Sterile barrier assembly, mounting system, and method for coupling surgical components

Abstract

To provide a sterile barrier assembly, a mounting system, and a method for kinematically coupling first and second surgical components together through the sterile barrier assembly so that positioning is repeatable and deterministic.SOLUTION: The present invention provides a sterile barrier assembly 22 with a protective cover, wherein the sterile barrier assembly configured to establish a barrier between a first surgical component, a robotic arm R and a second surgical component, and an end effector EE, provides a kinematic coupling between the first and second surgical components through the protective cover equipped with a plurality of kinematic couplers, such that the kinematic couplers constrain six degrees of freedom of movement between the surgical components.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This application is a joint venture of U.S. Provisional Patent Application No. 62 / 118,737, filed February 20, 2015. This application claims priority to and the benefit of the same, the entire disclosure of which is incorporated by reference. are included herein.

[0002] [Field of the Invention] The present invention relates to a sterile barrier assembly, a mounting system, and a method for providing a sterile barrier assembly. and a method for connecting surgical components.

[0003] Sterile barrier assemblies, such as surgical drapes, that provide a barrier between surgical components during surgery. For example, a robot arm and an actuator attached to the robot arm are known. Surgical drapes are known that provide a barrier between the surgical instrument and the end effector. The robotic arm is treated as non-sterile, but the end effector is treated as sterile. The end effector is sterilized with a surgical guide to prevent contamination of the sterile field in which it operates. The rope provides a barrier between the robot arm and the end effector. do.

[0004] Typically, a surgical drape is placed between the robot arm and the end effector. , holes or other openings through which various connections, e.g. Mechanical and / or electrical connections can be placed between the robot arm and the end effector. Such holes are acceptable as long as they are covered during surgery. However, If an end effector becomes malfunctioning during surgery and needs to be replaced, would expose the hole if a different end effector is desired. Regarding this, standard operating room sterilization protocols may be used to sterilize different end effectors. The Act requires that surgical drapes be changed before removal of the surgical drape. And because installing new surgical drapes takes up valuable time, replacement is undesirable.

[0005] Other surgical drapes are not intentionally perforated, but instead are used to protect the robotic arms and The surgical drape is compressed between the effector and the surgical device. If it were made from thin plastic, it would be susceptible to unintended snagging or tearing. Even if the surgical drape is not damaged, it may be damaged by the robotic arm. Positioning of the end effector in the surgical procedure becomes imprecise as a result of compression of the surgical drape. For example, surgical drapes can be compressed unevenly. For thick drapes made from a material, typical end effector loads can cause deflection. The slight deflection is magnified at the tool center point (TCP) of the end effector, T Errors in the positioning accuracy of the CP can become unacceptable. Summary of the Invention [Problem to be solved by the invention]

[0006] Thus, there is a need in the art to address one or more of these deficiencies. There are. [Means for solving the problem]

[0007] In one embodiment, the surgical component is adapted to provide a barrier between the first and second surgical components during surgery. A sterile barrier assembly is provided that comprises a plurality of kinematic couplings. The kinematic coupling is connected to the first and second outer casings through the protective cover. The device is adapted to provide a kinematic connection between the dental components.

[0008] In another embodiment, a mounting system configured to couple the first and second surgical components is provided. A stem is provided. The system includes a first mounting portion for a first surgical component and a second mounting portion for a second surgical component. and a second mounting portion for the second surgical component. The system also includes a plurality of A protective cover having a kinematic linkage, the kinematic linkages connecting the protective cover to the a protective cover through which the first and second mounting portions are kinematically coupled. It is possible.

[0009] In yet another embodiment, a method of connecting first and second surgical components is provided. The method includes disposing a sterile barrier assembly having a plurality of kinematic couplings in a first surgical configuration. The method includes placing a second surgical component in the sterile barrier assembly. The method further includes placing the sterile barrier assembly through the sterile barrier assembly. A pressure element is provided to kinematically couple the surgical components via a number of kinematic couplers. The method further includes pressing.

[0010] One advantage of the sterile barrier assembly, mounting system, and method is that the sterile barrier assembly The first surgical procedure is performed to reproducibly and uniquely determine positioning while maintaining the integrity of the The component is kinematically connectable to a second surgical component through a sterile barrier assembly. The purpose is to

[0011] The advantages of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: would be more easily appreciated if it were better understood. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view of a robotic surgical system including a mounting system and a sterile barrier assembly. [Diagram 2] FIG. 1 is a perspective view of a mounting system. [Diagram 3] FIG. 3 is a cross-sectional perspective view of the mounting system of FIG. 2. [Figure 4] FIG. 3 is another cross-sectional perspective view of the mounting system of FIG. 2. [Diagram 5] FIG. 2 is a front perspective view of a first mounting portion. [Figure 6] FIG. 2 is a front perspective view of a second mounting portion. [Figure 7] FIG. 2 is a front perspective view of a sterile barrier assembly. [Figure 8] FIG. 2 is a cross-sectional perspective view of a sterility barrier assembly. [Figure 9] FIG. 3 is a cross-sectional perspective view of the mounting system of FIG. 2. [Figure 10] FIG. 6 is a cross-sectional perspective view of the first mounting portion of FIG. 5. [Figure 11] FIG. 6 is a cross-sectional perspective view of the first mounting portion of FIG. 5. [Figure 12] FIG. 7 is a cross-sectional perspective view of the second mounting portion of FIG. 6. [Figure 13] FIG. 2 is a perspective view of components of a pressure mechanism. [Figure 14] FIG. 7 is a perspective view of a fastener associated with the second attachment portion of FIG. 6. [Figure 15] FIG. 4 is a perspective view of a camshaft of the pressurizing mechanism. [Figure 16] FIG. 13 is a cross-sectional perspective view showing an electrical connection between first and second fitting portions through the sterile barrier assembly. [Figure 17] FIG. 1 is a perspective view of an alternative mounting system. [Figure 18]FIG. 18 is a cross-sectional perspective view of the alternative mounting system of FIG. [Figure 19] FIG. 18 is another cross-sectional perspective view of the alternative mounting system of FIG. 17. [Figure 20] FIG. 2 is a front perspective view of a first mounting portion. [Figure 21] FIG. 2 is a front perspective view of a second mounting portion. [Figure 22] FIG. 13 is a front perspective view of an alternative sterility barrier assembly. [Diagram 23] FIG. 13 is a rear perspective view of an alternative sterility barrier assembly. [Figure 24] FIG. 1 is a cross-sectional perspective view of an alternative sterile barrier assembly (without drape). [Diagram 25] FIG. 1 is a cross-sectional perspective view of an alternative sterile barrier assembly (without drape). [Figure 26] FIG. 13 is an exploded perspective view of an alternative sterile barrier assembly (without drape). [Figure 26A] FIG. 27 is an enlarged view of a portion of FIG. 26. [Figure 27] FIG. 18 is a cross-sectional perspective view of the alternative mounting system of FIG. [Figure 28] FIG. [Figure 29] FIG. [Diagram 30] FIG. 2 is a cross-sectional perspective view of a first mounting portion. [Diagram 31] FIG. 4 is a cross-sectional perspective view of a second mounting portion. [Diagram 32] 13A-13D illustrate steps for attaching an alternative sterility barrier assembly to a robotic arm and end effector. [Diagram 33] FIG. 13 shows another alternative barrier assembly. [Diagram 34] FIG. 34 is a cross-sectional view of the alternative barrier assembly of FIG. 33. [Diagram 35] FIG. 34 is an enlarged view of a drape of the alternative barrier assembly of FIG. 33. [Diagram 36] FIG. 34 is a cross-sectional view of another alternative mounting system incorporating the alternative barrier assembly of FIG. 33. [Figure 37] FIG. 34 is a perspective view of a backplate assembly of the alternative barrier assembly of FIG. 33. [Figure 38] FIG. 34 is a cross-sectional view of the alternative barrier assembly of FIG. 33 showing connection to a first mounting portion of a robotic arm. [Figure 39] FIG. 34 is a cross-sectional view of the alternative barrier assembly of FIG. 33 showing connection to a first mounting portion of a robotic arm. [Diagram 40] FIG. 34 is a cross-sectional view of the alternative barrier assembly of FIG. 33 showing connection of the end effector to the second mounting portion. [Diagram 41] FIG. 34 is a cross-sectional view of the alternative barrier assembly of FIG. 33 showing connection of the end effector to the second mounting portion. [Diagram 42] FIG. 34 is an exploded view of the components of the pressure mechanism of the alternative barrier assembly of FIG. 33. [Diagram 43] FIG. 34 is an exploded view of the components of the pressure mechanism of the alternative barrier assembly of FIG. 33. [Diagram 44] FIG. 34 is a partially exploded view of the lever of the alternative barrier assembly of FIG. 33. [Diagram 45] FIG. 45 shows the lever of FIG. 44 used to pressurize the alternative barrier assembly of FIG. 33. [Figure 46] FIG. 34 is an elevational view of components of an actuator used to detach the alternative barrier assembly of FIG. 33 from a first mounting portion of a robotic arm. [Figure 47A] 34 shows a general positioning feature used to align the alternative barrier assembly of FIG. 33 when attached to the first mounting portion. FIG. [Figure 47B] 34 shows a general positioning feature used to align the alternative barrier assembly of FIG. 33 when attached to the first mounting portion. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] 1 and 2, a sterile barrier assembly 22 is used to prepare first and second surgical instruments. A mounting system 20 for kinematically connecting the components is shown. In one embodiment, the first surgical component is a robotic arm R and the second The surgical component is an end effector EE for a robotic arm R. The mounting system The system 20 kinematically links any surgical components using a sterile barrier assembly 22. It should be understood that the above may also be used to tie

[0014] The robot arm R has a first mounting portion 24 and the end effector EE has a second mounting portion 25. The sterile barrier assembly 22 is attached to a robotic arm 26 during surgery. The first and second mounting portions 2 are arranged to provide a barrier between the end effector EE and the 4, 26. The barrier is located between the sterile field S where the end effector EE operates and the Isolate the robot arm R. During surgery, the robot arm R is considered non-sterile and the barrier , reducing the possibility of contaminants from the robot arm R migrating into the sterile field S. become.

