Mounting system with sterile barrier assembly for use in coupling surgical components

Abstract

To provide an improved mounting system for a surgical robot equipped with a sterilization barrier assembly used for coupling surgical components.SOLUTION: A mounting system 20 includes: a first mounting portion associated with a first surgical component; a second mounting portion associated with a second surgical component and comprising a tensioner movable between a first position and a second position; and a sterile barrier assembly. The sterile barrier assembly 22 comprises: a coupling configured to be releasably secured to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position; and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] (Related Applications) This application is a continuation of U.S. Provisional Patent Application No. 62 / 775,126, filed December 4, 2018. No. 62 / 934,771, filed November 13, 2019; and U.S. Provisional Patent Application No. 62 / 937,529, filed November 19, 2019. No. 6,313,635, filed on Dec. 13, 2003, and claims priority to and the benefit of the same, the contents of each of which are incorporated herein by reference in their entirety. can be.

[0002] The present disclosure relates generally to mounting systems for surgical components, and more particularly to The present invention relates to a packaging system having a sterile barrier assembly for use in coupling components for use in a surgical procedure. [Background technology]

[0003] A sterile barrier assembly, such as a surgical drape, establishes a barrier between surgical components during surgery. For example, surgical drapes are known to be attached to robotic arms. may be used to provide a barrier between the end effector attached to In surgery, the robotic arm is treated as non-sterile, while the end effector is The surgical drape prevents contamination of the sterile field in which the end effector is operating. To prevent this, a barrier is created between the robot arm and the end effector.

[0004] Typically, a surgical drape placed between the robot arm and the end effector having perforations or other openings through which mechanical and / or electrical connections can be made; Various connections, such as a .f. connection, can be made between the robot arm and the end effector. Such perforations are acceptable as long as they are covered during surgery. may fail and require replacement, or a different end effector may be required and drilling may be covered. If the sterilization procedures are no longer available, standard operating room sterilization protocols may require different end effector configurations. The surgeon may advise that a surgical drape change is required before placement. Replacement is undesirable because removing and placing new surgical drapes takes up valuable time.

[0005] Other surgical drapes are not intentionally opened, but instead are opened by the robotic arm. The surgical drape is made of thin plastic and is compressed between the end effector and the If the material is too tightly packed, it may unintentionally fray or tear when compressed. Positioning of the end effector on the robotic arm even when the surgical drape remains intact is inaccurate due to the compressibility of the surgical drape. For example, the surgical drape may be unevenly compressed. Additionally, thick drapes made from conventional drape materials can compress the It may slip under the load of the end effector. Small slippage may occur when the tool of the end effector is The accuracy of the positioning of the TCP is not acceptable due to the error of the TCP positioning accuracy. It may become impossible to use the device.

[0006] Therefore, there is a need in the art to address one or more of these deficiencies. It is said that. Summary of the Invention

[0007] A mounting system is provided for coupling the first and second surgical components. The system includes a first mounting portion that is connected to a first surgical component and a second mounting portion that is connected to a second surgical component. and a second mounting portion connected to the first and second positions. The packaging system further includes a sterile barrier assembly. The microbial barrier assembly is configured to: when the tensioner of the second mounting portion is in the first position, a coupling portion releasably secured to the mounting portion and configured to releasably receive a second mounting portion; The plurality of kinematic couplers are configured to engage the mounting portion and the second mounting portion When the tensioner is in the second position, it constrains six degrees of freedom of motion between the surgical components. and arranged to provide a kinematic coupling between the mounting parts through the sterile barrier assembly to will be done.

[0008] The end effector passes through a sterile barrier assembly having a coupling portion and a plurality of kinematic couplers. The end is provided for releasably attaching to a first mounting portion of the surgical robot. The effector includes a housing for supporting the energy applicator and a housing attached to the housing. and a second mounting portion attached to the first position and the second position. The second mounting portion includes a tensioner movable relative to the first mounting portion. configured to releasably couple to a coupling portion of a sterile barrier assembly when in the The second mounting portion includes a plurality of coupling members for engaging the plurality of kinematic couplers of the sterile barrier assembly. Includes contact surface.

[0009] The sterile barrier assembly is attached to a first mounting portion of a first surgical component and to a tensioner. a second mounting portion of a second surgical component having a first distal end and a second proximal end; The sterile barrier assembly includes an interface configured to receive a drape; A tensioner of the second mounting portion is operably attached to the interface and is in a first position. and a second mounting portion adapted to be releasably secured to the first mounting portion when the second mounting portion is in the first position. and a coupling portion configured to couple the plurality of kinematic couplers to the interface. The plurality of kinematic couplers are supported by a second Six freedoms of movement between the surgical components when the mounting tensioner is in the second position The mounting parts are arranged to provide a kinematic coupling between them to constrain the degree of freedom.

[0010] The surgical robot is adapted to move the surgical instrument through a sterile barrier assembly having a joint and a plurality of kinematic couplers. The second mounting portion of the end effector is adapted to releasably receive the second mounting portion of the end effector. The mounting portion has a tensioner movable from a first position to a second position. releasably receives a second mounting portion of the end effector through the sterile barrier assembly. The robot arm includes a first mounting portion configured to The first embodiment includes a plurality of contact surfaces for engaging a plurality of kinematic couplers of a microbial barrier assembly. The mounting portion passes through the sterile barrier assembly upon movement of the tensioner from the first position to the second position. and configured to apply a preload force to the second mounting portion. The load mechanism further includes a load mechanism.

[0011] A surgical system is provided that includes: a second mounting portion connected to the sterile barrier assembly; and a sterile barrier assembly through the sterile barrier assembly. The assembly has a first mounting portion configured to releasably receive the first mounting portion. and a lighting device coupled to the robot arm. and a method for detecting a temperature difference between the one or more sensors, the one or more sensors being coupled to the one or more sensors and using measurements from the one or more sensors. a sterile barrier assembly to the first mounting portion and one or more of the second mounting portions; To detect conditions related to the installation and control lighting devices to display the conditions to the user. and one or more controllers configured to:

[0012] A method of operating a surgical system is provided, the surgical system comprising: a second mounting portion connected to the sterile barrier assembly; and a sterile barrier assembly through the sterile barrier assembly. The assembly has a first mounting portion configured to releasably receive the first mounting portion. and a lighting device coupled to the robot arm. and one or more controllers coupled to the one or more sensors, The method includes a plurality of controllers for controlling a first implementation using measurements from one or more sensors. The method relates to the installation of one or more of the sterile barrier assembly and the second mounting portion to the and controlling a lighting device to indicate the condition to a user. Includes.

[0013] The present disclosure may be further understood by reference to the following detailed description considered in conjunction with the accompanying drawings, in which: Thus, it will be better understood and more easily grasped. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a perspective view of a robotic surgical system including a mounting system interposed between a robotic arm and an end effector. [Diagram 2]FIG. 1 is a partially exploded perspective view of a mounting system showing a first mounting portion attached to a robotic arm, a second mounting portion attached to an end effector, and a sterile barrier assembly for interconnecting the mounting portions. [Diagram 3] FIG. 2 is a perspective view of the mounting system of FIG. 1 showing the first and second mounting portions and the sterile barrier assembly arranged in a mounted configuration. [Figure 4] FIG. 4 is a partially exploded perspective view of the mounting system of FIG. 3 showing the first mounting portion, the second mounting portion, and the sterile barrier assembly spaced apart from one another; [Diagram 5] 4 is another partially exploded perspective view of the mounting system of FIG. 3. [Figure 5A] FIG. 13 is a partial exploded cross-sectional view illustrating a kinematic coupler contained within an interface of a sterile barrier assembly. [Figure 5B] FIG. [Figure 5C] FIG. [Figure 5D] 5D is a cross-sectional view of one of the connectors taken generally along line 5D-5D of FIG. 5C. [Figure 6] 5 is an exploded perspective view of a first set of components of the first mounting portion of FIG. 4. FIG. [Figure 7] 5 is another exploded perspective view of the first set of components of the first mounting portion of FIG. 4. FIG. [Figure 8] 5 is an exploded perspective view of a second set of components of the first mounting portion of FIG. 4. FIG. [Figure 9] 5 is another exploded perspective view of the second set of components of the first mounting portion of FIG. 4. FIG. [Figure 10] FIG. 5 is an exploded perspective view of the sterility barrier assembly of FIG. [Figure 11] FIG. 5 is another exploded perspective view of the sterility barrier assembly of FIG. [Figure 12] FIG. 5 is an exploded perspective view of the second mounting portion of FIG. 4 (without the holding plate). [Figure 13] 5 is another exploded perspective view of the second mounting portion of FIG. 4 (without the holding plate). FIG. [Figure 14A]14 is a perspective cross-sectional view illustrating the connection of the sterile barrier assembly to the first mounting portion taken generally along line 14-14 of FIG. 4. FIG. [Figure 14B] 14 is a perspective cross-sectional view illustrating the connection of the sterile barrier assembly to the first mounting portion taken generally along line 14-14 of FIG. 4. FIG. [Figure 14C] 14 is a perspective cross-sectional view illustrating the connection of the sterile barrier assembly to the first mounting portion taken generally along line 14-14 of FIG. 4. FIG. [Figure 15A] 15A is a perspective cross-sectional view illustrating the second mounting portion, the first mounting portion, and the sterility barrier assembly shown coupled to the first mounting portion, taken generally along line 15A-15A in FIG. [Figure 15B] 15B is another perspective cross-sectional view illustrating the connection of a second mounting portion to the sterile barrier assembly taken generally along line 15B-15B of FIG. 4. [Figure 16A] 15B-15B is a cross-sectional view taken generally along line 15B-15B of FIG. 4, except that a number of components have been omitted to illustrate the preload force applied to the mounting system to attract the second mounting portion toward the first mounting portion. [Figure 16B] FIG. 15B is a cross-sectional view taken generally along line 15B-15B of FIG. 4, except that a number of components have been omitted to illustrate a preload force applied to the mounting system to attract a second mounting portion toward a first mounting portion, and also illustrates the load path of the preload force. [Figure 16C] FIG. 16C is an enlarged view of FIG. 16B showing the biasing element. [Figure 17] FIG. 2 is a partial perspective cross-sectional view illustrating a load actuator. [Figure 18] FIG. 2 is a top perspective view of the second hub. [Figure 19] FIG. 2 is a bottom perspective view of the first hub. [Figure 20A] FIG. 16B is an enlarged cross-sectional view taken from FIG. 16A. [Figure 20B] FIG. 16C is an enlarged cross-sectional view taken from FIG. 16B. [Figure 21A]FIG. 13 is a plan view of a second mounting portion illustrating the tensioner including the lever and activator link in a first open position. [Figure 21B] FIG. 13 is a plan view of the second mounting portion illustrating the tensioner in a second, closed position. [Figure 22] FIG. 13 is an exploded perspective view of the release mechanism of the second mounting portion. [Figure 23] FIG. 13 is a lower perspective view of the retaining plate of the release mechanism. [Figure 24A] 11 is a perspective view of a second mounting portion illustrating a release actuator of the release mechanism moving from a first position to a second position; FIG. [Figure 24B] 11 is a perspective view of a second mounting portion illustrating a release actuator of the release mechanism moving from a first position to a second position; FIG. [Figure 25A] FIG. 11 is a perspective view illustrating a release actuator of the release mechanism moving from a first position to a second position to move the release link and release element so that the second mounting portion can be removed from the sterile barrier assembly. [Figure 25B] FIG. 11 is a perspective view illustrating a release actuator of the release mechanism moving from a first position to a second position to move the release link and release element so that the second mounting portion can be removed from the sterile barrier assembly. [Figure 25C] 13 is a partial perspective cross-sectional view illustrating the actuation of one of the release elements; FIG. [Figure 26] FIG. 1 is a partially exploded perspective view of a robotic surgical system having a mounting system, showing an illumination device. [Figure 27] FIG. 27 is a perspective view of the robotic surgical system of FIG. 26 showing an illumination device. [Figure 28] FIG. 27 is a perspective view of the robotic surgical system of FIG. 26 showing an illumination device of a first illumination embodiment. [Figure 29] FIG. 27 is a perspective view of the robotic surgical system of FIG. 26 showing an illumination device of a second illumination embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] 1-3, a mounting system 20 is shown which includes a sterilization barrier. For kinematically coupling first and second surgical components using an actuator assembly (22) In the example described herein, the first surgical component comprises a robotic arm R. a second surgical component attached to the robot arm R; The robot arm R and the end effector EE are 20 "Systems and Tools for us" filed on October 20, 2017 "e with Surgical Robotic Manipulators" In a similar manner to that described in U.S. Patent Application Publication No. 2018 / 0110572 of the same name, No. 6,399,623, the entire disclosure of which is hereby incorporated by reference herein. This means that the mounting system 20 can carry any surgical component with the sterile barrier assembly 22. It can be employed to dynamically bind.

