US 12,108,995 B2
Interface structure
Ben Robert Chaplin, Cambridge (GB); James Oliver Grant, Cambridge (GB); Keith Marshall, Cambridge (GB); Nikki Priyam Su-Ling Phoolchund, Cambridge (GB); and Thomas Bates Jackson, Cambridge (GB)
Assigned to CMR SURGICAL LIMITED, Cambridge (GB)
Filed by CMR SURGICAL LIMITED, Cambridge (GB)
Filed on Mar. 10, 2022, as Appl. No. 17/654,294.
Application 17/654,294 is a continuation of application No. 16/321,746, granted, now 11,304,765, previously published as PCT/GB2017/052192, filed on Jul. 27, 2017.
Claims priority of application No. 1613093 (GB), filed on Jul. 29, 2016.
Prior Publication US 2022/0226053 A1, Jul. 21, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 46/00 (2016.01); A61B 46/10 (2016.01); A61B 46/17 (2016.01); A61B 90/50 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 46/10 (2016.02); A61B 46/17 (2016.02); A61B 46/40 (2016.02); A61B 90/50 (2016.02); A61B 2017/00477 (2013.01); A61B 17/29 (2013.01); A61B 2034/302 (2016.02)] 17 Claims
OG exemplary drawing
 
1. An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising:
a main body; and
a plurality of drive transfer elements, each comprising a first portion and a second portion, the first portion being releasably engageable with a respective portion of the surgical robot arm and the second portion being releasably engageable with a respective portion of the surgical instrument;
each of the drive transfer elements being linearly movable relative to the main body so as to transfer linear drive between the surgical robot arm and the surgical instrument, wherein the main body defines a plurality of linear paths, at least two of which are in different planes, along a respective one of which a respective one of the drive transfer elements is movable to transfer the linear drive;
wherein the main body comprises a first side for facing the surgical robot arm and a second side for facing the surgical instrument, the first portion being disposed towards the first side and/or the second portion being disposed towards the second side;
wherein the main body comprises an aperture connecting the first side and the second side, the plurality of drive transfer elements being configured so as to obstruct fluid flow through the aperture so as to maintain a sterile barrier between the surgical robot arm and the surgical instrument; and
wherein the interface structure comprises an aperture cover, the aperture cover comprising the plurality of drive transfer elements.