# US 10,307,213 B2 · Instrument sterile adapter drive interface > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,307,213 B2 - Document ID: US10307213B2 - Status: Granted - Kind: B2 - Application number: 14/911,510 - Filed: 2014-08-14 - Published: 2016-06-30 - Granted: 2019-06-04 - Earliest claimed: 2013-08-15 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Robert E. Holop; Thomas G. Cooper - Web page: https://patentgrep.com/patent/US10307213B2 ## CPC - A61B 34/30: Surgical robots - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/303: {specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels} - A61B 2090/035: {preventing further rotation} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures. ## Claims ### Claim 1 An apparatus comprising: an intermediate disk comprising: an intermediate driven interface comprising an alignment receptacle and drive dog receptacles; and an intermediate drive interface opposite from the intermediate driven interface, the intermediate drive interface comprising drive dogs and an engagement structure; and a driven disk comprising: a driven interface configured to mate with the intermediate drive interface, wherein the driven interface comprises an engagement receptacle, drive dog receptacles, and a rotation disable element, wherein engagement of the rotation disable element prevents rotation of the driven disk, and wherein the engagement receptacle is configured to receive the engagement structure upon the engagement structure being aligned with the engagement receptacle. ### Claim 2 (depends on 1) The apparatus of claim 1: wherein the intermediate disk comprises a distal surface; and wherein the engagement structure comprises an open three-dimensional structure extending in a distal direction from the distal surface of the intermediate disk. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the open three-dimensional structure comprises: a circular track comprising: a first circumferential section having a first height, a first end, and a second end; a second circumferential section extending between the first and second ends of the first circumferential section, the second circumferential section having a second height, wherein the second height is less than the first height; and a centerline extending through a center of the circular track and equidistance from the first and second ends. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the open three-dimensional structure further comprises: a wall extending in a direction substantially parallel to the centerline of the first circumferential section from one of the first and second ends of the first circumferential section, and the wall extending towards an outer edge of the distal surface of the intermediate disk, wherein the wall comprises a height; and wherein the height of the wall is smaller than the first height of the first circumferential section. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein each of the drive dogs comprises: a first portion comprising a three-dimensional structure; and a second portion extending from the first portion, the second portion comprising two opposing second portion side surfaces, wherein each second portion side surface comprises a curved surface. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the curved surface comprises a portion of a circular section. ### Claim 7 (depends on 1) The apparatus of claim 1: wherein each of the drive dog receptacles of the intermediate driven interface is positioned so that each of the drive dog receptacles of the intermediate drive interface is bisected by a first plane; wherein each of the drive dogs of the intermediate drive interface is positioned so that each of the drive dogs of the intermediate drive interface is bisected by a second plane; and wherein the first plane is perpendicular to the second plane. ### Claim 8 (depends on 1) The apparatus of claim 1: wherein the driven disk comprises a proximal surface; and wherein each of the drive dog receptacles comprises: a first portion comprising opposed sidewalls extending from the proximal surface into the driven disk; a second portion comprising a bottom surface of the drive dog receptacle; and a third portion extending from the first portion to the second portion, the third portion comprising two opposing third portion side surfaces, wherein each third portion side surface comprises a sloped side surface. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the sloped side surface comprises a portion of a side surface of a wedge. ### Claim 10 (depends on 1) The apparatus of claim 1: wherein the driven disk comprises a proximal surface; and wherein the engagement receptacle further comprises: a groove extending from the proximal surface into the driven interface, and the groove extending from a first end to a second end, the groove comprising: a width and a depth, wherein the first end of the groove is separated from the rotation disable element by a first gap, and wherein the second end of the groove is separated from the rotation disable element by a second gap. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the width and depth of the groove is sized to accept the engagement structure of the intermediate drive interface. ### Claim 12 (depends on 1) The apparatus of claim 1, wherein the rotation disable element comprises a flexure. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the rotation disable element further comprises a rotation locking mechanism, the rotation locking mechanism extending from the flexure. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the rotation locking mechanism comprises a tang. ### Claim 15 (depends on 1) The apparatus of claim 1, wherein each of the drive dog receptacles includes a first edge surface positioned a first distance from a longitudinal axis of the intermediate disk, and a second edge surface opposite the first edge surface. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the second edge surface comprises an open edge surface. ### Claim 17 (depends on 1) The apparatus of claim 1, further comprising: a first preload spring coupled to the intermediate disk; and a preload assembly coupled to the first preload spring, wherein if the first preload spring is compressed, a first preload force is applied to a coupling between the intermediate disk and the driven disk; and wherein if the first preload force is applied to the coupling between the intermediate disk and the drive disk, the coupling between the intermediate disk and the driven disk has non-zero backlash. ### Claim 18 (depends on 17) The apparatus of claim 17, further comprising: a second preload spring coupled to the intermediate disk. ### Claim 19 (depends on 18) The apparatus of claim 18, further comprising: the preload assembly coupled to the second preload spring, wherein if the second preload spring and the first preload spring are compressed, a second preload force is applied to a coupling between the intermediate disk and the driven disk; and wherein if the second preload force is applied to the coupling, the coupling between the intermediate disk and the driven disk has zero backlash.