[0016] Referring to FIG. 2 and FIG. 3, the robot arm R includes a first mounting portion 24 and an end The end effector EE includes a second mounting portion 26. The sterile barrier assembly 22 is First and second actuators are provided to establish a barrier between the bot arm R and the end effector EE. The barrier is located between the mounting parts 24, 26 of the end effector EE. Separate the robot arm R from the bacterial field S. During surgery, the robot arm R is non-sterile. The barrier is considered to prevent possible transfer of contaminants from the robot arm R into the sterile field S. To decrease.

[0017] Releasability of the sterile barrier assembly 22 and end effector EE to the robot arm R To facilitate easy mounting, the second mounting portion 26 may be configured with a casing 24, as described in more detail below. The tensioner 28 is movable between a first position 28F and a second position 28S. The sterile barrier assembly 22 includes a coupling portion 30 and a plurality of kinematic couplers 32.

[0018] The coupling portion 30 is configured such that, when the tensioner 28 of the second mounting portion 26 is in the first position 28F, , releasably secured to the first mounting portion 24 and releasably receiving the second mounting portion 26. The kinematic coupler 32 is configured to engage the mounting portions 24, 26. When the tensioner 28 of the second mounting portion 26 is in the second position 28S, The sterile barrier assembly 22 is used to constrain the six degrees of freedom of movement between the components. The mounting portions 24, 26 are positioned to provide a kinematic coupling between them.

[0019] As mentioned above, the mounting portions 24, 26 are releasably carried by the sterile barrier assembly 22. The kinematic coupling is configured to dynamically adjust the positioning between the mounting portions 24, 26. The present invention provides a robust connection between the mounting portions 24, 26 so that the connection can be deterministic and repeatable. This strong, deterministic and repeatable connection results in a consistent and accurate connection between the end effector and the robot arm. This reduces errors in the positioning of the end effector EE that may be related to the more flexible connection between the arms. Kinematic couplings precisely constrain the number of degrees of freedom that should be constrained. For example, in the representative examples illustrated herein, There are six degrees of freedom (three translations and three rotations) between the mounting parts 24, 26. Therefore, the kinematic coupling includes all six of these degrees of freedom for the end effector EE. The size of the

[0020] In some instances, different end effectors EE can be used for different purposes. For example, different energy applicators EA (e.g., burs, drills, reamers, saws, ultrasonic chisels, etc.) Multiple end effectors, each equipped with a lifting cap, impactor, etc., are connected to the same robot arm R. They can be used together to perform various functions during a surgical procedure, e.g. burring, drilling, reeding All end effectors perform machining, sawing, ablation, impact, etc. 2, the second mounting portion 26 is releasably connected to the first mounting portion 24 as described in the document. In the illustrated embodiment, the second mounting portion 26 is attached to the end effector EE The energy applicator E is attached to or integral with the housing 27 of the A is supported and carried by a housing 27 and performs its functions during a surgical procedure. do.

[0021] 4 and 5, the sterile barrier assembly 22 includes mounting portions 24, 26 kinematically In order to efficiently couple the two, a plurality of kinematic couplers 32 are employed. In the example, the kinematic coupler 32 is configured to constrain six degrees of freedom of motion between the surgical components. In one example, the balls are made of polished, corrosion-resistant The mounting portions 24, 26 have a surface that is flexible and therefore positionable under certain loads. Submicron repeatability can be achieved when measuring. The balls can be made of ceramic, stainless steel, or The ball may be formed of other suitable materials. By way of non-limiting example, the ball may be formed of silicon carbide or carbide. The ball may be formed of tungsten. The ball may be, for example, less than 50 millionths of an inch. In use, the balls are inserted into the first and second Sealed in first and second pluralities of receptacles 34,36 on mounting portions 24,26, respectively. The receptacles 34 , 36 are sized and shaped to receive the ball 32 .

[0022] In the illustrated example, the first mounting portion 24 includes a first mounting plate 38 and a and a fixed hub mount 40. The hub mount 40 also includes one or more fasteners. or adapted for attachment to the robot arm R via a bolt (not shown) or the like. Here, a first plurality of receptacles 34 are operably attached to a first mounting plate 38 (e.g., The second mounting portion 2 is fixed to the first mounting plate 38 by fasteners, welding, press fitting, or the like. 6 also includes a second mounting plate 42 (see FIG. 5) having a cover 41 and one or more For attachment to the end effector EE via a fastener or bolt (not shown), Here, the second plurality of receptacles 36 are adapted to be operably attached to a second mounting plate 42. The second mounting plate 42 is fixed to the second mounting plate 42 by, for example, fasteners, welding, or press fitting. The mounting portion 24 of the first embodiment includes a first plurality of receivers 3 for engaging a plurality of kinematic couplers 32. 4. Similarly, the second mounting portion 26 includes a first plurality of contact surfaces defined by a plurality of a second plurality of receptacles 36 defined for engaging the kinematic coupler 32 of the The contact surfaces are the contact surfaces between the end effector EE and the robot arm R. The actuator is configured to cooperate with a kinematic coupler 32 to constrain six degrees of freedom of movement. In one form, the second plurality of contact surfaces comprises six contacts with the plurality of kinematic couplers 32. It is configured to provide only points.

[0023] The first plurality of receptacles 34 of the first mounting portion 24 each have a contact surface with a conical configuration. The second mounting portion 26 has a second plurality of receptacles 36 (also called conical receptacles). Each has a contact surface with a generally V-shaped groove (also called a V-grooved receiver). Specifically, the contact surfaces of these V-grooved receivers 36 are in the shape of a Gothic arch. The contact surface acts as a constraint surface for the kinematic coupling described above. That is, different types, arrangements, and configurations of the receptacles 34, 36 may be used between the mounting portions 24, 26. As a non-limiting example, a planar kinetic coupling may be employed. Flat or planar receivers are available for some applications.

[0024] The representative example illustrated herein is a first mounting portion 24 with three cone receivers; 1 and 2. It will be understood that the second mounting portion 26 is shown having two V-grooved receptacles. This means that each mounting portion 24, 26 can accommodate different types of receivers 3 arranged in different ways. 4, 36. As a non-limiting example, the first mounting portion 24 may include: It is also conceivable to employ two V-grooved receptors and one conical receptor. Portion 24 may also employ three V-grooved receivers. This ensures that the second mounting portion 26 controls six degrees of freedom with respect to the kinematic coupler 32. The point is that the receptor may be configured in any manner sufficient to achieve the desired effect. As a typical example, the second mounting part 26 has three degrees of freedom for a total of six degrees of freedom constraints. With one cone receptor for constraining one degree of freedom and one V-groove for constraining two degrees of freedom A receiver and one flat receiver for constraining one degree of freedom may be employed.

[0025] The receptacles 34, 36 may be formed of steel or other suitable rigid material, and the mounting portions 24, 26. Alternatively, the mounting portions 24, 26 may be formed as separate components rigidly connected to the mounting portions 24, 26. In that case, the receptacles 34, 36 are provided for fixing the balls. The receptacles 34, 36 simply include a constraining surface integral with the mounting portions 24, 26. The mounting portions 24, 26 may be attached in a number of ways via placement or configuration. The mounting portions 24, 26 have the sterile barrier assembly 22 disposed therebetween, as shown in FIG. When docked in near-final orientation, the kinematic coupler of the sterile barrier assembly 22 32, for example, the balls are seated automatically in the receptacles 34, 36. 2, receptors 34 and 36, and their arrangements are disclosed in the "S terile Barrier Assembly, Mounting System , and Method for Coupling Surgical Compo The present invention is described in U.S. Patent Application Publication No. 2016 / 0242861 entitled "Nents" and the like, which is hereby incorporated by reference in its entirety.

