Sterile drape, instrument attachment set for attaching surgical instrument, and method for attaching surgical instrument to robot arm
Inventors
BETSUGI, Shota • USUKI, Yu • Ago, Kenji
Assignees
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Publication Number
US-12064206-B2
Publication Date
2024-08-20
Expiration Date
Abstract
A sterile drape according to an embodiment may include: a flexible film member including a first opening and a second opening and configured to cover the robot arm received through the second opening; and a resin molded member configured to close the first opening of the flexible film member. The resin molded member includes: an upper surface portion having a shape and a size fitted to an attachment surface of an attachment portion of the robot arm; a side surface portion extending downward from the upper surface portion; and a projection which projects outward from a lower edge of the side surface portion and to which the flexible film member is welded.
Core Innovation
The invention relates to a sterile drape for robotic surgery where a flexible film member is configured to cover a robot arm and includes a first opening. The sterile drape further includes a resin molded member connected to the flexible film member, where the first opening is closed by an integrally formed resin molded member. The resin molded member includes an upper surface portion fitted to an attachment surface of the robot arm and a downward side surface portion, and further includes an outward projection for welding the film.
The robot arm attachment portion includes first and second rotating drive sections and first and second engagement projecting portions. The resin molded member has insertion-through holes positioned to correspond to the first and second rotating drive sections and to the first and second engagement projecting portions. The holes include a shared hole that corresponds to both the first rotating drive section and the first engagement projecting portion, and the remaining hole pattern enables correspondence across multiple drive and engagement features.
The invention also provides an adapter structure for mating with the sterile drape and robot arm attachment portion. The adapter includes first and second rotated members which correspond to the first and second rotating drive sections and first and second engagement recesses which correspond to the first and second engagement projecting portions. By positioning the holes in the resin molded member to correspond to the rotated members and engagement recesses, the disclosed arrangement improves positioning and misalignment reduction and fabrication and strength tradeoffs.
Claims Coverage
The provided independent claims cover a sterile drape, an instrument attachment set for robotic surgical systems, and a method of attaching a surgical instrument to a robot arm. Across the independent claims, the core coverage includes a resin molded member to robot arm attachment portion correspondence using an adapter, with a hole pattern that includes at least one shared hole mapping a rotating drive section to an engagement projecting portion; five inventive features are identified.
Shared hole correspondence between rotating drive sections and engagement projecting portions
A resin member has a plurality of holes corresponding to the first and second rotating drive sections and the first and second engagement projecting portions, wherein the plurality of holes include a shared hole which corresponds to both of the first rotating drive section and the first engagement projecting portions.
Adapter mating using rotated members and engagement recesses
The adapter includes first and second rotated members which correspond to the first and second rotating drive sections, and first and second engagement recesses which correspond to the first and second engagement projecting portions.
Sterile drape with flexible film member covering the robot arm and resin member attached by adapter
A flexible film member is configured to cover the robot arm, and a resin member is connected to the flexible film member and configured to be attached to the attachment portion by the adapter.
Instrument attachment set combining adapter and sterile drape
An instrument attachment set comprises an adapter including first and second rotated members and first and second engagement recesses, and a sterile drape including a flexible film member and a resin member connected to the flexible film member and configured to be attached to the attachment portion by the adapter, wherein the resin member has a plurality of holes corresponding to the first and second rotating drive sections and the first and second engagement projecting portions and includes a shared hole.
Method arranging and attaching adapter via resin member and attaching the surgical instrument
A method comprises preparing a sterile drape including a flexible film member and a resin member connected to the flexible film member and configured to be attached to an attachment portion of the robot arm by an adapter, arranging the resin member to the attachment portion, attaching the adapter via the resin member arranged to the attachment portion, and attaching the surgical instrument to the adapter, wherein the attachment portion includes first and second rotating drive sections and first and second engagement projecting portions, the adapter includes first and second rotated members and first and second engagement recesses corresponding to those projecting portions, and the resin member has a plurality of holes including a shared hole corresponding to both of the first rotating drive section and the first engagement projecting portions.
Across the independent claims, the inventive subject matter centers on coupling a sterile drape's resin member to a robot arm attachment portion through an adapter, using rotated members and engagement recesses that correspond to rotating drive sections and engagement projecting portions. A defining aspect is a plurality of holes in the resin member that includes a shared hole mapping a rotating drive section to a corresponding engagement projecting portion.
Stated Advantages
Improving positioning and misalignment reduction.
Improving fabrication and strength tradeoffs.
Documented Applications
Attaching a sterile drape to an attachment portion of a robot arm used in a robotic surgical system, via an adapter for attachment of a surgical instrument.
Providing an instrument attachment set for attaching a surgical instrument to an attachment portion of a robot arm in a robotic surgical system, including an adapter and a sterile drape.
Attaching a surgical instrument to a robot arm in a robotic surgical system by preparing a sterile drape, arranging a resin member, attaching an adapter via the resin member, and attaching the surgical instrument to the adapter.
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