[0015] By using the sterile barrier assembly 22, the mounting portions 24, 26 move together. The kinematic coupling provides a rigid connection between the mounting portions 24, 26. This allows the positioning between the mounting portions 24, 26 to be uniquely and reproducibly determined. This reproducibly uniquely determined rigid connection results in a more flexible connection. To reduce positioning errors of the end effector EE that may occur when can be done.

[0016] A kinematic linkage precisely constrains the number of degrees of freedom that must be constrained. For example, in one embodiment, the connection between the mounting portions 24, 26 is There are six degrees of freedom in the kinematic coupling, e.g., three translations and three rotations. The end result is precisely constraining these six degrees of freedom.

[0017] 3 and 4, a sterile tubing is provided to kinematically couple the attachment portions 24, 26. A number of kinematic connectors (also called kinematic elements) of the rear assembly 22 are used to In the embodiment shown, the kinematic link is a spherical ball 28. The ball 28 is fitted to a first and second plurality of receiving portions 30, 32, 34, 36 of the mounting portions 24, 26. The receiving portions 30, 32, 34, 36, 38, and 40 are seated in the balls 6, 38, and 40. 28. In the embodiment shown, The first mounting portion 24 includes a first body 42 and a first cover fixed to the first body 42. The first plurality of receiving portions 30, 32, 34 are provided with a first cover. The second mounting portion 26 is fixed in a plate 44. The second mounting portion 26 includes a second body 46 and a second and a second cover plate 48 fixed to the body 46. The second plurality of receiving portions 36 , 38 , 40 are secured within a second cover plate 48 .

[0018] 5 and 6, the first plurality of receiving portions 30, 32, 34 (also called conical receiving portions) The other receiving part 32 is It has a pair of contact surfaces 52 provided by V-shaped grooves (also called V-groove receivers). Further, the other receiving portion 34 has a contact surface 54 with a flat surface (also called a flat receiving portion). The second plurality of receiving portions 36, 38, 40 includes three receiving portions having a cone-shaped contact surface 56. As shown in Figs. 3 and 4, three balls 2 8 is between the corresponding pairs of receiving parts arranged in a straight line, i.e., between the receiving parts 30 and 36, and between the receiving parts 32 and 38 and between the receiving portions 34 and 40. The contact surfaces 50, 52, 54, 56 of the 40 are adapted for the kinematic coupling described herein. This will function as a constraint surface.

[0019] The receiving portions 30, 32, 34, 36, 38, and 40 are formed from steel or other suitable rigid material. Alternatively, the cover plates 44, 48 may be rigidly connected to the other components. The receiving portions 30, 32, 34, 36, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 36, 38, 40 may be integrated into the mounting portions 24, 26, in which case the receiving portions 30, 32, 34, 36, 38, and 40 are mounting parts 24, 28 for fixing the ball 28. 6, or may simply consist of a restraining surface integral with the receiving parts 30, 32, 34, 36, 38, 40 may be attached to the mounting portions 24, 2 through a number of structures by various other methods. 6.

[0020] The mounting portions 24, 26 are generally flush with the sterile barrier assembly 22 positioned therebetween. When brought together in the final orientation, the ball 28 of the sterile barrier assembly 22 fits into the receiving portion 30, 32, 34, 36, 38, 40. Cone receiver of first mounting portion 24, V-groove The receiving portion and the flat receiving portion are in contact with the ball 28 through three points, two points, and one point, respectively. , 3 degrees of freedom, 2 degrees of freedom, and 1 degree of freedom are eliminated. In other embodiments, as described further below, Each of the first plurality of receiving portions 30, 32, 34 of the first mounting portion 24 corresponds to the ball 28. Two degrees of freedom may be eliminated through two contact points that are in contact with each other. In each case, there are exactly six contact points, e.g., one contact point for each degree of freedom. Via this, six degrees of freedom are precisely constrained.

[0021] 7 and 8, the sterile barrier assembly 22 includes a protective cover 58. The protective cover 58 is attached to the interface 60. The drape 62 has an inner surface and an outer surface. During surgery, the drain is positioned adjacent to the robot arm R. The loop 62 is attached to the robot arm R so as to substantially surround the robot arm R. The drape 62 is made of at least one of polyethylene, polyurethane, and polycarbonate. The drape 62 is formed from an interlayer material such as by ultrasonic welding, tape, adhesive, etc. The drape 62 may be attached to the surface 60 without any holes. i.e., the drape provides a continuous barrier to the interface 60. 4. As shown, the connector 10 is adapted to be attached to the interface 60.

[0022] In the illustrated embodiment, the interface 60 is formed from a molded plastic material. The interface 60 may be made of rubber, silicone, urethane, or other suitable material. The interface 60 may be formed from a material having a major wall 64. The main wall 64 has a periphery and a peripheral wall 66 which joins the main wall 64 at the periphery. The wall 66 may be generally perpendicular to the main wall 64 and preferably has a wall 66a that receives the first mounting portion 24. It flares outwardly from the right angle somewhat to define a cavity 68 for receiving the drain. The drain 62 is attached to the peripheral wall 66 of the interface 60 (see FIG. 8). The plate 62 is shown in FIGS. 2-4, 9, and 16 to better illustrate the other components. not present,

[0023] The main wall 64 has a plurality of separate support sections 70, 72, 74, 76 having a greater thickness. The main wall 64 has a width of about 0.050 inches between the support sections 70, 72, 74, and 76. 0.150 inches from the support area 70, 72, 74, 76. The main wall 64 has a width of about 0.150 inches to about 0.250 inches. It has a Tashore A80.

[0024] The interface 60 includes a ball 28 integrated therein. In one embodiment, ball 28 is insert molded into three of support sections 70, 72, and 74. As previously mentioned, the ball 28 moves between the first and second mounting portions 24, 26. The first and second pluralities of receiving portions 30, 32, 34, 36, 40 are provided for coupling the receiving portions to each other. The ball 28 is positioned to allow contaminants to pass through the interface 60. Barriers are provided between the support areas 70, 72, 74 and the ball to reduce the possibility of movement through 28. Thus, the drape 62 and the interposer 28 are held in place. The interface 60 is continuous for the transfer of contaminants from the robot arm R to the sterile field S. This creates a significant barrier.

[0025] In one embodiment, ball 28 has a polished, corrosion-resistant surface, which Achieving repeatability of less than 1 μm in positioning of mounting parts 24, 26 at constant load The ball 28 may be formed from ceramic, stainless steel, or other suitable material. The ball 28 may be made of silicon carbide or tungsten carbide. The balls 28 are made to extremely tight tolerances, e.g., less than 50 millionths of an inch. It is advisable that it is precisely machined.

[0026] The interface 60 includes a number of electrical terminals. These electrical terminals are pins 78 insert molded into the main wall 64. The pins 78 are , a barrier may be provided on the main wall to reduce the possibility of migration of contaminants into the interface 60. 64 and pin 78. Pin 78 is disposed in a sterile barrier. This will transmit power / signals across the assembly 22.

[0027] The interface 60 includes a pressure applying element. The element is an elongated load bar 80. The load bar 80 is insert molded into one of the support sections. The load bar 80 may have rounded notches on both sides to facilitate embedding in the support area. surface, which allows the load bar 80 to be attached to the interface 60 during use. The load bar 80 is designed to prevent contaminants from entering the interface 60. A barrier is maintained between the support area and the load bar 80 to reduce the possibility of movement. Thus, the drape 62 and the interface 60 are arranged so that the robot This provides a continuous barrier to migration of contaminants from arm R to the sterile field S. do.

[0028] The load bar 80 has a first and second end. The load bar 80 is made of stainless steel, The load bar 80 may be formed from a braided composite material or other suitable rigid material. The housing defines an opening 82 near each end. An insert 84 is disposed within the opening 82. The insert 84 is in the form of a cylindrical bushing. The insert 84 is made of stainless steel or In some embodiments, the load bar 8 does not have an insert. Sometimes 0 is used.

[0029] 9-11, once the mounting portions 24, 26 are brought together in approximately their final orientation, Once this is done, the pressure mechanism 86 will clamp the mounting portions 24, 26 in place. In the illustrated embodiment, the load bar 80 forms part of the pressure mechanism 86 and protects the protective cover 58. It also serves as the initial support for holding the robot arm R. This load bar is A force is applied to maintain the kinematic linkage and associated properties. The loads applied through the kinematic linkage are greater than expected.

[0030] The biasing mechanism 86 further includes a first catch 88. The first catch 88 is a latch release. The fastener guide 90 is slidably disposed within the fastener guide 90 so as to move from the fastening position to the latched position. The tool guide 90 is retained within a first internal cavity 92 (see FIG. 4) defined in the first body 42. The fastener guide 90 defines an elongated through passage 94 through which the first fastener 88 slides. is.

[0031] As shown in FIG. 11, a first spring 96 urges the first fastener 88 against the first body 42. The side wall 98 biases the first fastener 88 laterally to the latched position. A first release button (not shown) may be slidably disposed within first body 42. The first release button, when simply pressed, releases the first catch 88 from the latched position. Preferably, the lock lever is adapted to slide to an unlocked position.

[0032] The load bar receiver 100 defines another transverse passageway 102. The horizontally elongated passages 94, 102 of the container 100 are aligned in a straight line. The catches 88 are secured to the passages 94, 1 as they move from the unlatched position to the latched position. The receiver 100 is cylindrical. The load bar slot 104 further defines a load bar slot 104 extending through the vessel. 1, the receiver 100 is disposed perpendicular to the transverse passage 102 of the receiver 100 so as to receive the first end of the There are.

[0033] In use, the first end of the load bar 80 is secured to one of the openings 82 of the load bar 80 via a first fastener 88. 4 and 9. Once the load bar is inserted into the load bar slot 104, the load bar is engaged with the load bar slot 104. Once the load bar 80 is fully engaged with the first fastener 88, the sterile barrier assembly 22 is 2, and is generally supported by the first mounting portion 24 for further mounting. The load bar 80 and first fastener 88 serve as the primary support mechanism for the sterile barrier assembly 22. It functions as such.

[0034] 9 and 12 to 15, the pressurizing mechanism 86 further includes a second fastener 106. The second fastener 106 is slidably disposed within the second body 46. Specifically, the second mounting portion 26 defines a second internal cavity 108. Within the bottom cavity 108, the second catch 106 slides between an unlatched position and a latched position. It is now movable.