[0026] In the representative example illustrated herein, the sterile barrier assembly 22 includes an interface 48 and , and a drape 50 operably attached to the interface 48. The drape 50 shown in FIG. 3 is secured to the drape 50 by fasteners to hold the drape 50 therebetween. a first and second interface plate 52 of the interface 48 secured together by 54, or the drape 50 can be secured to one of the interface plates 52, 54. For example, the drain may be attached to a side or an exterior surface thereof. The band 50 is attached to an interface such as the ring assembly 49 (see FIG. 2) prior to the surgical procedure. Alternatively, the ring assembly 4 may be attached to a separate component that is releasably attached to the ring support 48. One example of the 9 is “Sterile Drape A” filed on October 4, 2018. In U.S. Patent Application No. No. 16 / 151,439, the entire contents of which are incorporated herein by reference. It will be understood that the interface plates 52, 54 are That is, the components may be operably attached to each other in any suitable manner, such as by contact.

[0027] The drape 50 has an inner surface and an outer surface. The inner surface is adjacent to the robot arm R during surgery. In the example shown in FIG. 1, the drape 50 generally surrounds the robot arm R. The drape 50 is made of polyethylene, polyurethane, The drape 50 is formed of at least one of a styrene, ethylene, and polycarbonate. The interface 48 may be attached by ultrasonic welding, tape, adhesive, or the like. Alternatively, the drape 50 can be removably coupled to the interface 48. The drape 50 can be attached to a ring assembly 49 that is free of perforations. The drape is attached to the interface 48 so that the drape forms a continuous barrier with the interface 48. The drape 50 is attached to the face 48 to better illustrate the other components. In some drawings, they are not shown.

[0028] The kinematic coupler 32 is contained between the interface plates 52, 54. Please refer to FIG. 5A which shows mounting parts 24, 26 secured together via a microbial barrier assembly 22. 5A, the sterile barrier assembly 22 is then coupled to each of the kinematic couplers 32 (one is shown in FIG. 5A). Each of the interface plates 52, 54 includes a pocket. The pocket 60 is provided with an interface plate 52, 54 disposed adjacent the pocket 60. The kinematic coupler 32 includes a ball aperture 62 defined therein. The ball aperture 62 projects through the interface plate 52, 54. The kinematic coupler 32 cooperates with a seal 58 to retain the kinematic coupler 32. To reduce the possibility of contamination migration through the interface 48, The barrier between the interface plates 52, 54, the seal 58, and the kinematic coupler 32 is broken. In this manner, the drape 50 and the interface The interface 48 provides a continuous control for the transfer of contaminants from the robot arm R into the sterile field S. Provide a barrier.

[0029] As best illustrated in FIGS. 4 and 5, in one example, a sterile barrier assembly 2 2 includes one or more indexing fingers 64. At least one of the mounting portions 24, 26 is To align the kinematic coupler 32 with respect to the receiving surfaces and associated receptacles 34, 36, an indexing One or more indexing recesses formed to receive the fingers 64. In the representative embodiment illustrated herein, a sterilization burr is provided. The indexing assembly 22 includes a total of six indexing fingers 64, three of which are secondary. The other three correspond to the indexing recesses 66 formed in the second mounting plate 42 of the mounting portion 26. It corresponds to an indexing recess 66 formed in the first mounting plate 38 of the first mounting portion 24 .

[0030] It will be appreciated that the indexing fingers 64 and / or indexing recesses 66 may be Any suitable arrangement sufficient to facilitate proper orientation of the microbial barrier assembly 22 and mounting portions 24, 26 may be used. The present invention can have any suitable shape, arrangement, or configuration. For example, The fingers 64 are provided on the mounting portions 24, 26 and corresponding indexing recesses 66 are provided on the sterility barrier assembly. In the illustrated embodiment, one of the indexing fingers 64 may be formed on the body 22. has a different size and / or shape than the other indexing fingers 64 and the mounting portion 24 The indexing recesses 66 of the 26 are correspondingly sized / shaped and therefore The microbial barrier assembly 22 can be aligned in only one orientation relative to the mounting portions 24,26.

[0031] 4 and 5, the sterile barrier assembly 22 and mounting portions 24, 26 The alignment and orientation of the end effector EE may be determined prior to or simultaneously with the attachment between the two. and one or more communication interfaces employed to facilitate communication between the robot arm R. This can be advantageously implemented to facilitate corresponding alignment of the interfaces. The portion 24, the second mounting portion 26, and the sterile barrier assembly 22 each include a In order to facilitate communication between the end arm R and the end effector EE, a first mounting part 24 and a second mounting portion 26. In the illustrated embodiment, one or more connectors, such as a first electrical connector, may be employed. A first, second and third connector C1, C2, C3 are employed. Different types of communication through C3 include, but are not limited to, electrical, pneumatic, optical, and and hydraulic, which are intended to include the robot arm R and the end effector EE including, representing, or conveying signals, power, data, and / or other types of information transmitted between It will be appreciated that the sterile barrier assembly 22 may be The use of sealed connectors, which may be, for example, integrated into the mating portion 30 and mounting portions 24, 26 2, into the sterile field S when the end effector EE is removed from the sterile barrier assembly 22. This ensures that no contaminants can get in.

[0032] In the illustrated embodiment, the third connector C3 is supported by the sterile barrier assembly 22. , and a longitudinal axis defined through the mounting portions 24, 26 and the sterile barrier assembly 22. A rotatable member 44 is disposed inside the coupling portion 30 so as to rotate about a line L1 relative to the interface 48. One or both of the first and second connectors C1, C2 are supported by their respective The corresponding mounting parts 24, 26 are fixed against rotation or slightly increased against rotation. 5B and 5C, the connectors C1, C2, C3 has a mating castellated projection 67 and is a third connector. The rotatable nature of C3 allows the sterile barrier assembly 22 to be attached to the first mounting portion 24. At least the third connector C3 is self-aligned with the first connector C1 when the third connector C3 is inserted. In other words, the third connector C3 is free to rotate at the coupling portion 30, so that the sterilization bag When the rear assembly 22 is attached to the first mounting portion 24, the protrusion 67 For connector C1, one of a plurality of discrete positions, e.g., one of four discrete positions The third connector C3 is then properly aligned to one of the clocks in Figure 5. As shown in FIG. 3D, the third connector C3 is connected to the central plane CP through the third connector C3. Thus, it is possible to have a symmetrical arrangement of pins.

[0033] 2 and 3, in use, the first mounting portion 24 is It can be a nearly permanent fixation of the arm R. Medical personnel can To begin preparation, the sterile barrier assembly 22 is first attached to the first mounting portion 24. The robot arm R is covered with a drape 50 of the sterile barrier assembly 22. The system 20 includes a releasable attachment of a sterile barrier assembly 22 to a first mounting portion 24, and In addition, the second mounting portion 26 may be secured to the sterile barrier assembly 22 in a releasable manner. The robot arm R is configured to: The end effector EE (and / or procedure) can be operated without disrupting the sterile field S surrounding the The objective of the present invention is to ensure a repeatable and deterministic kinematic coupling of the end effector (EE) and other end effectors in the Additionally, tensioner 28 can be moved from a first position 28F (FIG. 2) to a second position 28S (FIG. 3) to rotate the second mounting portion 26 through the sterile barrier assembly 22. A preload force is applied to fix the mounting portion 24 of the 6 to 13 show a first mounting portion 24, a sterile barrier assembly 22, and a second FIG. 2 is an exploded view of the mounting portion 26, with some components omitted for clarity. The components of the first mounting portion 24, the sterile barrier assembly 22, and the second mounting portion 26 are subsequently As described above, the coupling and attachment of the sterile barrier assembly 22 to the first mounting portion 24 and the sterilization This facilitates coupling and attachment of the second mounting portion 26 to the barrier assembly 22 .

[0034] Referring to Figures 14A to 15B, the first and second lock assemblies are The solid body 22 is releasably locked to the first mounting portion 24 (see progression from FIG. 14A to FIG. 14C ). ), and then releasably locking the second mounting portion 26 to the sterile barrier assembly 22. (See progression from FIG. 15A to FIG. 15B). The locking assembly is When there is no kinematic coupling obtained when the tensioner 28 moves to the position 28S, the destruction Assists in facilitating a releasable connection between the microbial barrier assembly 22 and the mounting portions 24, 26. This configuration allows tensioner 28 to be moved to second position 28S to apply a preload force. Prior to transfer, the sterile barrier assembly 22 is securable to the first mounting portion 24 and to the second mounting portion 26. The portion 26 can be secured to the sterile barrier assembly 22 for ease of use. ,That is, the end effector EE is relatively heavy or cumbersome to handle by one person. This may be desirable in certain applications.

[0035] The first and second locking assemblies include first and second ball subassemblies 74, 76 and and first and second ball detents 78, 80 (FIGS. 14A and 15A, respectively). (See also Figs. 6, 11 and 12). The first lock assembly is a first mounting part 30. 2. A method for releasably fastening a first mounting portion 24 to a sterile barrier assembly 22, comprising: Similarly, the second locking assembly is arranged such that the tensioner 28 is in the first position. to releasably secure the second mounting portion 26 to the coupling portion 30 when the second mounting portion 26 is in the coupling position 28F, The ball subassembly 26 is disposed between the coupling portion 30 and the second mounting portion 26. Assemblies 74, 76 are operably attached to mounting portions 24, 26 and include ball detents 7 8, 80 are defined in coupling portion 30 for receiving ball subassemblies 74, 76. Thus, the coupling 30 is configured such that the sterile barrier assembly 22 is secured to the first mounting portion 24 and the second mounting portion 26 is secured to the second mounting portion 28. When the mounting portion 26 of the ball subassembly 74 is secured to the sterile barrier assembly 22, , 76. It will be understood that this The configuration can be reversed to tie one or both of the ball subassemblies 74, 76 to the coupling portion 30; The ball detents 78, 80 can be tied to the mounting portions 24, 26. do.

[0036] Each of the lock assemblies includes a ball subassembly that is received in one of the ball detents 78, 80. Release collars 84, 86 arranged to secure one of the bodies 74, 76 (see FIG. 14A) The release collars 84, 86 are each operably attached to the sterility barrier assembly 22. The two elements are biased axially away from each other and are supported by a pair of axially spaced members. One or more biasing elements, indicated generally at 88 and 89, are connected to the coupling portion 30 and the release collar. The force converter 84 and the force converter 86 are provided between the two plates 84 and 86 so as to be interposed between the two plates 84 and 86 in a force-transducing manner. In the embodiment, the biasing elements 88, 89 are formed as stacked wave washers. Any suitable number of biasing elements 88, 89 in any suitable group, configuration, or arrangement may be utilized.

