The second arm also includes a second head at the distal end of the second arm. The translation socket further includes a first cam socket configured to mate with the first head and a second cam socket configured to mate with the second head, and The first cam socket and the second cam socket have cam profiles configured to deflect the first arm and the second arm away from each other during the translation socket's movement in a direction perpendicular to the bias force.

8. The floating connector interface of claim 7, wherein the cam profile is shaped such that the bias force pushes the translation socket to a neutral position in a direction perpendicular to the bias force.

9. The floating connector interface according to any one of claims 1-8, wherein: The retaining bracket has a hole configured to slidably receive a fastener therein, such that the retaining bracket can translate axially along the fastener; The floating connector interface also includes an insertion biasing element positioned between the retaining bracket and the head of the fastener; and The insertion biasing element is configured to bias the head of the fastener away from the retaining bracket.

10. The floating connector interface according to any one of claims 1-9, wherein the floating connector interface includes a floating fiber optic connector interface, and wherein the bracket connector includes a bracket fiber optic connector.

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