[0035] A second spring 110 urges the second catch 106 away from a side wall 112 of the second body 46 into a latched position. Similar to the first release button, the second fastener 106 is released by pressing the release button 104. A second release button 114 may be slidably disposed within the second body 46. The second catch 106 can be released from the latched position by simply pressing the release button 114. Preferably, the lock lever is adapted to slide to an unlocked position.

[0036] The second cover plate 48 fixed to the second body 46 has an elongated slot 116 (see FIG. 6 ). The slot 116 has a first end that is inserted into the receiver 100 and a second end that is opposite the first end. It is sized to receive the second end of the load bar 80 .

[0037] In use, the second end of the load bar 80 is secured to the second fastener 106 such that the other opening in the load bar 80 engages the second fastener 106. Once the load bar 80 is seated in the second fastener 116, the load bar 80 is inserted into the elongated slot 116 until it engages with the second fastener 116. 06, the sterile barrier assembly 22 and second mounting portion 26 For further processing, the load bar is generally supported on the first mounting portion 24. The first fastener 80, the first fastener 88, and the second fastener 106 are connected to the sterile barrier assembly 22 and the second It also serves as a support mechanism for the mounting portion 26 of the

[0038] As shown in FIG. 9, the pressure mechanism includes a tension adjustment bar 80 operably connected to the load bar 80. The tension adjustment device 118 applies tension to the load bar 80, The ball 28 is seated within the first and second plurality of receivers 30, 32, 34, 36, 38, 40. The first and second mounting portions 24, 26 are clamped together by a pressure force. become.

[0039] 12 and 13, the tension adjustment device 118 adjusts the tension of the second fastener 106 relative to the first fastener. The tension is applied to the load bar 80 by moving it relative to the fixture 88. The second catch 106 is movable within the second body 46 between an unlatched position and a latched position. The second body 46 is slidably mounted on a pivot shaft 120. The pivot shaft 120 is supported by a pair of supports within the second body 46. The second fastener 106 is disposed within the retaining holes 122, 124. As a result, the second fastener 10 is pivotally supported by the pivot hole 126 (see FIG. 14). 6 can pivot about a pivot shaft 120 .

[0040] The tension adjustment device 118 includes a camshaft 128. The camshaft 128 adjusts the tension. The camshaft 128 is rotatable between a tensioned position and a non-tensioned position. The camshaft 41 is rotatably supported in a pair of support holes 130, 132 in the body 46. The lid 128 is rotatably supported in the support holes 130, 132 by a bushing 138. It has first and second cylindrical shaft sections 134,136.

[0041] The camshaft 128 has a cam section 14 between first and second shaft sections 134, 135. 0 (see FIGS. 9 and 15). The cam section 140 is provided with the first and second shaft sections. The cam area 140 is offset from the areas 134, 136. The cam passage 142 is rectangular in shape. a pivot hole extending through the second fastener 106 near one end of the second fastener 106; 126 passes through the second fastener 106 near the opposite end. As the tensioner 28 begins to rotate toward the tensioned position, the cam section 140 defines a cam path 142. Further rotation of the camshaft 129 causes the camshaft 129 to contact the inner surface 144. Additional camming action is provided by cam section 140 to move second fastener 106 toward pivot shaft 1 20, which causes tension to be applied to the load bar 80. .

[0042] The tension adjuster 118 is rotatably attached to the camshaft 128 via a lever attachment 148. A fixed lever 146 is also provided. The lever mount 148 is adapted to allow actuation of the lever 146. The shape of a cavity (not shown) within lever 146 provides for rotation of the cam shaft 128. The camshaft 128 has a geometric shape that matches the tensioned position. It is adapted to rotate at least 90 degrees to move between the application position. At other locations between these, tension is applied to the load bar 80 appropriate to apply the desired pressure. It may be possible to provide such a function.

[0043] When the camshaft 128 is in a desired position, e.g., a tensioned position, the lever 1 46 is locked. In the tensioned position, a tensioning force is applied to the load bar 80. By locking the lever 146 after applying the force, the robot arm R and the end effector During use, pressure is continuously applied to maintain the kinematic linkage. The pressurization mechanism 86 applies a pressurizing force to the sterile barrier assembly 22 without puncturing the barrier. The signal will be transmitted across the

[0044] When tension adjuster 118 applies a pressure to load bar 80, disc spring 150 equals the pressure. A large compressive force is applied to the load bar 80. The disc spring 150 is disposed between two spring shims 152. The disc spring 150 holds the fastener guide 90, the receiver 100, and the first fastener 88 in the first position. The disc spring 150 biases the load bar 80 toward the rear wall 154 of the body 42. Being anchored to the first fastener 88 biases the load bar 80 .

[0045] The balls 28 are positioned within the first and second plurality of receiving portions 30, 32, 34, 36, 38, 40. When pressure is applied, some stretching and tensioning of the interface 60 occurs. and / or bending occurs between the balls 28, thereby causing, in particular, the second plurality of receiving portions 36, 38, 40 has a conical shape (engaging each of the balls 28 at three contact points) , the ball 28 is properly seated within the receiving portions 30, 32, 34, 38, 40. The bending occurs without impairing the barrier properties. 30, 32, 34, 36, 38, 40. Interface 60 These characteristics take into account manufacturing tolerances. For example, the contact or seal with ball 28 created during molding may be lost. It can extend and / or flex without any strain.

[0046] Once seated, the position of the ball 28 is aligned with the first and second plurality of receivers 30, 32. , 34, 36, 38, 40. As a result, the first and second mounting portions 24 , 26 are kinematically coupled together without puncturing the sterile barrier assembly 22. The kinematic linkage allows the end effector EE to be easily moved from the robot arm R. This makes it possible to easily remove the robot arm R and reattach it to the robot arm R in the same position. In addition, the kinematic coupling allows the end effector EE to be attached to another end effector having a similar attachment portion. The robot arm is connected to the end effector so that the end effector can be kinematically connected to the robot arm R. It can be easily removed from the R.

[0047] FIG. 16 illustrates the power connections and / or other signals provided through the sterile barrier assembly 22. These connections are made using pins 78. These pins 78 are The electrical connectors mounted on the first and second mounting portions 24, 26 are electrically interconnected. This is what we have in mind.

[0048] In the embodiment shown in Figures 5, 6 and 16, the first mounting portion 24 is a first The first electrical connector base 156 is a first electrical connector base. The first cover plate 44 is secured within a communicating cavity 158 defined within the body 42. 1, defining an opening 160 within the communication cavity 158. 6 are also defined within the first body 42. A connector 164, for example a spring-loaded electrical connector, is attached to the first electrical connector base 156. Thus, it is supported movably.

[0049] The second mounting portion 26 includes a second electrical connector base 166. The connector base 166 is secured within an opening 168 in the second cover plate 48. A number of power receiving terminals 170 are supported by the second electrical connector base 166. When the first and second mounting portions 24, 26 are kinematically coupled together and pressurized, Terminal 170 will receive pin 78 of interface 60. Pin connector 164 also contacts pin 78 of interface 60, thereby providing power or Other electrical signals may flow through pin 78. Thus, power, communication signals, or Other signals can flow from the robot arm R to the end effector EE and vice versa. Cut.

[0050] 17-32, a sterile barrier assembly 222 is used to Kinematically connect the robotic components (e.g., the robot arm R and the end effector EE) An alternative mounting system 220 for mounting a sensor element is shown.

[0051] In this embodiment, the robot arm R includes a first mounting portion 224 and an end The effector EE includes a second mounting portion 226. The sterile barrier assembly 222 includes ,To provide a barrier between the robot arm R and the end effector EE during surgery, It is disposed between the first and second mounting portions 224,226.

[0052] 18 and 19, the first and second mounting portions 224, 226 are kinematically To achieve this connection, a number of kinematic connectors are used. The connector is a spherical ball 228. The ball 228 is fitted to a first and second plurality of receiving portions 230. , 232, 234, 236, 238, 240. 34, 236, 238, 240 are sized to receive the ball 228, and The first mounting portion 224 is shaped to be attached to the first body 242. The first plurality of receiving portions 230, 232 includes a fixed first cover plate 248. , 234 is secured within the first body 242. The second mounting portion 226 is The second plurality of receiving portions 236, 238, 240 include a second body 246. is fixed inside.

[0053] Referring to FIG. 20, the first plurality of receiving portions 230, 232, 234 (also referred to as conical receiving portions) The other receiving part 23 2 has a pair of contact surfaces 252 provided by V-shaped grooves (also called V-groove receivers). Further, the other receiving portion 234 has a contact surface 254 with a flat surface (also called a flat receiving portion). The contact surface 252 of the V-groove receiving portion or the contact surface 254 of the flat receiving portion is substantially flat. or may be concave with a depression that provides only a single contact point for the ball 228. In some embodiments, the contact surface 252 of the V-groove receiver may be in the form of a Gothic arch. be.

[0054] The second plurality of receiving portions 236, 238, 240 includes three cone-shaped contact surfaces 256. The three balls 228 are shown in Figs. 20 and 21. As shown, the receiving portion 230 is disposed between a pair of corresponding receiving portions arranged in a straight line. 236, between receivers 232 and 238, and between receivers 234 and 240.

[0055] The receiving portions 230, 232, 234, 236, 238, and 240 are made of steel or other suitable rigid material. 242, 246. The receiving portions 230, 232 may be formed integrally with the main bodies 242, 246. , 234, 236, 238, 240 may be integrated into the mounting portions 224, 226. Alternatively, the mounting portions 224, 226 may be attached by a variety of methods.

[0056] The mounting portions 224, 226 are positioned between the sterile barrier assembly 222. When brought together in approximately the final orientation, the ball 228 of the sterile barrier assembly 222 Self-seating within receiving portions 230, 232, 234, 236, 238, 240. First mounting portion The cone receiving portion, the V-groove receiving portion, and the plane receiving portion of the part 224 have three degrees of freedom, two degrees of freedom, and degrees of freedom and one degree of freedom are eliminated. Thus, six degrees of freedom are precisely constrained. In other embodiments, as described further below, the first mounting portion 224 may be Each of the first plurality of receiving portions 230, 232, 234 has two contact points for the ball 228. In either of these cases, two degrees of freedom may be eliminated via Even if the object is a 3D object, it can be moved through exactly six contact points, i.e. one contact point for each degree of freedom. The degrees of freedom are precisely constrained.