[0037] For ease of assembly of the sterile barrier assembly 22, each of the release collars 84, 86 includes: A color body, generally indicated by the reference numeral 90, and a color kit, generally indicated by the reference numeral 92, are shown. and a collar keeper attached to the collar body 9 via a tab and pocket arrangement. 0 and is configured to rotate with it (see Figures 10 and 11). The collar members 92 are concentrically disposed with their respective collar bodies 90, and the collar biasing elements 88 are The interface plates 52, which are in contact with the respective collar bodies 90 and move away from each other in the axial direction, 54, and the keeper biasing element 89 biases the collar body 90 against the collar keeper 54. 92 and abut against corresponding rings 94 which are axially spaced apart from each other. , the ring 94 may be integral with the joint 30 or may be formed with a respective Seats in groove to hold coupling 30 axially against interface plates 52, 54 It will be appreciated that this arrangement acts to 52, 54. This arrangement provides a release cover for the interface plates 52, 54 and / or the coupling 30. axial movement of the actuators 84, 86, as described above and more below. As will be described in detail, releasability of the sterility barrier assembly 22 relative to the mounting portions 24, 26 In some examples, such as those shown, the sterile barrier assembly 2 Either side of the first mounting portion 24 can be coupled to the first mounting portion 24, i.e., the sterile barrier assembly 22 is shown in FIG. Even if inverted from the orientation shown in FIG. 14A, it still successfully attaches to the first mounting portion 24. It can be done.

[0038] Referring to the progression shown in FIGS. 14A to 14C, the first mounting portion 24 is sterilized. When installing the barrier assembly 22, one end of the coupling portion 30 is first attached to the first ball subassembly. 74 , and more specifically, contacts ball 75 of first ball subassembly 74 . When this occurs, the balls 75 move radially within their carriers, as shown in FIG. 14B. As a result, the ball 75 contacts one end of the collar body 90 and When the user applies more force to the interface 48, the corresponding color body The collar 90 compresses against the biasing force of the collar biasing element 88 (compare FIG. 14A with FIG. 14B). As the user continues to apply force to interface 48, referring now to FIG. A first ball detent 78 (e.g., a groove formed in coupling portion 30) is aligned with ball 75. Thus, ball 75 fits into first ball detent 78 and collar body 90. Then, the ball 75 is moved axially to a position behind the ball 78 to move the ball 75 to the first ball. The sterile barrier assembly 22 is now attached to the first mounting portion 24. Referring to FIG. 15A, a similar action occurs and the second mounting portion 26 to the sterile barrier assembly 22, and the other release collar 86 and the second ball including the ball 77. The lock is provided via the subassembly 76.

[0039] 15B to 21B, the sterility barrier assembly 22 is mounted in the first mounting portion 2. 4 and the second mounting portion 26 is secured to the sterile barrier assembly 22. Movement of tensioner 28 from position 28F (see FIG. 2) toward second position 28S (see FIG. 3). is a preload force applied to the mounting portions 24, 26 via the kinematic coupler 32. The end effector EE is kinematically coupled to the robot arm R via the mounting part The portions 24, 26 are held fixed to each other in their kinematically coupled configuration. In one example, the first mounting portion 24 may include a generally A loading mechanism, designated by reference numeral 98 (FIG. 15B) 16A and 16B). During actuation, the loading mechanism 98 includes a second position 28S In response to movement of tensioner 28 toward second mounting portion 26 and sterile barrier assembly 2 2 is urged in the axial direction toward the robot arm R.

[0040] The joint 30 of the sterile barrier assembly 22 provides a force transducer between the tensioner 28 and the loading mechanism 98. Thus, tension from the first position 28F to the second position 28S is Actuation of the gear 28 applies a rotational force to the load mechanism 98 through the coupling 30, thereby rotating the coupling 30 to apply a preload force to urge the second mounting portion 26 toward the first mounting portion 24. Axial translation is performed to couple the second mounting portion 26 to the first mounting portion 2 via the kinematic coupler 32. 4 and held fixed in a kinematically coupled configuration.

[0041] In the illustrated example, the loading mechanism 98 regulates the movement of the tensioner 28 toward the second position 28S. In response to the above, the first ball subassembly 74 is moved axially relative to the first mounting plate 38. (compare FIG. 16A with FIG. 16B), and the second mounting portion 26 is 24. Thus, it is axially locked to the first ball subassembly 74. The coupled portion 30 moves axially together with the first ball subassembly 74. A second ball subassembly 76, also axially locked to coupling 30, is connected to the first ball The second ball subassembly 74 and the coupling portion 30 move axially in the same manner. The solid 76 is configured to move in such a manner that the actuation of the load mechanism 98 pulls the second mounting plate 42 toward the first mounting plate 38. 9, the second mounting plate 42 is connected to the second mounting plate 42 via a loading ring 97. Thus, it has a flange sized for axial support.

[0042] The load mechanism 98 includes a drive unit 102 and a load actuator. The driver 102 is operably attached to the first ball subassembly 74. In the illustrated example, the driving unit 102 is a first ball by press-fitting, welding, or the like. The drive portion 102 is fixed to the first ball subassembly 74. The ball subassembly 74 may be operably attached to the first ball subassembly 74 by forming the ball subassembly 74 in the first position. The actuator 102 is adapted to releasably attach the sterility barrier assembly 22 to the first mounting portion 24. when the sterility barrier assembly 22 is in rotational engagement with the mating portion 30 of the sterility barrier assembly 22. In the illustrated configuration, the driver 102 and coupling 30 are configured to rotate longitudinally in use. 3 and 4, generally designated 82, configured to facilitate simultaneous rotation about axis L1. Specifically, the coupling portion 30 has a corresponding spline structure of the drive portion 102. The coupling portion 30 has end splines or teeth that engage with the ... Any suitable type of rotational engagement may be employed to facilitate rotational transmission between the drive portion 102 and the drive member 102. In response to movement of the tensioner 28 toward the second position 28S, the driver 102 Rotation of the drive unit 102 about the longitudinal axis L1 causes the first mounting portion 24 and the second mounting portion 25 to rotate. A preload force is applied between portions 26 to urge first ball subassembly 74 toward longitudinal axis L1. axial movement along the axis.

[0043] 16A to 20B, the load actuator 104 is connected to a first hub 106. and a second hub 108 opposite the first hub 106. The first hub 106 is 1. In some examples, the first hub 1 is operably attached to the ball subassembly 74. 06 is integrally formed with the first ball subassembly 74, thereby forming the first ball The second hub 108 is operably attached to the subassembly 74. The second hub 108 is operably attached to the first mounting plate 38. More specifically, the second hub 108 and the first mounting plate 38 6 and 7, corresponding flats 101, 103) to prevent relative rotation between the second hub 108 and the first mounting plate 38. hub 108 and first mounting plate 38. The allowable axial movement is determined by the distance between the first mounting plate 38 and the second mounting plate 38 on which the retaining ring 105 is located. The size of the groove in the first hub 108 is limited by the size of the groove in the second hub 108. is coupled to the first mounting plate 38.

[0044] The load actuator 104 is disposed between a first hub 106 and a second hub 108. The first hub further includes a plurality of ball bearings 110. The ramps 112 are The first hub 106 and the second hub 108 are defined in one or more of the first hub 106 and the second hub 108. A first set of lamps 112 is defined in the first hub 106 and a second set of lamps 112 is defined in the first hub 106. is defined in the second hub 108 and, as will be described below, provides an additional advantage (compared to using only one pair of lamps). ) effectively doubling the axial travel between the hubs 106, 108 during operation. The ball bearing 110 is a tension bearing toward the second position 28S. In response to the movement of the roller 28, the roller 21 rolls along the ramp 112. More specifically, referring to FIG. In the embodiment shown in FIG. 19, ball bearings 110 (six shown) are mounted on the hub 10. 6, 108 are formed in first and second sets of opposing lamps 112 (six in each set). In some embodiments, the ramp 112 is a linear ramp slope. However, the ramp 112 may have a non-linear ramp slope or a combination of linear and non-linear ramp slopes. A non-linear ramp slope may be used to accommodate, for example, stacked tolerances. This may be advantageous to reduce the sensitivity of the loading mechanism 98.

[0045] The ball bearings 110 and ramps 112 are supported by the hubs 106, 108 due to the relative rotation between them. Thus, the ball bearings 110 are sized and sized to roll along the ramps 112. The hubs 106, 108 are shaped such that unidirectional rotation can axially rotate the hubs 106, 108 relative to one another. axially moving the hubs 106, 108 toward each other by rotating in the opposite direction. (compare Figs. 20A and 20B). A return spring 114 (e.g., one or more The wave washer holds the hubs 106, 108 together when the tensioner 28 returns to the first position 28F. Acting between the first hub 106 and the hub mount 40 to move them closer together ( See FIG. 15B. More specifically, the return spring 114 is connected to the hub mount 40 and the roller bearing 42. hub 108. The return spring 114 facilitates rotation and thus returns the first hub 106 to its normal, unactuated position. It can be easily restored by

[0046] Referring back to Figures 16A and 16B, the drive 102 is secured to a first hub 106. Therefore, the rotation of the drive unit 102 relative to the first mounting plate 38 is This causes the first hub 106 to rotate about its longitudinal axis L1. Since the hub 108 is prevented from rotating relative to the first mounting plate 38, the first mounting plate 38 Rotation of the drive 102 relative to the first hub 106 also rotates relative to the second hub 108. This relative rotational motion occurs when ball bearings 110 rotate along corresponding ramps 112. The rolling motion causes the relative axial rotation between the hubs 106, 108 along the longitudinal axis L1. That is, the hubs 106, 108 are supported by ball bearings 110 that engage the ramp 11. When the ball bearing 106 and the hub 108 are rotated upward, the ball bearing 106 and the hub 108 are moved axially apart. As the rollers 10 roll down the ramp 112, they move closer together in the axial direction (FIGS. 16A and 16B). 16B). The ball bearing 110 is in the tensioner 28 in the first position 28F. At one time, the load actuator 104 is at rest at the deepest end of the ramp 112. In response to movement of the tensioner 28 toward the second position 28S, the hubs 106, 108 move away from each other. The actuator is arranged and configured to move axially to rotate.

