US 12,102,409 B2
Alignment and engagement for teleoperated actuated surgical instrument
Gregory W. Dachs, II, San Mateo, CA (US); and Bruce Michael Schena, Menlo Park, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Apr. 6, 2020, as Appl. No. 16/840,730.
Application 16/840,730 is a continuation of application No. 15/121,369, granted, now 10,639,119, previously published as PCT/US2015/020882, filed on Mar. 17, 2015.
Claims priority of provisional application 62/104,306, filed on Jan. 16, 2015.
Claims priority of provisional application 62/103,991, filed on Jan. 15, 2015.
Claims priority of provisional application 62/019,318, filed on Jun. 30, 2014.
Claims priority of provisional application 61/954,571, filed on Mar. 17, 2014.
Claims priority of provisional application 61/954,557, filed on Mar. 17, 2014.
Claims priority of provisional application 61/954,595, filed on Mar. 17, 2014.
Claims priority of provisional application 61/954,497, filed on Mar. 17, 2014.
Claims priority of provisional application 61/954,502, filed on Mar. 17, 2014.
Prior Publication US 2020/0229886 A1, Jul. 23, 2020
Int. Cl. A61B 46/10 (2016.01); A61B 1/00 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 46/00 (2016.01); A61B 90/00 (2016.01); A61B 90/98 (2016.01); A61B 18/00 (2006.01); A61B 46/23 (2016.01); F16H 1/20 (2006.01)
CPC A61B 46/10 (2016.02) [A61B 1/00142 (2013.01); A61B 17/00234 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 46/40 (2016.02); A61B 90/08 (2016.02); A61B 90/361 (2016.02); A61B 90/98 (2016.02); A61B 2017/00477 (2013.01); A61B 2018/00172 (2013.01); A61B 46/23 (2016.02); A61B 2090/0813 (2016.02); F16H 1/20 (2013.01); Y10T 29/49817 (2015.01); Y10T 403/59 (2015.01)] 17 Claims
OG exemplary drawing
 
1. An instrument sterile adapter for coupling a surgical instrument and an instrument carriage, the instrument sterile adapter comprising:
a control interface portion comprising:
an adapter control surface configured to abut an instrument control surface of the surgical instrument in a mounted state of the surgical instrument to the instrument sterile adapter; and
a carriage engaging surface opposite the adapter control surface and configured to abut a control surface of the instrument carriage in a mounted state of the instrument sterile adapter to the instrument carriage;
one or more adapter couplers connected to the control interface portion, the one or more adapter couplers comprising:
first adapter control features at the adapter control surface configured to engage with carriage control features of the instrument carriage in the mounted state of the instrument sterile adapter to the instrument carriage, and
second adapter control features at the carriage engaging surface configured to engage with instrument control features of the surgical instrument in the mounted state of the surgical instrument to the instrument sterile adapter; and
a shaft receiving slot in the control interface portion, wherein the shaft receiving slot defines a passage extending through the control interface portion from the adapter control surface to the carriage engaging surface and is configured to receive an instrument shaft of the surgical instrument in the mounted state of the surgical instrument with the instrument sterile adapter such that the instrument shaft extends through the control interface portion via the passage.