[0057] 22-26, the sterile barrier assembly 222 includes a protective cover 258. The protective cover 258 is provided on the interface 260. The drape 262 has an inner surface and an outer surface. The inner surface is positioned adjacent to the robot arm R during surgery. The rope 262 is attached to the robot arm R so as to substantially surround the robot arm R. The drape 262 is made of at least one of polyethylene, polyurethane, and polycarbonate. The drape 262 is attached by ultrasonic welding, tape, adhesive, etc. The drape 262 may be attached to the interface 260 using any type of perforation. The drape is inserted into the interposer so that no holes are present or any holes are sealed, i.e., the drape is 260 to form a continuous barrier at the interface 260. The drape 62 is shown in FIG. 17 to clearly show the other components. Not shown in FIG. 19 and FIG. 24 to FIG.

[0058] 25 and 26, in the illustrated embodiment, the interface 260 is a latch bracket formed from a rigid material such as aluminum or stainless steel. The latch bracket 263 has a main wall 264 (FIG. 26) having a perimeter. 2) and an inner wall 266 extending from the main wall 264. The latch bracket 263 is preferably disposed on the main wall 264 opposite the inner wall 266. The latch 265 is provided with a pair of latches 265 (see FIG. 23) extending in the direction of the arrow. The latch 265 may be in the form of a latch hook. The first fastener 288 of the portion 224 is adapted to interact with and engage the first fastener 288 of the portion 224 .

[0059] The interface 260 further includes a cover 269 having a peripheral lip 271. The cover 269 may be formed from injection molded plastic. 1 is snapped onto the main wall 264 so that the cover 269 is secured to the latch bracket 263. When secured, the cover 269 fits over the inner wall 2 of the latch bracket 263. The cover 269 also includes a wall 275. The wall 275 extends from the base of the outer wall 273 to the peripheral lip 271. In addition to the connection by the adhesive between the wall 275 and the main wall 264 of the latch bracket 263, Therefore, it is preferable that the cover 269 is fixed to the latch bracket 263. To achieve this, a seal (not shown) is provided between the edge of main wall 264 and the inner edge of peripheral lip 271. It may be placed in between.

[0060] The peripheral lip 271 defines an attachment groove 277 within which the drape 2 62 is adapted to be attached to the interface 260. The mounting groove 277 is, for example, For example, elastic bands for the drape 262, tapes for the drape 262, It may be adapted to receive a snap ring or the like.

[0061] The interface 260 includes a ball 228 integrated therein. In this embodiment, the ball 228 is fixed to the main wall 264 of the latch bracket 263. The ball openings are disposed within the ball holes 228 such that a portion of each of the balls 228 is substantially parallel to the ball openings 228. The main wall 264 is sized to project on either side of the ball opening. In the embodiment shown, the stopper 279 is The tapered surface is a radially inward tapered surface of the main wall 264. This tapered surface is formed when the ball 228 is 4. The opening has a diameter somewhat smaller than that of the ball 228 so that the ball does not pass completely through the opening. It defines a mouth (see FIG. 18).

[0062] During assembly, ball 228 drops into the ball opening in main wall 264. Stopper 279 Thus, the ball 228 does not pass completely through the ball opening, and a portion of the ball 228 is in contact with the main wall 26. 4. The ball 228 is then held in place within the ball opening. The bar 269 snaps into the latch bracket 263. The wall 275 of the cover 269 2, defining a plurality of secondary ball openings 267. The secondary ball openings 267 228. The ball opening in the main wall 264 and the true As a result, the ball 228 is positioned between the wall 275 and the main wall 264. 275. The ribs 276 may extend beyond the wall 275 while being supported by the ribs 276.

[0063] The main wall 264 has a plurality of countersinks 284 which further define the ball opening. 4 has a diameter somewhat larger than each of the balls 228, such that the balls 228 are The countersink 284 is also sized to seat within the main wall 264. A seal 281, such as an O-ring, is provided around the periphery of the ball 228 through a countersink 284. As shown, two seals 28 are dimensioned to be disposed within the 1 is disposed within each of the countersinks 284 (see also FIG. 18). 281. The wall 275 is held in place by a wall 275 that is placed over the burr To further enhance the sealability, one of each pair of seals 281 is engaged.

[0064] Seal 281 allows ball 228 some lateral movement within the ball opening. For example, the lateral movement of the ball 228 is unrestrained within the ball opening so that the As a result, the distance between the balls 228 can be adjusted, e.g., increased or decreased. In particular, each of the second plurality of receiving portions 236, 238, 240 can be connected to each other. When the ball 228 has a conical shape that is rigidly fixed to the receiving portions 230, 232, 234, 236, 238, and 240. The ability to adjust the ball 228 allows it to fit snugly within the conical receiver, thereby This can provide three points of contact with the ball 228.

[0065] As previously mentioned, the ball 228 kinematically couples the first and second mounting portions 224, 226 together. For coupling, the first and second plurality of receiving portions 230, 232, 234, 236, 238, 240. The ball 228 is disposed to be received within the interface 2 A barrier is provided between the main wall 264 and the bowl 60 to reduce the possibility of contaminant migration through the bowl 60. 228. Thus, the drape 262 and the interposer 228 are held in place. The interface 260 is continuously controlled for the transfer of contaminants from the robot arm R to the sterile field S. This can provide a barrier to entry.

[0066] In this embodiment, the ball 228 has a polished, corrosion-resistant surface, which Repeatability of less than 1 μm in the positioning of the mounting parts 224, 226 at a constant load is achieved. The ball 228 may be made of ceramic, stainless steel, or other suitable material. The ball 228 is preferably made of silicon carbide or tungsten carbide. The balls 228 may be manufactured to extremely tight tolerances, e.g., 50 millionths of an inch. It is preferable that the material be precisely machined to a tolerance of less than 0.

[0067] The interface 260 is embedded in a cover 269 as shown in FIG. In this embodiment, the electrical terminals are provided at interface 260. The pin 278 may be insert molded into the cover 269. The pin 278 may be The cover 269 is disposed within a connector portion 274. The connector portion 274 includes a latch. The connector portion 274 extends partially through an opening 276 in the bracket 263. In order to reduce the possibility of particles migrating through the interface 260, The connector portion 274 may be press-fit into the opening 276 to seal against the main wall 264. A peripheral seal (not shown) may be provided within opening 276 to accommodate the This further reduces the possibility of contaminants migrating through the interface 260. Pins 278 can be used to transmit power / electrical signals across the sterile barrier assembly 222. This will be transmitted.

[0068] 18-20, the first attachment portion 224 includes a first fastener 288. In this embodiment, the first fastener 288 is a sliding fastener plate. 8 defines a pair of spaced apart openings 289 (FIG. 20). The first body 242 is slidably disposed within the first body 242. The first body 242 includes a front wall 285. A cover plate 293 is attached to the front wall 285 to define a fastener guide recess 287. The first fastener 288 is adapted to slide within the fastener guide recess 287. It has become like this.

[0069] One or more compression springs 291 support the upper edge of the first fastener 288 against the fastener guide recess 287. The first fastener 288 is biased upwardly so as to contact the downwardly facing edge of the front wall 285 defining the The compression spring 291 is pressed against the lower edge of the first fastener 288 and the front wall defining the fastener guide recess 287. 285 and acts between the opposite upwardly facing edge of the same.

[0070] The front wall 285 also defines a latch opening 295 through which the latch The first fastener 288 can engage the first fastener 265. In a normal state, the opening 289 is 20, it is partially aligned with the latch opening 295. Additionally, a sufficiently large portion of the opening 289 allows the latch 265 to engage the first catch 288. 295. The latch 294 is exposed through a latch opening 295 for allowing the latch 294 to be inserted into the latch hole 296.

[0071] Each of the latches 265 has a head 297. The heads 297 are aligned with the exposed openings 289. Each head is tapered toward a front surface that is sized to fit within the head section. As the front surface of 297 moves into and through the exposed portion of opening 289, the head The tapered surface of 297 presses the first fastener 288 downward against the bias of the compression spring 291, Finally, the head 297 moves completely into the opening 289. Once the first fastener 288 is completely inserted into the first fastener 289, the first fastener 288 is pushed upward by the force of the compression spring 291. 297. The heads 297 slide toward each other and into latch recesses 299 defined in each of the heads 297. As a result, the latch bracket 263, and therefore the entire sterile barrier assembly 222, is secured to the first It will be held on the body 242 .

[0072] This latch / clasp mechanism allows the interface 260 to be secured between the first body 242 and The first body 242 can be engaged without the need for any tilting motion. In other words, the interface 260 is not limited to translational or linear movement of the interface 260. This allows the first body 242 to be pressed into engagement with the first body 242. and engaging pins 278 with corresponding electrical connectors 251, 257 on the second body 246. The latch 265 and the first catch 288 may be reversed, or The latch 265 and the first fastener 288 may be referred to as the fastener 265 and the first latch 288. I want you to understand that.

[0073] An actuator 301 is used to remove the latch bracket 263 from the first body. The actuator 301 is fixed to the first fastener 288. In this embodiment, the actuator 301 is U-shaped. 01 is pressed downward, causing the first fastener 288 to move downward against the bias of the compression spring 291. This allows the head 297 of the latch 265 to pass through the opening 289 and the latch opening 295. It is designed to be pulled out by pressing the

[0074] Referring to FIG. 19, an interface 260 is supported by the first body 242. If so, the second body 246 can be engaged with the interface 260. The hook 283 is adapted to easily engage with a second fastener 306 fixed to the second body 246. (The latch hook 283 and the second fastener 306 are disposed at the fastener hook 283 and The latch hook 283 is connected to the latch bracket 26. 3. (No part number in FIG. 26) A spring biases the latch hook 283 into engagement with the second catch 306 .

