Motion feedthrough

Patent metadata

Field	Value
Publication number	US-11564763-B2
Application number	US-201716321757-A
Country	US
Kind code	B2
Filing date	Jul 27, 2017
Priority date	Jul 29, 2016
Publication date	Jan 31, 2023
Grant date	Jan 31, 2023

Abstract

A motion feedthrough for a surgical drape, the motion feedthrough comprising a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of a robot arm and the second portion being releasably engageable with a portion of an instrument, the drive transfer element being movable relative to a bulk portion of the drape so as to transfer drive between the robot arm and the instrument.

First claim

The invention claimed is:

1. A motion feedthrough for a surgical drape, the motion feedthrough comprising:
a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of a terminal link of a robot arm and the second portion being releasably engageable with a portion of an instrument, the drive transfer element being linearly movable relative to a bulk portion of the drape so as to transfer drive between the robot arm and the instrument, wherein the drive transfer element is linearly movable in a direction substantially parallel to a longitudinal axis of the terminal link of the robot arm.

2. A motion feedthrough as claimed in claim 1 , in which the motion feedthrough is operable to transfer drive without compromising the integrity of the surgical drape.

3. A motion feedthrough as claimed in claim 1 , in which the motion feedthrough is configured to substantially close a hole in the drape and/or be attachable to the periphery of a hole in the drape so as to maintain a substantially hermetic sterile barrier.

4. A motion feedthrough as claimed in claim 1 , in which the motion feedthrough comprises a first longitudinally extending element and a second longitudinally extending element, the first and second longitudinally extending elements being slidingly engageable with one another along at least a portion of their length.

5. A motion feedthrough as claimed in claim 4 , in which the first longitudinally extending element comprises a tongue and the second longitudinally extending element comprises a groove, the tongue being engagingly receivable within the groove.

6. A motion feedthrough as claimed in claim 4 , in which at least one of the first and the second longitudinally extending elements comprises a recess for receiving a plug.

7. A motion feedthrough as claimed in claim 4 , in which at least one of the first longitudinally extending element and the second longitudinally extending element is attachable to the periphery of a hole in the drape, so that at least a portion of the drape will move together with the respective longitudinally extending element.

8. A motion feedthrough as claimed in claim 1 , in which the motion feedthrough comprises a pair of capture members defining therebetween a capture portion for slidably capturing a portion of the drape.

9. A motion feedthrough as claimed in claim 8 , in which the capture members comprise one or more of a low-friction material and rollers.

10. A motion feedthrough as claimed in claim 1 , in which the motion feedthrough comprises three capture members defining between a first capture member and a second capture member a first capture portion, and defining between the second capture member and a third capture member a second capture portion, the first capture portion and the second capture portion being for slidably capturing a portion of the drape.

11. A motion feedthrough as claimed in claim 1 , in which the motion feedthrough comprises a plurality of drive transfer elements, the drive transfer elements being linearly movable.

12. A motion feedthrough as claimed in claim 1 , in which the plurality of drive transfer elements are movable parallel to one another.

13. A motion feedthrough as claimed in claim 1 , in which paths defined by movement of each drive transfer element are non-overlapping in a direction transverse to a direction of movement of at least one drive transfer element.

14. A motion feedthrough as claimed in claim 1 , in which paths defined by movement of each drive transfer element at least partially overlap in a direction transverse to a direction of movement of at least one drive transfer element.

15. A motion feedthrough as claimed in claim 1 , in which paths defined by movement of each drive transfer element are aligned along a common line.

16. A motion feedthrough as claimed in claim 1 , in which the motion feedthrough extends generally in a plane, and the drive transfer element is linearly movable in the plane.

Assignees

• Cmr Surgical Ltd

Inventors

• Marshall Keith
• Phoolchund Nikki Priyam Su-Ling
• Jackson Thomas Bates

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B17/00

  Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B46/17 Primary

  closed at the distal end · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title