[0047] The loading mechanism 98 is disposed to act between the second hub 108 and the first mounting plate 38. The biasing element 116 further includes a conical spring washer in the illustrated example. (also called Belleville washer / spring). As shown in FIG. 16C, In one example, the biasing element 116 includes inner and outer annular sides 116a, 116b. The inner side surface 116a abuts against the inclined annular surface 108a of the second hub 108. The side surface 116b of the first mounting plate 38 abuts against the inclined annular surface 38a of the first mounting plate 38. 16a, 116b have a cross-sectional profile that is square, chamfered, rounded, etc. (See the rounded profile in FIG. 16C). The annular surfaces 38a, 108a are shaped The annular surfaces 38a, 108a may be flat, concave, convex, etc. (See FIG. 16C for a flat profile.) The circumferential surfaces 38a and 108a are inclined at angles of 5 degrees to 85 degrees and 10 degrees to 80 degrees with respect to the longitudinal axis L1. 30 to 70 degrees, or 40 to 70 degrees, etc. 108a may be disposed at the same acute angle or at different acute angles relative to the longitudinal axis L1. The arrangement of the biasing element 116, including the abutment and compression between the circumferential surfaces 38a, 108a, provides a linear load. A biasing element normally designed to exhibit a nonlinear load-deflection relationship is adapted to exhibit a nonlinear load-deflection relationship. It can be made to do this.

[0048] The biasing element 116 is necessary to properly secure the second mounting portion 26 to the first mounting portion 24. The actuator may include any suitable resilient element or spring to provide a preload force. In some examples, the biasing element 116 may be one or more diaphragm springs, or a seat. Additionally, in some embodiments, the biasing element 116 may include a throttle spring. or may have one or more openings between the inner and outer periphery. It is possible.

[0049] In use, when the loading mechanism 98 is actuated, the first hub 106 reduces the slack between the mounting plates 38, 42. First, the kinematic coupler 32 is attached to the receivers 34, 35 of the mounting plates 38, 42 by removing the 6, the second hub 108 is rotated axially away from the second hub 108 to position it in better contact with the (Compare Figures 16A and 16B). Once the kinematic coupler 32 34, 36 and obtain the desired contact with the surfaces of the receptacles 34, 36, the mounting plate 38, 42 are kinematic couplers 32 and 42 in their desired relative positions and may be formed of metal. The rigidity of the receivers 34, 36, which are firmly fixed to the mounting plates 38, 42, further attracts them to each other. As a result, further operation of the load mechanism 98, i.e., further operation of the drive unit 102, is prevented. The resulting rotation here rotates the second hub 108 axially away from the first hub 106. This is because the mounting plates 38, 42 are no longer moving axially toward each other and the first This is the result of the hub 106 being fixed against axial movement. Because the hub 108 is in contact with the biasing element 116, further actuation of the loading mechanism 98 will As a result, the biasing element 116 compresses the mounting portions 24, 26 together. providing a preload force or a resistance that defines at least a portion of the preload force A biasing element 116 acts between the second hub 108 and the first mounting plate 38 to bias the tensioner 116. Throughout the movement of 28, it successively engages the second hub 108 and the first mounting plate 38.

[0050] In one example, a conical spring washer can provide a preload force of 200 lbs to 500 lbs, 3 50lbs to 450lbs preload force, or approximately 400lbs preload force The conical spring washer is designed to withstand axial compression of 2 millimeters or less. The pressure on the preload force is adjusted so that the preload force can only vary by approximately + / - 10%. As a result, the load mechanism 98 or other components may have a non-linear relationship of the compression distance. It provides consistent preload force regardless of the tolerances in the original assembly, use after use. Users can expect consistent preload force.

[0051] 21A and 21B, the tensioner 28 includes a lever 118 (handle and (also referred to as a lever 118 ), an activator 120 , and a lever 118 and an activator 120 and an activator link 122 interposed between the second mounting portion 26 and the second mounting portion 26 in a force-transducing manner. is releasably secured to coupling 30 (coupling 30 is not shown in FIGS. 21A and 21B). When the terminating position is changed from the first position 28F (FIG. 21A) to the second position 28S (FIG. 21B), The movement of the actuator 28 is achieved by rotating the activator 120 about the longitudinal axis L1. This causes the coupling part 30 and the drive part 102 to rotate simultaneously about the manual axis L1, Add power.

[0052] The lever 118 extends outwardly from the second mounting plate 42 in the first position (FIG. 21A) and 21B, the lever 118 is engaged with the second mounting plate 42. The second mounting plate 42 is rotated around a first rotation axis perpendicular to the second mounting plate 42 at the first pivot P1. The lever 118 is pivotally connected to the mounting plate 42. The lever 118 further includes a second pivot joint P2. The activator is rotated about a second pivot axis parallel to the first pivot axis. The activator link 122 is pivotally connected to the third pivoting joystick 122. P3, to pivot about a third pivot axis parallel to the first and second pivot axes. , is pivotally connected to the activator 120.

[0053] The lever 118 rotates about a first pivot axis from a first position 28F to a second position 28S. When rotated / pivoted, the activator link 122 (e.g., as shown in Figs. 21A and 21B) Activator 1 is biased to rotate (counterclockwise in the plan view shown), thereby 20 (again, counterclockwise) between the lever 118 and the second mounting plate 42. , between the lever 118 and the activator link 122, and between the activator link 1 The arrangement of the pivot joints P1, P2, P3 between the actuator 22 and the activator 120 is mechanically The pivot joints P1, P2, P3 are connected to a connecting pin and The load mechanism 98 and tensioner 28 can be formed by a lever. 118 to limit the relatively high forces required to be applied to the The stroke of the lever 118 can be maximized during this period.

[0054] A biasing element 124, such as a compression spring, is attached to a spring block 126 secured to the second mounting plate 42. and the activator 120 to move the tensioner 28 toward the first position 28F. The tensioner 28 then biases the end effector EE to the kinematic coupling. The lever lock 128 continues to move to the second position 28S. 8, and a tensioner 28 is operably coupled (e.g., via a pivot connection) to the second When the lever 118 is in the second mounting portion 26 at the position 28S (see FIG. 21B), Click.

[0055] Referring briefly back to FIGS. 15A and 15B, the activator 120 is The actuator is seated for selective rotational movement within mounting plate 42. More specifically, the actuator The rotor 120 includes a centering member 130 (e.g., a centering plate) and a rotation lock plate 132. The centering member 130 and the lock plate 132 are disposed between the activator 130 and the lock plate 132. When the activator 120 is actuated for rotation via the lever 118, the activator 120 is The locking member 130 and the locking plate 132 are arranged to rotate about a longitudinal axis L1. The second mounting plate 42 is fixed thereto as shown in FIG.

[0056] The locking plate 132 is adapted to lock the activator 120 so that the second mounting portion 26 is attached to the sterility barrier assembly. 22. Then, the lever 118 is returned to the first position 28F, and the second mounting portion 26 is attached to the sterile barrier assembly. When removed from the body 22, the lever 118 engages the activator 120 and the locking plate 13. 2, the lever 11 cannot rotate to the second position 28S. 8 open, and a detergent (e.g. The second package is autoclaved by allowing air (e.g. steam) to penetrate. 26. Additionally, when the lever 118 is in the closed second position 28S, In this state, the user attempts to place the second mounting portion 26 on the sterile barrier assembly 22 ( This is impossible and can be confusing and frustrating for users.

[0057] The activator 120 is activated in the rotationally locked position (see Figures 12 and 15A). The locking plate 132 is secured to the locking rod 120 by a flat 134 of the locking plate 132 which is axially aligned with a flat 136 of the motor 120. Therefore, the rotation of the lock plate 132 and the second mounting plate 42 is restricted. The flat portion 136 is located on the flange 135 of the lock plate 132 and the flat portion 136 is located on the activator 120. In the unlocked position, the activator 120 is axially The offset flats 134, 136 allow the locking plate 132 and the second mounting plate 134 to be aligned relative to each other. 42. A biasing element 138 (e.g., a wave spring) biases the activator 12 0 towards the locked position.

[0058] The activator 120 activates the second mounting portion 26 when it is secured to the sterile barrier assembly 22. 1 and 2, are positioned to engage coupling 30, such that coupling 30 forms a part of the sterile barrier assembly. When the connection between the body 22 and the second mounting portion 26 is made via the second locking assembly, In particular, the coupling 30 biases the activator 120 to the unlocked position. The flange 137 of the activator 120 is axially engaged with the locking plate 132. axially below the flange 135 of the (compare Fig. 15A with Fig. 15B). Once unlocked, The activator 120 rotates in response to movement of the tensioner 28 toward the second position 28S. The activator 120, the coupling portion 30, the drive portion 102, and the first hub 106 are They rotate simultaneously relative to the mounting plates 38, 42 to apply a preload force.

[0059] The activator 120 has a second mounting portion 26 releasably secured to the coupling portion 30. When the sterility barrier assembly 22 is rotated, the sterility barrier assembly 22 is rotated and positioned in rotational engagement with the coupling 30 of the sterility barrier assembly 22. To this end, the coupling portion 30 and the activator 104 are generally designated by the reference numeral 82. 15A, which are aligned along the longitudinal axis L Specifically, the coupling 30 is configured to facilitate simultaneous rotation around one end of the coupling 30. The activator 120 has splines or teeth that mate with corresponding end splines on the activator 120. However, the rotational transmission between the coupling 30 and the activator 120 is Any suitable type of rotational engagement may be employed to facilitate.

[0060] The first mounting portion 24 contains the electronics required to perform certain functions of the surgical component. In one embodiment, referring to Figures 7 and 8, a Hall effect sensor may be included. The mounting hub 40 is supported by a printed circuit board PCB (see FIG. 8). A corresponding magnet 142 (see FIG. 7) may be mounted to rotate with the first hub 106. The sensor is supported by the first hub 106. Alternatively, the sensor may be mounted on a printed circuit board PC The magnet may be supported by a first hub 106 for movement relative to a magnet fixed to B. The sensor 140 is coupled to a controller 144, which is located on a printed circuit board PCB. or located elsewhere to receive an appropriate signal from the sensor 140. 140 is the amount of rotation of the first hub 106 relative to the hub mount 40 and the first mounting plate 38 This is arranged to cooperate with the magnet 142 to generate a signal indicative of the second The controller receives information regarding whether the mounting portion 26 is properly secured to the first mounting portion 24. In one example, the controller 144 monitors the rotation via the sensor 140. For example, the first hub 106 may be tilted at least 10 degrees, at least 20 degrees, or at least Determine whether the image has rotated at least a certain amount, such as 30 degrees. The groove 146 (see FIG. 8) is used to read the movement of the magnet 142 via the sensor 140 through the bottom wall. To facilitate installation, the hub mount 140 may be formed in its bottom wall.