[0075] The second fastener 306 is a D-shaped rod fixed to the second body 246 and has a latch hook. The second body 246 is simply shaped to engage with the interface 283. 60, the latch hook 283 engages with the second fastener 306. More specifically, the second body 246 is pressed onto the interface 260. Then, the second fastener 306 presses against the tapered surface of the latch hook 283, thereby The hook 283 is biased to pivot upward against the bias of the torsion spring, and finally 19, the recess of the latch hook 283 is aligned directly with the second fastener 306. At this time, the torsion spring causes the latch hook 283 to cover the second fastener 306. The mounting system 220 is now pressurized and ready to be used. In this state, the mounting system 220 is attached to the end effector E before pressurization. It functions as a support mechanism that supports E on the robot arm R.

[0076] 25 to 27, once the mounting portions 224, 226 are aligned in approximately the final orientation, Once attached, a pressure mechanism 286 clamps the mounting portions 224, 226 together in place. The pressurizing element is disposed within the interface 260. In this embodiment, The pressure element is an elongated load member 280. The load member 280 is connected to the interface 2. 60. The load member 280 has first and second ends. Load member 280 may be constructed from stainless steel, Kevlar composite, or other suitable rigid material. The load member 280 may define an opening 282 near one end and a recess 284 adjacent the other end. 28. The latch hook 283 is formed by the slit 284.

[0077] A pressure force is applied to the load member 280. This pressure force is determined by the kinematic linkage and associated properties. is greater than the expected load applied through the kinematic linkage so that .

[0078] The load member 280 is movably supported by the latch bracket 263. Specifically, the loading member 280 moves from an unloaded position to a loaded position relative to the latch bracket 263. In the unloaded position, the latch hook 283 engages with the second fastener 306. In the loaded position, the loading member 280 is positioned to engage with the mounting system 220. To apply a load, it is biased towards the latch bracket 263 .

[0079] The tension mechanism 286 includes a tension adjustment device 318 (FIG. 26) and a tension adjustment device 318 connected to the tension adjustment device 318. The tension adjuster 318 further comprises a pair of concentric inner springs 304 and 306. A camshaft 328 is mounted within the side and outer tubes 307, 308. The tubes 207 and 309 are hollow and cylindrical. The tubes 307 and 309 are spring loaded. The tube 307 is fixed against translation relative to the cup 305. , 309 translates, the spring cup 305 also translates.

[0080] The spring cup 305 is a first cup sized to receive the outer tube 309. 25. Opposite the first cup opening 311 is a Spring cup 305 is a spring cup sized to receive outer tube 309. The outer tube 309 defines a first cup opening 311. and may be press-fitted into the spring cup countersink 315. Thus, the outer tube 309 is It may not rotate relative to spring cup 305, or may rotate but not rotate relative to spring cup 306. The outer tube 309 is fixed so as not to move in translation relative to the outer tube 305. It passes through an opening 282 in member 280 .

[0081] The latch hook 283 protrudes beyond the central opening of the spring cup 305. The hook 283 is attached to the outer wall 273 so as to reach the second fastener 306 of the second body 246. The spring cup 305 projects beyond the central opening at the top of the outer wall 273. The spring cup 305 and the outer wall are dimensioned so that they cannot penetrate the opening. 273 is in an unloaded state with the latch hook 283 released, as described further below. The chamfered surfaces are configured so as not to interfere with each other.

[0082] The camshaft 328 is rotatably supported by the inner wall 266 of the latch bracket 263. The inner wall 266 defines a pair of through holes 301 (FIG. 26). The shoe 338 is press-fitted into the through hole 301 and the outer cylindrical section 33 of the camshaft 328. 4. As a result, the camshaft 328 can be moved between a tensioned position and a non-tensioned position. The latch bracket 263 can rotate between the applied position and the latch position. 328 includes a pair of cam sections 340 separated by a central cylindrical section 336 . The cam section 340 has an outer diameter that is somewhat smaller than the inner diameter of the inner tube 307 . The cylindrical section 336 of the camshaft 328 has a smaller diameter than the cam section 340, which This provides a camming action when the camshaft 328 rotates.

[0083] The inner and outer tubes 307, 308 are each formed on the inner wall 266 between the through holes 301. The length of the inner and outer tubes is shorter than the length of the sections facing each other. The camshaft 328 is movable in a translating manner relative to the inner wall 266. When rotated, the inner and outer tubes 307, 309 rotate in a camming motion with the camshaft 328. This causes the air to move toward and away from the main wall 264. Once the latch hook 283 is engaged with the second fastener 306 by the movement of This provides the necessary preload to apply the load to the load member 280 .

[0084] The tension adjustment device 318 also includes a lever 346 rotatably secured to the camshaft 328. The lever 346 has a D-shaped recess to receive the D-shaped portion of the camshaft 328. The lever 346 has a boss 348 with a hole, which allows the cam to rotate when the lever 346 rotates. The shaft 328 rotates. To fix the lever 346 to the camshaft 328, A fastener (not shown) is adapted to engage the threaded end of the camshaft 328. The camshaft 328 has at least one cam shaft 324 configured to move between the unloaded and loaded positions. Of course, other positions in between may be chosen as appropriate to apply the desired pressure. A suitable tension may be applied to the load bar 280.

[0085] Lever 346 is engaged when camshaft 328 is in a desired position, e.g., the loaded position. In the loaded position, a tensioning force is applied to the loading member 280. After applying the force, the lever 346 is locked, so that the applied force is applied to the robot arm R and the end It is continuously applied during use of the effector EE to maintain the kinematic coupling. transmits pressure across the sterile barrier assembly 222 without puncturing the barrier. This will be done.

[0086] The tension adjustment mechanism 318 applies a biasing force via a conical disc spring 350, e.g., a Belleville spring. The disc spring 350 applies a force equal to the pressure applied to the load member 280. 280. A disc spring 350 is disposed between the spring cup 305 and the shoulder 317 of the load member 280. Specifically, when the lever 346 rotates, the camshaft 328 rotates, and the The spring section 340 holds the inner and outer tubes 307, 309, and thus the spring cup 305. In this case, the latch hook 283 (which is engaged with the second fastener 306) is moved away from the latch hook 283. Additionally, the inner and outer tubes 307, 309 are thin and tubular to accommodate such movement. Movement within the elongated opening 282 also moves the load member 280. The movement of the spring cup 305 relative to the load member 280 compresses the disc spring 350, creating a biasing force. is applied to the load member 280 through the shoulder 317.

[0087] The ball 228 is fitted to a first and second plurality of receiving portions 230, 232, 234, 236, 238, Since it is in line with 240, once pressure is applied, the ball 228 The bearings are seated in the receiving portions 230, 232, 234, 236, 238, and 240. Once seated, the position of the ball 228 is fixed and the first and second plurality of receiving portions 2 The positions of 30, 232, 234, 236, 238, and 240 are also fixed relative to each other. As a result, the first and second mounting portions 224, 226 form holes in the sterile barrier assembly 222. They are kinematically linked to each other without opening.

[0088] The release of the latch hook 283 urges the latch hook 283 upward from the second fastener 306. This can be easily achieved by setting the lever 3 in the no-load position. This is accomplished by rotating cam 46 further counterclockwise. The shaft 328 is caused to interact with a second cup opening 313 defined within the spring cup 305. 3, the spring cup 305 and the latch hook 283 slide, thereby 283 can be removed from the second fastener 306 .

[0089] The second cup opening 313 is smaller than the outer tube 309 but accommodates the camshaft 328. The second cup opening 313 is large enough to accommodate the eccentric portion 325 of the 26A, the eccentric shape is such that in the unloaded position, the eccentric portion 325 is dimensioned to be placed at the location shown in solid lines in FIG. When the eccentric part 325 is further rotated counterclockwise via the lever 346, the eccentric part 3 25 engages the spring cup 305, resulting in pivoting of the spring cup. Specifically, consider the dimensions of the second cup opening 313 (as shown in FIG. 26A). Since the eccentric portion 325 is restrained from further rotating counterclockwise, the lever Further counterclockwise movement of 346 causes spring cup 305 to pivot relative to outer wall 273, This moves the latch hook 283 upward from the second catch 306. In this case, the eccentric portion 325 is disposed at the position shown by the dotted line in FIG. 26A. It becomes.

[0090] FIG. 19 illustrates the power connections and / or other signals provided through the sterile barrier assembly 222. These connections are shown on pin 278 embedded in the interface. These pins 278 are attached to the first and second mounting portions 224, 226. This electrically interconnects the electrical connectors 251 and 257 provided therebetween.

[0091] In this embodiment, the first mounting portion 224 includes a first electrical connector 251 . The first electrical connector 251 can be floated relative to the first body 242. The second mounting portion 226 includes a second electrical connector 257. The connector 257 is disposed so as to float with respect to the second body 246. When the mounting portions 224, 226 are kinematically coupled to one another and pressurized, the electrical connector 251, 257 allow power signals or other electrical signals to flow through pin 278. Thus, the power signal, communication signal, or Other signals can be transmitted from the robot arm R to the end effector EE and vice versa.

[0092] FIG. 32 shows a first schematic diagram of a sterile barrier assembly 222 (fixed to a robot arm R). 1 to the mounting portion 224 of the end effector EE. Attach a second mounting portion 226 (shown in dotted lines) to the sterile barrier assembly 222. and then pivoting lever 346 downward to release the load from mounting system 220. A load is applied and the positioning between the first mounting portion 224 and the second mounting portion 226 is maintained. and applying the necessary pressure.

[0093] Referring to Figures 33-47, a sterile barrier assembly 422 is used to Kinematically connect the robotic components (e.g., the robot arm R and the end effector EE) Another alternative mounting system for mounting the device is shown.

[0094] 33 to 36, as in the preceding embodiment, the end effector EE is A plurality of kinematic connectors are used to kinematically connect the robot arm R to the robot arm R. In this embodiment, the kinematic link is a spherical ball 428. The ball 428 is and a second plurality of receptacles 432, 438 (one pair of receptacles is shown in FIG. 36). The receiving portions 432 and 438 receive the ball 428 as described above. The first plurality of receiving portions 432 are sized and shaped to be The second plurality of receiving portions 438 are fixed to the first mounting portion 424 of the end effector E E is fixed to the second mounting portion 426.

[0095] The first plurality of receivers 432 includes three receivers (only one shown in FIG. 36). Each of the first plurality of receiving portions 432 is a V-shaped groove (also called a V-groove receiving portion) or a gossamer. The second plurality of receiving portions 438 have a pair of contact surfaces 452 provided by the quartz. The second plurality of receiving portions includes three receiving portions (only one is shown in FIG. 36). Each has a cone-shaped contact surface 456 (i.e., a cone receiver). The ball 428 is captured between a pair of corresponding, aligned receptacles 432, 438.

