US 12,336,780 B2
Surgical drape for transferring drive
Keith Marshall, Cambridge (GB); Rebecca Anne Cuthbertson, Cambridge (GB); and Nikki Priyam Su-Ling Phoolchund, Cambridge (GB)
Assigned to CMR Surgical Limited, Cambridge (GB)
Appl. No. 15/572,098
Filed by CMR SURGICAL LIMITED, Cambridge (GB)
PCT Filed May 6, 2016, PCT No. PCT/GB2016/051303
§ 371(c)(1), (2) Date Nov. 6, 2017,
PCT Pub. No. WO2016/178028, PCT Pub. Date Nov. 10, 2016.
Claims priority of application No. 1507804 (GB), filed on May 7, 2015; application No. 1507805 (GB), filed on May 7, 2015; and application No. 1508445 (GB), filed on May 15, 2015.
Prior Publication US 2018/0132959 A1, May 17, 2018
Int. Cl. A61B 46/10 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); B25J 19/00 (2006.01); A61B 17/00 (2006.01); A61B 46/00 (2016.01)
CPC A61B 46/10 (2016.02) [A61B 34/30 (2016.02); A61B 34/71 (2016.02); B25J 19/0075 (2013.01); A61B 2017/00477 (2013.01); A61B 46/40 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical robotic drape configured to envelope a portion of a surgical robot to define a sterile boundary thereover, the surgical robot comprising an instrument comprising three joints and an end effector at the distal end of the instrument, and a robotic arm comprising a drive assembly configured to provide linear mechanical drive so as to selectively actuate the three joints, a proximal end of the instrument being located at the distal end of the robotic arm, and the proximal end of the instrument opposing the distal end of the robotic arm in a first direction, the proximal end of the instrument having a plurality of instrument interfaces, and the drive assembly having a plurality of drive assembly interfaces configured to couple linear mechanical drive from the drive assembly to the instrument, the drape comprising:
a plurality of interface elements, each of the plurality of interface elements configured to engage with both one of the plurality of drive assembly interfaces within the sterile boundary of the drape and one of the plurality of instrument interfaces outside the sterile boundary of the drape to couple the drive assembly to the instrument to thereby transfer linear mechanical drive provided by the drive assembly linearly through a material of the drape to selectively actuate a respective joint of the instrument, the plurality of interface elements being attached to the material of the drape in a spatial arrangement so that each of the plurality of interface elements is separated from each of other of the plurality of interface elements by the material of the drape, the material of the drape is deformable, and
a planar extent of the drape extending in a second direction, perpendicular to the first direction;
wherein a portion of the material of the drape separating the plurality of interface elements is configured to be deformed to change the spatial arrangement of the interface elements by the drive assembly, the drive assembly is configured to provide linear mechanical drive, for selectively actuating the three joints, in the second direction, parallel to the planar extent of the drape, between the distal end of the robotic arm and the proximal end of the instrument.