[0061] 22 to 25B, the second mounting portion 26 is connected to the lever 1 of the tensioner 28. After 18 is opened to the first position 28F, release the second mounting portion 26 from the coupling portion 30. To do this, one or more of the release collars 84, 86 (see FIG. 15B) may be moved. The release mechanism 148 includes a release actuator 150, A release link 152, a biasing element 154 (e.g., a compression spring), and one or more release The one or more release elements 156 are Actuation moves the release link 152 against the bias of the biasing element 154 to release the release collar 84, 86 and displace one or more of the ball subassemblies 74, 76. so that one or more of the ball detents 78, 80 are released from one or more of the ball detents 78, 80. , operable between the release actuator 150 and one or more release collars 84, 86 In the illustrated embodiment, the release mechanism 148 releases the second ball subassembly 76. To move the second release collar 86 to release it from the second ball detent 80. It works.

[0062] 24A and 24B, the release actuator 150 is in the second position 28 Movement of lever 118 to S causes release actuator 150 to at least partially engage. When the lever 118 is in the second position 28S, the release actuator 150 The lever 118 is normally positioned so as not to be accessible to the user. When opened to 8F, the release actuator 150 is accessible and can be operated by the user. In the illustrated embodiment, the release actuator 150 is a second mounting portion. 26 is configured to be depressed by a user to release it from the sterile barrier assembly 22. The type of push button actuator that is provided is shown in FIG. 1, but any suitable type of actuator may be used. In this embodiment, the release actuator 150 is depressed (compare FIG. 24A with FIG. 24B). When compared, the one or more release elements 156 are secured to the second mounting plate 42 by a retaining 158 to engage and secure the second release collar 86. 6, thus removing the second mounting portion 26 from the sterile barrier assembly 22. When the release actuator 150 is released, one or more release The elements 156 may include their own biasing elements 160 (e.g., torsion springs as shown in FIG. 22). ) and returns to under the retaining plate 158. In this manner, the release element 156 Movement relative to the second mounting plate 42 and the retaining plate 158 between a non-projected position and a second projected position. The devices are positioned so that

[0063] As shown in FIGS. 25A to 25C (lever removed for clarity), the release link 152 , in response to actuation of the release actuator 150 , activates one or more release elements 156 to their second position. More specifically, the release link 152 includes a pair of release arms 162. , each release arm has a cam engagement end 164. The cam engagement ends 164 engage with the second mounting portion 42. When slid against the cam engagement end 164, the cam engagement end 164 engages the release element 156 (see FIG. 25C). In this configuration, the release element 156 is supported by a retaining plate 158 for rotation about the eccentric axis A1. The cam engagement end 164 is in the form of a cam disc that is eccentrically mounted on the eccentric axis A. 1 and spaced apart from the cam disc, and when the cam engagement end 164 abuts against the cam disc. The cam disc rotates about the eccentric axis A1 and projects through a slot in the retaining plate 158. However, it jumps over the retaining plate 158 and engages the second release collar 86, i.e., its collar body. 4. In combination, the ball 77 of the second ball subassembly 76 is withdrawn from the detent pocket 80. The collar body 90 is lifted up until it is secured to the support plate 158. (Compare FIG. 15B, which shows the same.)

[0064] In some circumstances, when the lever 118 is in the second position 28S (e.g., closed), In some cases, it may be necessary to activate the release actuator 150. For example, when the lever 118 is in the second position 28S, Prior to coupling the sterility barrier assembly 22 to the first mounting portion 24, the second mounting portion 26 is sterilized. This can occur when the microbial barrier assembly 22 is attached to the lever lock 12. 8 is to use a thin tool (such as a screwdriver) to pry up the lever lock 128 and 1. Pivot the lever lock 128 to connect the rear portion of the lever lock 128 to the release actuator 150. 2. The second release collar 86 is disposed to engage and move as described above. 4A shows the arrangement of the lever lock 128 relative to the release actuator 150 which enables this action. The lever lock 128 is shown near the rear portion. The lever lock 128 is levered as described above. Release collar 86 is released to release second mounting portion 26 from sterile barrier assembly 22. 2, thereby allowing the lever 118 to return to the first position 28F (e.g., the open position). Alternatively, the second mounting portion 26 may be provided with an elongated tool. The second release collar 86 is attached to the elongated tube 84. 2. Manually move the sterile barrier assembly 22 along with the second mounting portion 26 to release the sterile barrier assembly 22 from the second mounting portion 26.

[0065] In use, the sterile barrier assembly 22 is first mounted on a first mounting connected to the robot arm R. Therefore, the axial movement of the coupler 30 toward the robot arm R Thus, the first ball detent 78 is engaged with the ball 75 of the first ball subassembly 74. 2, thus the first locking assembly secures the sterile barrier assembly 22 to the first mounting portion 2. 4, the kinematic coupler 32 is loosely seated in the first of the plurality of receptacles 34. Next, The drape 50 is then attached to the robot arm R to facilitate subsequent movements within the sterile field S. Next, the second mounting portion 26 can be positioned toward the fixed sterile barrier assembly 22. and a second ball detent connected thereto by axial movement of the end effector EE. The locking member 80 engages the ball 77 of the second ball subassembly 76, thus forming a second locking member. The clamp assembly holds the second mounting portion 26 on the sterile barrier assembly 22 and includes a second plurality of receiving The vessel 36 seats loosely in the kinematic coupler 32 .

[0066] The tensioner 28 of the second mounting portion 26 is biased by the biasing element 124 to the first position 28F. 2, which causes the tensioner 28 to subsequently engage the end of the Continue moving to the second position 28S to provide kinematic coupling of the effector EE. As the tensioner 28 moves toward the second position 28S, the activator 120 , rotates the coupling 30, which in turn rotates the drive 102 via the spline arrangement 82. This rotation actuates the load mechanism 98 to axially separate the hubs 106, 108, causing the first and second and the second mounting portions 24, 26 are attracted to each other, and the tensioner 28 is in the second position 28S. When the end effector EE penetrates the robot, it creates a kinematic coupling. It is kinematically coupled to the arm R and can be used within the sterile field S.

[0067] If the end effector EE needs to be replaced or exchanged within the sterile field S during the procedure, In this case, contaminants may cross the sterile barrier assembly 22 from or towards the robot arm R. The second mounting portion 26 is removed from the sterile barrier assembly 22 without allowing any Now, in order to remove the second mounting portion 26, the tensioner 28 is The tensioner 28 can be moved from the first position 28S to release the kinematic coupling. During the return to 28F, the second lock assembly is secured to the first locking assembly 22. The sterile barrier assembly 22 is secured to the first mounting portion 26 by a first locking assembly. The second mounting portion 26 remains secured to the first mounting portion 24. To release the tensioner 28, the tensioner 28 moves from the first position 28F to the release actuator. The release actuator 150 can be depressed to expose the first A release element 156 is engaged with the second release collar 86 which releases the second lock assembly. Thus, the ball 77 of the second ball subassembly 76 engages the second ball detent of the coupling 30. 80. More specifically, the shaft attached by the release element 156 The force in the direction urges the second release collar 86 axially away from the second ball subassembly 76. 3, as the second release collar 86 presses against the second ball detent 80. This continues until the first ball subassembly 76 no longer constrains the ball 77 of the first ball subassembly 76. The mounting part 26 of the second embodiment and the end effector EE to which it is connected can be detached. and a second mounting portion and a second end effector are then attached to the sterile barrier assembly. It can be reattached to the body 22.

[0068] To remove the sterile barrier assembly 22 from the first mounting portion 24, such as after surgery is completed, To this end, first the second mounting portion 26 and the connected end effector EE are assembled as described above. As shown, the sterile barrier assembly 22 is then removed from the first The interface 48 may be inserted by a user into the first mounting portion 24 for removal from the first mounting portion 24. 2. The first locking assembly is pulled axially away from portion 24 to disengage the first locking assembly. Here, the axial force applied to the interface 48 causes the first release collar 84 to axial movement of the coupling portion 30 against the bias of the biasing elements 88, 89 to effect the first locking Release the assembly so that the first ball detent 78 of the coupling portion 30 is in contact with the first mounting portion. 24. More specifically, the user withdraws the inter An axial force is applied by gripping the face 48 around its periphery, thereby , the first release collar 84 engages the first ball sub-assembly 77 at the first ball detent 78. The first release collar 84 (collar body 90) is then rotated until it no longer restricts the ball 75 at number 4. and collar keeper 92) axially away from first ball subassembly 74. Pull in the opposite direction.

[0069] I. Lighting for mounting systems Referring to FIGS. 26 to 29, a robot arm R and an end effector EE are included. The robotic surgical system 200 may be implemented by a user using one of the implementation systems described herein. It is often used in conjunction with a lighting system that helps to properly mount a single component or multiple components. In particular, the robotic surgical system 200 can include an illumination device 202, which is 28. The light is emitted to provide at least a first illumination state S1 (see FIG. 28) and a second illumination state S2 (see FIG. 28). 29. The illumination state S2 (see FIG. 29) is configured to change the light emission between the .

[0070] In the example shown in Figures 26 to 29, the lighting device 202 is coupled to a robot arm R. More specifically, the robot arm R and even more specifically the robot joints Any link of the arm disposed on the outer surface 206 has an outer surface 206, and the lighting device 202 is The lighting device 202 is disposed on or within the exterior surface 206. In other words, the lighting device 202 may have a configuration such that it is wrapped around the outer surface 206. The robot joint axis is connected to the ring, and the axis of the arm R is aligned along the axis of the robot joint. As shown in the figure, the lighting device 202 is The lighting device 202 may be flush with (or integral with) the surface 206. However, the lighting device 202 may be The outer surface 206 of the toe arm R may protrude above or extend below the outer surface 206 of the toe arm R.

[0071] In the example shown in FIGS. 26 to 29, the lighting device 202 is disposed at the distal end of the robot arm R. Near the end, the lighting device 202 is adjacent to the first mounting portion 24. This is easily recognized by the user who operates the effector EE. However, the lighting device 2 02 can be disposed anywhere along the robot arm R, including the second mounting portion 26. Additionally, other examples are contemplated, in which the illumination device 202 is Attached to the do-effector EE, the sterile barrier assembly 22, or any other suitable part. Moreover, the lighting device 202 is connected to the robot arm R, the end effector EE, and the lighting device 202. The illumination device 202 can be separated from the microbial barrier assembly 22. In other words, the illumination device 202 can be The medical device may be a separate component that is within the user's field of view while the medical device system 200 is in use. Additionally, any number of lighting devices 202 may be utilized, which may be the same or different from one another. For example, the various lighting devices 202 may have different shapes or configurations. It can be placed at different joints of the toarm R.