[0096] The robot arm R and the end effector EE are attached to each other at their mounting portions 424, 426. When brought together in approximately the final orientation with the positioned sterile barrier assembly 422, the sterile The ball 428 of the barrier assembly 422 is self-seated within the receivers 432, 438. Thus, as described in the preceding embodiment, six degrees of freedom are precisely constrained. It becomes.

[0097] The sterility barrier assembly 422 includes a protective cover 458. The protective cover 458 includes: An interface 460 and a drape 462 attached to the interface 460 The drape 462 has an inner surface and an outer surface. The inner surface is adapted to be covered by the robot during surgery. The drape 462 is disposed adjacent to the arm R. The drape 4 is made of at least one of polycarbonate, propylene, or other suitable material. 62 is attached directly to interface 460 by ultrasonic welding, tape, adhesive, etc. It would be good if this was done.

[0098] In the illustrated embodiment, the drape 462 engages the interface 460. The illustrated embodiment includes a ring 468 that defines an aperture. In one embodiment, the ring 468 is a snap ring. Attach the snap ring 468 by ultrasonic welding, tape, adhesive, etc., so as to surround the opening. The slack part is attached to the snap-in. When the drape surrounds the robot arm R, the interface 46 0 is attached to the first mounting portion 424 of the robot arm R, 460. The interface 460 is first snap-fitted with a snap ring 468. Once the snap ring 468 is snapped into the interface 460, Once the interface 460 is attached to the first mounting portion of the robot arm R, The drape 462 is attached to the drape 424 without any holes or any That is, the drape 462 is secured to the snap ring 468 or other suitable fastener so that any holes are sealed. Such an attachment mechanism provides a continuous barrier to the interface 450. , attached to interface 460. Drape 462 is shown in some of the drawings. 1 and is not shown in order to better illustrate the other components.

[0099] 36 and 37, in the illustrated embodiment, interface 46 0 includes a backplate assembly 459 secured to a cover 469. The plate assembly 459 is made up of two separate components: a cover 469 and a fastener. and a buckling plate 461 attached by the and a back cover plate 467 captured between the cover 469 .

[0100] 38 and 39, the interface 460 includes a latch assembly 463. The latch assembly 463 further comprises a latch having spaced apart inner walls 466. A pair of latches 465 are attached to spaced apart inner walls 466. Thus, it is held within the path of travel defined within the latch bracket 464 .

[0101] A back cover plate 467 is secured (via fasteners) to the latch bracket 464. and spaced from the latch bracket 464 to provide a further travel path for the latch 465. Each of the latches 465 is captured in the path of travel. A pair of biasing members B, e.g. For example, a spring biases the latches 465 toward each other. In this embodiment, the latch 465 is adapted to act between the An arcuate recess that engages a first fastener 488 on the first mounting portion 424, as described below. (See FIG. 46) is in the form of a latch plate having a

[0102] The cover 469 has a peripheral lip 471. The cover 469 is made of injection molded plastic. The peripheral lip 471 may be formed from a backplate assembly or metal. The cover 469 includes an outer wall 473 and a wall 475. The wall 475 extends from the base of the outer wall 473 to the peripheral lip 471. For further enhancement, a seal (not shown) is provided between the cover 469 and backplate assembly. It is preferable that the sensor be placed between the sensor 459 and the sensor 459.

[0103] The interface 460 includes a ball 428 integrated therein. In this embodiment, the ball 428 is connected to the cover 469 and the buckling plate 4 61. The ball openings are disposed within the ball openings defined within the ball 428. A part of the buckling plate 461 and the wall 475 of the cover 469 protrudes from the receiving portion 43. 2,438. The X-shaped cross-section seal is sized to engage ball 42. 8 within the ball opening and allows lateral movement of the ball 428 within the ball opening. While doing so, it is intended to provide a sterile barrier around the ball 428.

[0104] As previously mentioned, the ball 428 is used to kinematically couple the mounting portions 424, 426. The ball 428 is disposed to be received within the receiving portions 432, 438. A barrier is provided to reduce the possibility of contaminants migrating through the interface 460. The ball 428 is held between the locking plate 461 and the ball 428 . Thus, the drape 462 and interface 460 are removed from the robot arm R into the sterile field. This provides a continuous barrier to the migration of contaminants to S.

[0105] In this embodiment, the ball 428 has a polished, corrosion-resistant surface, which , achieving a repeatability of less than 1 μm in the positioning of the mounting parts 424, 426 at a constant load. The ball 428 may be made of ceramic, stainless steel, or other suitable material. The ball 428 is preferably formed from silicon carbide or tungsten carbide. The ball 428 may be manufactured to extremely tight tolerances, e.g., 50 millionths of an inch. It is preferable that the material be precisely machined to a tolerance of less than 0.

[0106] The first attachment portion 424 includes a first fastener 488. In this embodiment, the first The fastener 488 is a fastener post. The fastener post is connected to a head 497 and a proximal side of the head 497. The latch 465 fits into the groove 498 of the first fastener 488. The back cover plate 467 defines a latch opening 495. The head 497 can engage with the latch 465 through the latch opening 495. The head 497 is tapered to engage with the latch 465. Specifically, head 497 includes a tapered portion that extends latches 465 from their normal position. When the head 497 moves between the latches 465, The tapered surface of the cap 497 expands the latch 465 against the bias of the biasing member B, and finally the head 4 97 passes over latch 465. Once head 497 passes over latch 465 If so, latch 465 slides into groove 498, thereby locking the sterility barrier assembly. 422 to the first mounting portion 424. The progressive engagement of the first fastener 488 is shown in FIGS.

[0107] This latch / clasp mechanism allows the interface 460 to be secured to the first mounting portion 424. 424 without requiring any tilting motion during In other words, the interface 460 can be moved in the longitudinal direction of the interface 460. Or it may be pressed into engagement with the first mounting portion 424 by linear movement only.

[0108] 40 and 41, the interface 460 is provided by the first body 442. Engaging the end effector EE with the interface 460 in a supported state. Similar to the first fastener 488, the second fastener 483 is secured to the second mounting portion 426. The second fastener 4 is disposed so as to easily engage with a second pair of latches 506 provided on the second fastener 4. The operation and function of the first fastener 488 and the first pair of latches 506 are The operation and function of the switch 465 is similar to that of the switch 465, so they will not be described in detail. The second mounting portion 426 attached to the end effector EE is simply inserted. 41. Finally, by pressing the connector 41 into the interface 460, as shown in FIG. 2, the second catch 483 engages with the second pair of latches 506. The system is now pressurized and ready for use. The system is used as a support mechanism to support the end effector EE on the robot arm R before pressure is applied. It's working.

[0109] 36 and 42 to 45, once the mounting portions 424 and 426 are in the substantially final position, Once in position, a pressure mechanism 486 clamps the mounting portions 424, 426 together in place. The pressurizing element is disposed within the interface 460. In one embodiment, the pressure application element is an elongated load member 480. The load member 480 is The load member 480 has first and second ends. Load members 480 may be made of stainless steel, Kevlar composite, or other suitable rigid material. The load member 480 may be formed from a flange 482 near one end. It has a second fastener 483 adjacent to the other end.

[0110] A pressure force is applied to the load member 480. This pressure force is determined by the kinematic linkage and associated characteristics. The loads are greater than those expected to be applied through the kinematic linkages so that stability is maintained. do.

[0111] The load member 480 is movable between the cover 469 and the backplate assembly 459. Specifically, the load member 480 is captured by the cover 469 and the backplate assembly. The assembly 459 can be moved between an unloaded position and a loaded position. In the loaded position, the second catch 483 can engage the second pair of latches 506. In this case, the load member 480 is urged toward the backplate assembly 459 and the mounting system It is designed to apply load to the stem.

[0112] A guide block 455 interconnects the cover plate 453 and the latch bracket 464. More specifically, the guide block 455 defines an aperture through which the fastener can be inserted. The guide block 455 passes through the hole and engages with the latch bracket 464. The plate 453 is positioned so as to be spaced apart from the latch bracket 464. As a result, an internal space is provided within the interface 460, and within the internal space, the load member 4 80 is now mobile while pressurized.

[0113] The pressure mechanism 486 is a spring plate 505 and a flange 482 of the load member 480 and a spring plate 505. a conical disc spring 550, such as a Belleville spring, disposed between the plate 505; The spring plate 505 is sized to receive the load member 480. The disc spring 550 defines a first opening 511 (see FIG. 42). The snap ring defines a second opening 513 sized to receive the snap ring. The plate 505 and the disc spring 550 secure the load member 480 .

[0114] The tensioning mechanism 486 also includes a tensioning device. When activated, the tensioning device adjusts the tension of the load member 4 80 towards the backplate assembly 459, applying a load to the mounting system. The tension adjustment device is supported rotatably relative to the cover 469. The tension adjustment device is equipped with a camshaft 528 (see FIG. 44). The tension adjustment member 551 is also provided at the cover plate 51a. The cover plate 453 is disposed between the fixed cover 453 and the spring plate 505. It is fixed to the latch bracket 464 via a fastener.

[0115] The camshaft 528 is rotatably supported by a guide block 455. As a result, the camshaft 528 can rotate between a tensioned position and an untensioned position. The camshaft 528 has a pair of cam sections separated by a central cylindrical section 536. The cylindrical section 536 of the camshaft 528 is larger than the cam section 540. The camshaft 540 has a small diameter. This results in a cam action.

[0116] As shown in FIG. 45, tension adjustment members 5 (two in the illustrated embodiment) 51 has a first end engaged with a camshaft 528 and a second end engaged with a spring plate 505. The second end has a rounded shape that seats in groove 559 of spring plate 505. 13. The camshaft 528 has an engagement area 557. As the camshaft 528 rotates about the pivot axis P1, The tension adjusting member 551 is pivoted about the pivot axis P2 while abutting against the cover plate 453. This action causes the second end to pivot into spring plate 505, 05 away from the cover plate 453. Rigid connection of cover plate 453 and latch bracket to back cover plate 467 Due to the rigid connection of the fastener 464, the load member 480 moves toward the first fastener 488. (thus pulling the second fastener 483 toward the first fastener 488), thereby Providing the necessary pressure to properly secure the end effector EE to the robot arm R It becomes.

[0117] As shown in FIGS. 44 and 45, the tension adjustment device is rotated by a camshaft 528. The actuator also includes a movably secured lever 546. The lever 546 may be of various engagement types, e.g. , a D-shaped hole that receives the D-shaped portion of the camshaft 528, and the cam The camshaft 528 is connected to the camshaft 526 via a connector or other device having a geometric feature that causes the camshaft 528 to rotate. In the illustrated embodiment, the hub 528 may be rotatably secured to the hub 528. A fastener (not shown) fastens the lever 546 to the camshaft 528 via a connector. The camshaft 528 is at least partially configured to move between an unloaded position and a loaded position. Of course, in other positions between them, the desired pressure can be obtained. A tension suitable for applying the load may be applied to the load bar 480 .

[0118] When the camshaft 528 is in a desired position, e.g., a tensioned position, the lever 5 In the tensioned position, a tension is applied to the load member 480. By locking the lever 546 after applying pressure, the robot arm R and the end end During use of the Effector EE, a pressure is continuously applied to maintain the kinematic linkage. The pressurization mechanism 486 applies a pressurizing force to the sterile barrier assembly 4 without puncturing the barrier. This will be transmitted across 22.

[0119] The tension adjustment device applies a pressure to the load member 480 through the disc spring 550. The disc spring 550 applies a force equal to the pressure to the load member 480. The disc spring 550 It acts between the spring plate 505 and the flange 528 of the load member 480. Specifically, As lever 546 rotates, camshaft 528 rotates and cam section 540 rotates around pivot axis P2. The tension adjustment member 551 is pivoted about the center, so that the spring plate 505 (second pair) 483 (which is engaged with the latch 506 of the This movement of spring plate 505 compresses disc spring 550, exerting a pressure on flange 482. The load is applied to the load member 480 via

[0120] Since the ball 428 is already aligned approximately straight with the receiving parts 432 and 438 before pressure is applied, Once pressure is applied, the ball 428 seats in the receiving portions 432, 438. Once seated, the position of the ball 428 is fixed, and the positions of the receiving portions 432 and 438 are also fixed. As a result, the mounting portions 424, 426 are secured to the sterility barrier assembly 4 22 are kinematically connected to each other without drilling holes in them.

[0121] An actuator, such as the push button actuator 501 shown in FIG. 5, manually separate the latches 465, 506 and unlatch the fasteners 488, 483. This removes the end effector EE from the interface 460 and The interface 460 may be detached from the robot arm R. The actuator 501 is used to separate the first pair of latches 465 and release the first catch 488. Only the unlatching procedure is illustrated and described in detail.

[0122] In the illustrated embodiment, the actuator 501 is fixed to a release frame 561. The release frame 561 has a push button 560 mounted thereon. The release frame 561 engages the first pair of latches 46. 5. The pins 563 are fixed to the respective mounting holes 561 and 562, and the mounting holes 562 are arranged to have an inclined engagement surface 562 which engages with a pin 563 fixed to each mounting hole 561. A pin 563 extends from the latch 465 into an opening 564 in the release frame 561. The opening 564 is defined in part by an inclined engagement surface 562. 63 extend on either side of the latch bracket 464 (see FIG. 46) so that The latch 465 is secured to the latch bracket 464 via a pin 563 so as to move along the latch bracket 464. You will be guided.

[0123] In a normal, non-actuated state, the latches 465 are biased together by biasing member B, The pin 563 is seated in and constrained by one end of an opening 564. By pressing the actuator 501, the actuator 501 moves in the direction indicated by the arrow A1. As shown, the release frame 561 can be moved laterally past the latch 465. The release frame 561 is captured in a sliding pocket of the latch bracket 464. This lateral movement of the release frame 561 is necessary. Due to the constraint by the pin 563 of the latch 465 against forward and lateral movement as well, The ramps 562 bias the pins 563 of each of the latches 465 away from each other. Thus, the latch 465 is biased by the biasing member B in the direction indicated by the arrow A2. As a result, latch 465 is disconnected from the first latch 465 (not shown in FIG. 46). 488 and detach the interface 460 from the first mounting portion 424. It becomes possible to do this.

[0124] 38-41 show power connections and / or 4 shows other signal connections. In this embodiment, the interface 460 is The carrier 600 is disposed at the center of the 469 and has a plurality of electrical terminals embedded therein. In this embodiment, the electrical terminals are inserted into the carrier 600 of the interface 460. Pin 478 is the pin that connects the power / signal to the sterile barrier assembly. These pins 478 are attached to the mounting portions 424, 426. The attached electrical connectors 451, 457 are electrically interconnected.

[0125] In this embodiment, the first mounting portion 424 includes a first electrical connector 451. The second mounting portion 426 includes a second electrical connector 457. When 426 are connected together and pressurized, electrical connectors 451 and 457 are connected to pins 4 78, thereby allowing power and other electrical signals to flow through pin 478. Therefore, power, communication signals, or other signals can be transmitted from the robot arm R to the end effector. Electrical connectors 451, 457 are key / channel connectors. The carrier 600 may be keyed via a channel interface, or may be suitably positioned by any suitable feature.

[0126] In the illustrated embodiment, the carrier 600 includes a flange 602 (see FIG. 43 ) and a cylindrical body 604 extending from the flange 602 for supporting the pin 478. The cylinder 604 is sized to fit within the cylindrical passage of the load member 480 . The wave spring 606 is in contact with the flange 602 of the carrier 600 and the flange 482 of the load member 480. The wave spring 606 is disposed between the cylindrical body 480 and the load member 480. 604) to an unloaded position of the load member 480. 6, the electrical connector 45 is prevented from moving, specifically, by preventing the movement of the carrier 600. This will help maintain the carrier's 600 position against 1,457. The spring 606 returns the load member 480 to its unloaded position and engages the end effector EE. In addition, the use of the wave spring 606 also helps to adjust the tension. The material 551 is held within the grooves of the cover plate 453 and within the grooves 559 of the spring plate 505. It is possible.

[0127] Referring to Figures 47A and 47B, the buckling plate of the interface 460 461 is an overall assembly for aligning the interface 460 with the first mounting portion 424. Specifically, the first mounting portion 424 includes: The alignment feature defines a corresponding mating feature for receiving the alignment feature. In one embodiment, the alignment features include posts 700 and 702. , 702 extends rearward from the rear surface of the buckling plate 461 and is connected to the first mounting portion 42 The posts 700, 702 are adapted to engage with the first openings 704, 706. A pair of posts 700 and a buckling plate 4 on the opposite side of the first pair of posts 700 61. The first pair of posts 700 includes a second pair of posts 702 disposed at the first and second positions. , aligned in a straight line in the plane, and the second pair of posts 702 are inclined relative to each other. , e.g., offset from one another. Also, the second pair of posts 702 are aligned with the first pair of posts. It is wider than the 700.

[0128] The openings 704, 706 are sized to receive the first pair of posts 700, A first pair of openings 704 are formed in a spaced relationship to each other and sized to receive a second pair of posts 702. and a second pair of openings 706 that are aligned and shaped relative to the first pair of openings 704. , 706 are, for example, each of which is fitted with a small tolerance to facilitate overall positioning. The posts 700, 702 are sized and spaced to receive the posts 700, 702. The second pair of posts 702 are sized so that they cannot fit within the first pair of openings 704. It is determined that the first pair of posts 700 fit within the second pair of openings 706. The distance between the posts 700, 702 and the openings 704, 706 is Due to the spacing / positioning, interface 460 can only interface with the first attachment portion in one orientation. This overall positioning is also achieved by first fastener 488. This also helps align the electrical connections mentioned above before fully engaging the latch 465. This will be the result.

[0129] If the ball 28, 228, 428 is made of an electrically insulating material such as ceramic, In this case, the sterile barrier assembly 22, 222, 422 must comply with electrical safety requirements. It can be used as an electrical insulator.

[0130] If balls 28, 228, and 428 were made of a conductive material, these balls The coil may provide three electrical contacts or three electrical terminals. However, if the connecting features of the kinematic linkage were made from an electrically insulating material, the sterile barrier assembly The assembly 22, 222, 422 can be used as an electrical insulator.

[0131] One or more of the balls 28, 228, 428 may have a picture therein for transmitting data. The optically transparent portion may have a predetermined optically transparent portion that retains the barrier properties. It consists of a through hole filled with a transparent plastic material or other material to It would be good if you could do so.

[0132] The kinematic linkage may, in other embodiments, have spherical and / or cylindrical segments. Good too.

[0133] The first mounting portion 24, 224, 424 is rigidly attached to the linkage L1 of the robot arm R. The second attachment portion 26, 226, 426 may be a separate portion connected to the end It may be a separate part rigidly connected to the handpiece H of the effector EE. In this embodiment, the first mounting portion 24, 224, 424 is attached to one or more arms of the robot arm R. The second mounting portion 26, 226, 426 may be integral with the end cage. The attachment portion 24, 224, 424 may be integrated into the handpiece of the effector EE. ,26,226,426 are formed from hardened steel, stainless steel, or other suitable rigid material. It would be good if this was the case.

[0134] The robot arm R is end-mounted with one or more degrees of freedom, for example five or six degrees of freedom. It is preferable that the end effector EE is moved. , surgical tools for milling tissue, e.g., milling holes for receiving grafts; Examples of such milling burrs include milling burs for ring processing.

[0135] Equipping the first and second mounting portions 24, 224, 424, 26, 226, 426 An example of a robot arm and end effector that can perform this function was published in the "Surgical Instruments" A U.S. patent application was filed under the title "Surgical manipulator capable of controlling a surgical tool in multiple modes." No. 13 / 958,070, which is incorporated by reference. are included herein.

[0136] The first plurality of receiving portions may include three V-groove receiving portions. That is, three balls 2 8,228,428, each ball 28,228,428 is in contact with the two V-grooves at two contact points. Self-centering in the three V-grooves of the three V-groove receivers to contact one surface As a result, the ball 28, 228, 428 has six degrees of freedom constrained. In other words, each V-groove contacts the three V-groove receiving parts at six contact points. The grooves constrain two degrees of freedom, thereby providing a total of six degrees of freedom between the first and second mounting portions. The first and second mounting parts then orient the two degrees of freedom deterministically. In installation, it will be fastened to the pressure mechanism as previously described.