[0072] Illumination device 202 may include any suitable light source for emitting light visible to a user. For example, the lighting device 202 may be an array of LEDs or OLEDs, a display These may include display devices (e.g., LCD screens) whose content may be displayed by software. The LED may be controlled by wires, fiber optics, or any other type of suitable technology. OLEDs can emit light in the entire visible range or in a combination of infrared and visible wavelength ranges. It can be emitted to produce any color within the visible range.

[0073] The robotic surgical system 200 is in communication with or coupled to a lighting device 202. One or more controllers 204 (referred to herein as controllers 204 for simplicity) and further includes other electronic and / or electrical devices to determine how to control the lighting device 202. The control unit is configured to receive signals from the control components or sensors (as described below). The light source 204 changes between the first and second illumination modes S1, S2 in response to fluctuations in the signal. The controller 204 or any of its associated components may be configured to control the lighting device 202 to provide a lighting control signal. The auxiliary components of the robot are the end effector EE, the robot arm, the robot base, the first and any of the mounting system 20, including the second mounting portions 24, 26 and the sterile barrier assembly 22. or may be coupled to any one or more of the components of the lighting device 202. In one example, the controller 204 may be integrated with the first implementation portion 2, as described above. 4, which may include, be identical to, or be capable of communicating with, a controller 144 located within the It can also be.

[0074] The controller 204 may include or be part of any part of a surgical system in addition to the illumination device 202. If it is not, it can communicate, and any part can be a robot control system, a navigation system, and tool control systems, which may include any one or more of the robot system, via the arm R of the stem, to the target site and other parts of the robotic surgical system 200 To facilitate positioning, moving, and / or actuating the end effector EE. The controller 204 cooperates with the "Robotic System and A patent entitled "Hand for Backdriving the Same" No. 5,327,849, the disclosure of which is incorporated herein by reference. The controller 204 includes a computer, a processor, and The present invention can be realized in various configurations, such as a control unit, and can also be implemented as a separate It may include or incorporate components (e.g. hardware, software, etc.) In addition, the controller 204 may include a processor (e.g., Central Processing Unit) and / or other processors, memory, and / or storage devices The present invention may be implemented in any suitable hardware, including a computer with a The software can be loaded to function as described in more detail below. The sensor controls the movement of the robot, navigation system, or end effector EE. The processor may include one or more processors for controlling any type of microprocessor, multiprocessor and / or multicore processing system The controller 204 may additionally or alternatively be one or more Microcontrollers, Field Programmable Gate Arrays, System-on-Chip , discrete circuits, and / or other circuits capable of performing the functions described herein. may include appropriate hardware, software, and / or firmware The term "processor" is not intended to limit any embodiment to a single processor. The controller 204 may also control one or more output devices (e.g., a screen). lean, display, and status indicators) and / or input devices (e.g., push buttons, keyboards, mice, microphones, voice-operated devices, Gesture control devices, touch screens, foot pedals, and pendants The system may include, define, or otherwise employ a user interface that includes Other configurations are contemplated.

[0075] As shown in FIGS. 27 to 29, the lighting device 202 includes at least first and second The light source 202 communicates with the controller 204 to change the light emission between the two lighting modes S1 and S2. The user may provide visual feedback to the user to determine the status of the robotic surgical system 200. The user can then interpret the light and react accordingly (e.g., by changing the mounting system). (e.g. reinstalling an improperly installed component in a system).

[0076] The operation of the lighting device 202 depends on conditions associated with the mounting system, as described below. In one example, one of the lighting modes S1, S2 may vary between the following conditions: indicates an error condition, and another aspect S1, S2 indicates the correct installation of system components, etc. The description herein indicates a suitable or positive state of affairs. does not limit either of the second modes S1, S2 to the specified error situation conditions. Therefore, the terms "first" and "second" are interchangeable. , S2 may also display a condition that is not related to the presence or absence of an error. For example, the condition (con A dition conveys information to the user (e.g., confirmation before or after a user action). In one example, the first and second lighting aspects S1, S2 may be In the "off" state, the lighting device 202 is in the "light on" state of the first and second lighting aspects S1, S2. One of the first and second illumination modes S1, S2 emits light and the other of the first and second illumination modes S1, S2 does not emit light. In this example, the lighting device 202 may include one or both of the first and second lighting aspects S1, S2. Moreover, the lighting device 202 may flash in the first and second lighting modes S. 1, S2 or both of the lighting device 202 flashing. The speed is varied between the first and second illumination states S1, S2 to differentiate between the states. In another example, the lighting device 202 may have a visible color scheme in the first lighting mode S1. In the second illumination embodiment S2, light having a first color in the visible color spectrum is emitted. In another example, the first and second light sources emit light having a second color different from the first color. The light emitted in the two illumination states S1, S2 is different between the first and second illumination modes S1, S2. The brightness may be varied to differentiate.

[0077] The examples provided above are not mutually exclusive and may be used in conjunction with each other in any suitable configuration. (For example, the lighting device 202 may have a first illumination aspect S1 and a first luminance. while the lighting device 202 flashes a second brightness ( The light source can emit a stable light of a second color having a different brightness. The device 202 may be configured to emit light in more than just the first and second illumination modes S1, S2. In fact, the illumination device 202 may be configured in many ways to accommodate the various aspects of the robotic surgical system 200. It can be configured to emit light in multiple illumination modes to alert the user to different conditions. do.

[0078] In one example, the lighting device 202 is configured to illuminate the end effector EE when the end effector EE is coupled to the robot arm R. When the end effector is connected to the first lighting mode S1, the end effector is controlled to be in the first lighting mode S2. When the EE is not connected or is connected improperly to the robot arm R, The lighting state is controlled to be in the second lighting state S2. The vice 202 is operable with the end effector EE appropriately coupled to the robot arm R. On the other hand, the lighting device 202 of the first lighting mode S1 is in a normal state. What the user is told is that the end effector EE is properly connected to the robot arm R. The end effector EE is not connected or is improperly connected, causing the robot arm R For example, the operation of the end effector EE and / or the robot arm R may be performed in order to couple with To prevent inoperability or damage, the end effector EE and the robot arm R must be updated. In some examples, the controller 204 may control the lighting device 202 to operate in a similar manner. While the illumination mode S1 is in the first illumination mode S2, the operation of the end effector EE is additionally permitted. The controller 204 may control the illumination device 202 to be in the second illumination state S2 while the illumination device 202 is in the second illumination state S2. The operation of the end effector EE can be suppressed.

[0079] In order to detect the coupling between the end effector EE and the robot arm R, the controller 20 4 can communicate with the electronics of the first mounting portion 24. Although not necessarily fixed, a sensor 140 (see FIG. 8), such as a Hall effect sensor, is fixed to the mounting hub 40. The magnets 142 (see FIG. 7) can be supported by a printed circuit board PCB that is fixed to the magnets 142. ) may be supported by the first hub 106 for rotation therewith. Alternatively, the sensor 140 may be moved relative to a magnet fixed on a printed circuit board PCB. The sensor may be supported by the first hub 106 for movement. 140 is the amount of rotation of the first hub 106 relative to the hub mount 40 and the first mounting plate 38 This is arranged to cooperate with the magnet 142 to generate a signal indicative of the first The second mounting part 26 is appropriately fixed to the first mounting part 24 (i.e., the robot arm R and the end The controller 204 (latent This allows the controller 204 to control the robot arm. The connection between R and the end effector EE is detected wirelessly. Other examples of line sensing controller 204 include, but are not limited to, inductive sensing and capacitive sensing. Includes.

[0080] Based on the signal of the sensor 140 (indicative of the rotation of the first hub 106), the controller 204 The controller 204 determines that the second mounting portion 26 is properly secured to the first mounting portion 24. When the determination is made, the lighting device 202 can be controlled to the first mode S1. , 144, the controller 204, 144 determines whether the second mounting portion 26 is properly connected to the first mounting portion 24. When it is determined that the lighting device 202 is not fixed to the lighting state, the lighting device 202 can be controlled in the second mode S2. do.

[0081] In another example, the sensor data may include a proximity between the second mounting portion 26 and the first mounting portion 24. The controller 204, 144 may more generally detect the second When it is determined that the mounting portion 26 is not within the proximity threshold of the first mounting portion 24, the lighting device The controller 204, 144 can control the sensor 202 to the first mode S1. 144 determines that the second mounting portion 26 is within a threshold proximity to the first mounting portion 24. When this occurs, the lighting device 202 can be controlled in a second manner S2.

[0082] Alternatively, the coupling between the end effector EE and the robot arm R may be This can be detected through a direct electrical (wired) connection between the actuator EE and the robot arm R. For example, as described above, the first mounting portion 24, the second mounting portion 26, and the sterile bag may be The rear assembly 22 facilitates communication between the robot arm R and the end effector EE. To achieve this, the first mounting portion 24 and the second mounting portion 26 are provided with an electrical connection therebetween. Each may employ one or more connectors, such as adapted sealed electrical connectors. In the embodiment shown in FIGS. 5B and 5C, the first, second and third connectors C1, C However, different connectors C1, C2, C3 are used. Other types of communication are contemplated without limitation. The electrical connection between the robotic arms R can be accomplished without regard to the sterile barrier assembly 22.

[0083] The presence of a direct wired connection between the electrical components of the mounting portions 24, 26 Whereas the absence of a direct wired connection may represent a suitable combination of 4, 26. The controller 204 may represent an improper connection between the controller 204 and the implementation When determining the absence of a direct wired connection between the electrical components of the lighting device 24 and 26, 02 to the first mode S1, and the controller 204 controls the electrical configuration of the mounting parts 24, 26. Upon determining the presence of a direct wired connection between the elements, the lighting device 202 is controlled to a second mode S2. Can be controlled.

[0084] Alternatively, a wired connection between mounting portions 24, 26 may be used to provide a stable connection between the mounting portions 24, 26 in both proper and improper installation conditions. However, the controller 204 and / or any other sensors employed by the controller may be To differentiate between a good and a bad installation, electrical conditions (e.g. current, voltage, signal frequency / The controller 204 can detect the phase / amplitude, capacitance, impedance, etc. If so, the lighting device 202 can be controlled accordingly.