[0137] The first and second plurality of receiving portions each have three V-groove or Gothic arch shapes. receiving portions, whereby a contact surface between the first plurality of receiving portions and the kinematic coupling and a contact surface between the second plurality of receiving portions and the kinematic coupling are formed. Exactly six contact points are formed between the contact surfaces of the multiple receiving parts and the kinematic connection part. It may be possible.

[0138] The cone receiving portion is a flat surface that is equally spaced from each other in the circumferential direction and is disposed at an angle close to the cone angle. This embodiment may be simplified by replacing the three blocks with Now, the balls 28, 228, and 428 are seated on three flat surfaces in exactly the same way as they are seated in a cone. The bearing will seat within the three planes, but contact will occur at three contact points against three flat surfaces.

[0139] One or more of the first plurality of receiving portions and / or the second plurality of receiving portions may be magnetically coupled to the balls within the receiving portions. For example, the first plurality of receiving portions may be made of magnets that are electrically engaged with the second plurality of receiving portions. a magnet that holds the ball in the first mounting portion until the mounting portion is tightened to the first mounting portion. Similarly, the contact of the receiving part which is integrated for the kinematic connection may be The first mounting portion having a surface engages the ball until the second mounting portion engages the first mounting portion. to the contact surface of the first mounting portion.

[0140] The sterile barrier assembly 22, 222, 422 may be disposable. In this configuration, the interfaces 60, 260, and 460 are separate area sterilizable assemblies. In this embodiment, the drapes 62, 26 Only 2,462 can be discarded. In this case, interfaces 60, 260, 460 or Adhesive tape, elastic seal, snap ring, or drape 62, 26 to seal the feature 2,462 mechanical clamping areas are provided on the interfaces 60, 260, 460. and is sealed / clamped to the drape 62, 262, 462. By forming the balls 28, 228, 428 from a ceramic such as silicon carbide, This minimizes the wear problems associated with reusing balls 28, 228, and 428. can be done.

[0141] Protective covers 58, 258, 458 are used in conjunction with interfaces 60, 260, 460 In this case, the ball 28, 228 may be provided with a drape 62, 262, 462 without a drape. , 428 is placed within the opening of the drape 62, 262, 462, and the drape 62, 262 , 462 may be sealed to balls 28, 288, 488. 288, 428 will be directly integrated into the drape 62, 262, 462. In this case, the robot arm R is 34, 432 are configured to be positioned so that they are in a substantially horizontal plane. Preferably, this allows the ball 28, 228, 428 to engage with the first plurality of receiving portions 30, 32, 3 4,230,232,234,432 and the sterile barrier assembly is fully installed It will be held in place by gravity until it is released.

[0142] For example, after the load bar 80 is inserted into the load bar slot 104 of the receiver 100, a sterility barrier When the assembly is first attached to the first fitting, it provides additional support for the sterile barrier assembly. Additional elastic straps or bungee cords are attached to the interface to provide support. and configured to releasably engage a post or other feature with the first mounting portion. It may be possible.

[0143] Several embodiments have been discussed in the above description. The embodiments are not intended to be exhaustive or to limit the invention to the particular forms. The terminology used is intended to be terms of description rather than of limitation. Many modifications and variations are possible in light of the above teachings, and the present invention is not limited to the above teachings. The present invention may be practiced other than as specifically described.

Claims

1. A sterile barrier assembly configured to provide a barrier between the first and second surgical components. It is Numbri, A protective cover having a plurality of kinematic links, the plurality of kinematic links comprising: to constrain six degrees of freedom of motion between the first and second surgical components. A protective cover configured to provide a kinematic connection between the surgical components through the protective cover. bar 1. A sterile barrier assembly comprising:

2. The protective cover includes an interface and a drain attached to the interface. It is equipped with The interface includes a plurality of kinematic couplings integrated within the interface.

10. The sterility barrier assembly of claim 1 comprising a fastener.

3. 2. The method of claim 1, wherein the plurality of kinematic links is further defined as a plurality of balls.

3. A sterile barrier assembly as described in claim 2.

4. The plurality of balls constrain the six degrees of freedom of motion between the surgical components.

4. The sterilization bag of claim 3, further defined as three balls configured to Rear assembly.

5. The sterility barrier assembly according to claim 3 or 4, wherein the ball is made of ceramic. Nburi.

6. The ball is made of at least one of silicon carbide and tungsten carbide.

5. The sterility barrier assembly of claim 3 or 4.

7. 5. The sterility barrier assembly of claim 3 or 4, wherein the ball is constructed from steel.

8. One or more of the plurality of balls includes an optically transparent portion configured to transmit data. The sterility barrier assembly of any one of claims 3 to 7, comprising a component.

9. Each of the plurality of kinematic links is arranged to move laterally relative to one another. The sterility barrier assembly of any one of claims 1 to 8.

10. The interface is adapted to bias the kinematic coupling between the surgical components. The sterility barrier assembly according to any one of claims 2 to 9, further comprising a pressure element configured to Senburi.

11. The interface according to any one of claims 2 to 10, wherein the interface comprises a plurality of electrical terminals.

2. A sterile barrier assembly as described in claim 1.

12. The drape defines an opening configured to receive the interface.

12. The method of claim 2, further comprising:

13. A sterility barrier assembly according to any one of claims 1 to 12.

13. The protective cover is adapted to hold the protective cover against the first surgical component during installation on the first surgical component. a support member configured to support the surgical component of claim 2 13. A sterility barrier assembly according to any one of claims 1 to 12.

14. The interface includes a first interface configured to engage the first surgical component. and a latch for engaging at least one of the first fastener and the second surgical component. and at least one of a second latch or a second fastener configured as above.

14. A sterility barrier assembly according to any one of claims 13.

15. 1. An attachment system configured to connect first and second surgical components, comprising: a first mounting portion associated with the first surgical component; a second mounting portion associated with the second surgical component; and A protective cover having a plurality of kinematic links, the plurality of kinematic links comprising: a surgical component having a first end engaged with said first end of said first and second ends and adapted to constrain six degrees of freedom of movement between said first and second surgical components; and providing a kinematic connection between the mounting portion through the protective cover so as to Protective cover and A mounting system comprising:

16. The protective cover includes an interface and a drain attached to the interface. It is equipped with 16. The method of claim 15, wherein the interface comprises the plurality of kinematic couplings. Mounting system.

17. 15 or 16, wherein the plurality of kinematic links is further defined as a plurality of balls.

17. The mounting system according to claim 16.

18. The plurality of balls constrain the six degrees of freedom of motion between the surgical components.

20. The mounting method of claim 17, further defined as three balls configured to system.

19. 19. The mounting system of claim 17 or 18, wherein the ball is made of ceramic. Hmm.

20. The ball is made of at least one of silicon carbide and tungsten carbide.

19. The mounting system of claim 17 or 18.

21. 19. The mounting system of claim 17 or 18, wherein the ball is constructed from steel.

22. One or more of the plurality of balls includes an optically transparent portion configured to transmit data. The mounting system according to any one of claims 17 to 21, comprising a component.

23. Each of the plurality of kinematic links is arranged to move laterally relative to one another. The mounting system according to any one of claims 15 to 22,

24. 24. The method according to claim 16, wherein the interface comprises a plurality of electrical terminals. Item 11. A mounting system as described in paragraph 1.

25. The drape defines an opening configured to receive the interface.

25. The device according to claim 16, further comprising a ring and a slack portion attached to the ring.

13. The mounting system of claim 12.

26. The first mounting portion includes a first mounting member configured to engage the plurality of kinematic couplings. It has multiple contact surfaces, The second mounting portion includes a second mounting portion configured to engage the plurality of kinematic couplings. It has multiple contact surfaces, The interface is adapted to constrain the six degrees of freedom of motion between the surgical components. The method according to any one of claims 16 to 25, further comprising:

13. The mounting system of claim 12.

27. The first mounting portion includes a first plurality of receiving portions having the first plurality of contact surfaces. the law of nature, The second mounting portion includes a second plurality of receiving portions having the second plurality of contact surfaces.

27. The mounting system of claim 26.

28. The first plurality of contact surfaces have only six contact points with the plurality of kinematic links.

28. The mounting system of claim 26 or 27, configured to hang.

29. 29. Any of claims 26 to 28, wherein each of the second plurality of contact surfaces has a conical shape. The mounting system of claim 1.

30. A pressure applying mechanism having a pressure applying element, The pressure mechanism is configured to clamp the mounting portions together through the protective cover. The mounting system according to any one of claims 15 to 29,

31. The biasing mechanism is a first fastener or a first latch associated with the first mounting portion. and one of a second catch or a second latch associated with the second mounting portion.

31. The mounting system of claim 30,

32. The mounting system according to claim 30 or 31, wherein the pressure element comprises a load member. Hmm.

33. The pressure mechanism applies tension to the pressure element to clamp the attachment portions together. and a tension adjustment device operably connected to the pressure element.

13. A mounting system according to any one of the preceding claims.

34. The tension adjusting device includes a camshaft and a lever rotatably fixed to the camshaft. It is equipped with The camshaft is rotatable between a tensioned position and a non-tensioned position.

34. The mounting system of claim 33.

35. The protective cover is attached to the first attachment when the first and second surgical components are coupled. Any one of claims 15 to 34, comprising a support mechanism configured to support on the part.

2. The mounting system according to claim 1 .

36. The protective cover includes a first latch configured to engage the first mounting portion. a second fastener configured to engage at least one of the first fastener and the second mounting portion; and at least one of a latch or a second fastener. Item 11. A mounting system as described in paragraph 1.

37. the first mounting portion is associated with a robotic arm; The second attachment portion is associated with an end effector.

13. A mounting system according to any one of the preceding claims.

38. 1. A method of connecting first and second surgical components, comprising: A sterile barrier assembly according to any one of claims 1 to 14 in the first surgical configuration. placing it on a part; placing the second surgical component into the sterile barrier assembly; a sterile barrier assembly for connecting the surgical components together in a kinematic fashion; and pressurizing the pressurized element. The method includes:

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