[0085] Returning to FIG. 28 and FIG. 29, in yet another example, the end effector EE and the robot The coupling between the arms R may be a switch, button, trigger, or other device that is in electronic communication with the controller 204. can be detected via the actuation of a mechanical component such as a plunger. For example, Thus, the tensioner 28 of the second mounting portion 26 (as shown in FIGS. 2 and 3 ) The sterility barrier assembly 22 is movable between a first position 28F and a second position 28S. The coupling portion 30 is releasably secured to the first mounting portion 24 and tensioned to the second mounting portion 26. The second mounting portion 26 is adapted to be releasably received by the second mounting portion 26 when the second mounting portion 28 is in the first position 28F. The kinematic coupler 32 is configured to engage the mounting portions 24, 26. When the tensioner 28 of the second mounting portion 26 is in the second position 28S, the surgical structure The assembly is mounted through the sterile barrier assembly 22 to constrain six degrees of freedom of movement between the components. The tensioner 28 is arranged to provide a kinematic coupling between the components 24, 26. The position may be determined by any sensor coupled to the controller 204 (e.g., a position sensor, a proximity sensor, a speed sensor, etc.). The second mounting portion 26 is mounted to the sterile barrier assembly 22. During this time, the controller 204 detects that the tensioner 28 is in the first position 28F. Upon determining, the controller 204 can control the lighting device 202 to a first mode S1, and When the controller 204 determines that the tensioner 28 is in the second position 28S, the controller 20 4 can control the lighting device 202 in a second manner S1.

[0086] In a related example, the lighting device 202 may be mounted on the first or second mounting portion 24, 26. The display can be controlled to indicate the status of the sterile barrier assembly 22 being installed. In the example, the controller 204 detects a sensor (e.g., a proximity sensor, a position sensor, an inertial sensor, or a force sensor (not shown) for determining the position or proximity of the sterile barrier assembly 22 relative to the first mounting portion 24. The sensor may be employed to detect the presence of a sterile barrier assembly and a first mounting portion 24. From the sensor, the controller 204 can be coupled to one or more of the The coupling portion 30 is adapted to the first mounting portion 24 (with or without regard to the second mounting portion 26). The controller 204 can also determine when the sterile barrier is properly secured from the sensor. The coupling portion 30 of the assembly 22 is not properly secured to the first mounting portion 24 (or at all). In such a case, the controller 204 can determine when the sterility barrier assembly is not secured. When the solid body 22 is properly fixed to the first mounting portion 24, the lighting device 202 is The sterility barrier assembly 22 can be controlled to the first mounting portion 24 in the manner S1 of FIG. When fixed or not fixed, the lighting device 202 can be controlled in a second manner S2. Cut.

[0087] In any of the examples described above relating to controlling a lighting device 202 in accordance with an implementation system, In this regard, the illumination device 202 may be used to illuminate the end effector EE before, during, or after surgery. and / or any other lighting aspects may be further controlled to indicate the status of the robot arm R. For example, the lighting device 202 may be controlled by the end effector EE and / or the robot. When the light source R is operating properly or within the proper range of conditions, On the other hand, the illumination device 202 can emit light to the end effector EE and / or the robot. The Bot Arm R is not working properly or is in an improper state (e.g., loss of precision, latent When operating within a range of different illumination modes (potential crash conditions, etc.), the light can be emitted in a different illumination manner. Any other suitable state or effect of the end effector EE and / or the robot arm R. The error state can be indicated by the lighting device 202.

[0088] The above describes aspects of the robotic surgical system 200 that facilitate control of the lighting device 202. Although the present paper provides many examples that illustrate the behavior of the condition, the list is not definitive and many other examples may be used. There may also be states for which the light emitted by the lighting device 202 can be swapped. This can be done.

[0089] Several examples have been discussed in the preceding description. However, the examples discussed herein are It is not intended to be exhaustive or to limit the present invention to any particular form. The terms used are intended to be descriptive rather than limiting. Modifications and variations are possible in light of the above teachings, and the invention may be practiced in accordance with that which has been specifically described. may also be performed in other ways.

Claims

1. A surgical robot comprising a robotic arm having a first mounting portion and a lighting device, A second mounting portion connected to a surgical component, wherein the second mounting portion is removably attachable to the first mounting portion, and the second mounting portion includes a tensioner movable from a first position to a second position, and biases the second mounting portion relative to the first mounting portion in accordance with the movement of the tensioner toward the second position. The lighting device and one or more controllers coupled to one or more sensors The controllers include, and the one or more controllers are Using one or more of the sensors, a first installation state is detected in which the second mounting portion is attached to the first mounting portion and the tensioner is in the first position. To display the first installation state, the lighting device is controlled to the first configuration. Using one or more of the sensors, a second installation state is detected in which the second mounting portion is attached to the first mounting portion and the tensioner is in the second position. To display the second installation state, the lighting device is controlled to a second mode different from the first mode. It is structured in such a way. Surgical system.

2. The aforementioned surgical component is further defined as an end effector, The aforementioned end effector is, A housing to support the energy applicator, The second mounting portion attached to the housing and A surgical system according to claim 1, comprising:

3. The lighting device emits a first color in the first embodiment, The surgical system according to claim 1, wherein the illumination device emits a second color different from the first color in the second embodiment.

4. The lighting device is controlled to be inoperable in the first embodiment, The surgical system according to claim 1, wherein the illumination device is controlled to operate and emit light in the second embodiment.

5. The surgical system according to any one of claims 1 to 4, wherein the lighting device is disposed on the robot arm adjacent to the first mounting portion.

6. The surgical system according to claim 5, wherein the lighting device has an annular configuration surrounding the link of the robot arm.

7. Further comprising a sterilization barrier assembly, The second mounting portion is removably attached to the first mounting portion via the sterilization barrier assembly. The first installation state is further defined as the state in which the second mounting portion and the sterilization barrier assembly are attached to the first mounting portion and the tensioner is in the first position. The surgical system according to claim 1, wherein the second installation state is further defined as a state in which the second mounting portion and the sterilization barrier assembly are attached to the first mounting portion and the tensioner is in the second position.

8. The sterilization barrier assembly further includes a coupling and a plurality of kinematic couplers, The first implementation part is, Multiple contact surfaces for engaging with the multiple kinematic couplers of the sterilization barrier assembly, A load mechanism configured to apply a preload force to the second mounting portion through the sterilization barrier assembly when the tensioner moves from the first position to the second position, The surgical system according to claim 7, comprising a first mounting plate and a first ball sub-assembly configured to be removably fixed to the joint portion of the sterilization barrier assembly.

9. The load mechanism includes a load actuator configured to move the first ball sub-assembly in the axial direction in response to the movement of the tensioner toward the second position. The aforementioned load actuator is A first hub operably attached to the first ball sub-assembly, A second hub operably mounted on the first mounting board, A plurality of ball bearings are disposed between the first hub and the second hub, The surgical system according to claim 8, comprising a ramp defined on one or more of the first and second hubs, along which the ball bearings roll in response to the movement of the tensioner toward the second position.

10. The one or more controllers are, The first position or amount of rotation of the first hub relative to the second hub is further detected using one or more sensors, thereby detecting the first installation state in which the tensioner is in the first position. The second installation state, in which the tensioner is in the second position, is detected by further detecting the second position or amount of rotation of the first hub relative to the second hub using one or more sensors. The surgical system according to claim 9, configured as described above.

11. A robotic arm comprising a first mounting portion and an illumination device connected to the distal end of the robotic arm, wherein the first mounting portion is configured to releasably receive a second mounting portion relating to a surgical component, the second mounting portion is releasably attachable to the first mounting portion, and the second mounting portion includes a tensioner movable from a first position to a second position, biasing the second mounting portion relative to the first mounting portion in accordance with the movement of the tensioner toward the second position, The lighting device and one or more controllers coupled to one or more sensors The controllers include, and the one or more controllers are Using one or more of the sensors, a first installation state is detected in which the second mounting portion is attached to the first mounting portion and the tensioner is in the first position. To display the first installation state, the lighting device is controlled to the first configuration. Using one or more of the sensors, a second installation state is detected in which the second mounting portion is attached to the first mounting portion and the tensioner is in the second position. To display the second installation state, the lighting device is controlled to a second mode different from the first mode. A surgical robotic system configured in such a way.

12. The surgical robot system according to claim 11, wherein the lighting device is disposed on the robot arm adjacent to the first mounting portion.

13. The surgical robot system according to claim 12, wherein the lighting device has an annular configuration surrounding the link of the robot arm.

14. The lighting device emits a first color in the first embodiment, The surgical robot system according to any one of claims 11 to 13, wherein the lighting device emits a second color different from the first color in the second embodiment.

15. The lighting device is controlled to be inoperable in the first embodiment, The surgical robot system according to any one of claims 11 to 13, wherein the lighting device is controlled to operate and emit light in the second embodiment.

16. Further comprising a sterilization barrier assembly, The second mounting portion is removably attached to the first mounting portion via the sterilization barrier assembly. The first installation state is further defined as the state in which the second mounting portion and the sterilization barrier assembly are attached to the first mounting portion and the tensioner is in the first position. The surgical robot system according to any one of claims 11 to 13, wherein the second mounting state is further defined as a state in which the second mounting portion and the sterilization barrier assembly are attached to the first mounting portion and the tensioner is in the second position.

17. A method for operating a surgical system comprising: a robotic arm having a first mounting portion and a lighting device; a second mounting portion relating to a surgical component, the second mounting portion being removably attachable to the first mounting portion, the second mounting portion including a tensioner movable from a first position to a second position, the second mounting portion biasing the second mounting portion relative to the first mounting portion in accordance with the movement of the tensioner toward the second position; and one or more controllers coupled to the lighting device and one or more sensors; The above method is performed by the one or more controllers, Using one or more of the sensors, the first installation state is detected in which the second mounting portion is attached to the first mounting portion and the tensioner is in the first position. Controlling the lighting device to a first configuration in order to display the first installation state, Using one or more of the sensors, a second installation state is detected in which the second mounting portion is attached to the first mounting portion and the tensioner is in the second position. To display the second installation state, the lighting device is controlled to a second mode different from the first mode. A method that includes this.

18. The one or more controllers described above further, Controlling the lighting device to emit a first color in the first mode, Controlling the lighting device to the second mode so as to emit a second color different from the first color, The method according to claim 17, including the method described in claim 17.

19. The one or more controllers described above further, Controlling the lighting device to be inoperable in the first embodiment, Controlling the lighting device to operate and emit light in the second embodiment The method according to claim 17, including the method described in claim 17.

20. Further comprising a sterilization barrier assembly, The second mounting portion is removably attached to the first mounting portion via the sterilization barrier assembly. The first installation state is further defined as the state in which the second mounting portion and the sterilization barrier assembly are attached to the first mounting portion and the tensioner is in the first position. The method according to any one of claims 17 to 19, wherein the second mounting state is further defined as a state in which the second mounting portion and the sterilization barrier assembly are attached to the first mounting portion and the tensioner is in the second position.

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