# US 10,478,163 B2 · Medical instrument engagement process > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,478,163 B2 - Document ID: US10478163B2 - Status: Granted - Kind: B2 - Application number: 15/134,836 - Filed: 2016-04-21 - Published: 2016-10-27 - Granted: 2019-11-19 - Earliest claimed: 2008-09-30 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Giuseppe Maria Prisco; Theodore W. Rogers; John Ryan Steger - Web page: https://patentgrep.com/patent/US10478163B2 ## CPC - A61B 17/00: Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) - A61B 34/30: Surgical robots - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00473: {Distal part, e.g. tip or head (A61B2017/00464 takes precedence)} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/2059: {Mechanical position encoders} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument. ## Claims ### Claim 1 A method for operating a medical instrument and a drive system, the medical instrument comprising at least one component, comprising: bringing a first feature on a rotatable element of the medical instrument into contact with a second feature on a drive element of the drive system without restricting a rotation angle of the first feature relative to the second feature, the second feature being shaped to engage the first feature, and the medical instrument including a mechanism coupled to the rotatable element and coupled to actuate the at least one component of the medical instrument in response to rotation of the rotatable element; applying an engagement force to create friction between the first and second features, wherein bringing the first feature into contact with the second feature and applying the engagement force engages the first and the second features without inducing rotation that actuates the medical instrument; and operating the drive system to rotate the drive element and the rotatable element, wherein the friction transfers torque that the drive element applies to the rotatable element to rotate the rotatable element and thereby to actuate the component. ### Claim 2 (depends on 1) The method of claim 1, further comprising determining a pose of the medical instrument after engaging the medical instrument and the drive system. ### Claim 3 (depends on 1) The method of claim 1, wherein: one of the first and second features comprises a tapered projection; another of the first and second features comprise a tapered hole in which the tapered projection fits; and applying the engagement force comprises pressing the tapered projection into the tapered hole. ### Claim 4 (depends on 1) The method of claim 1, wherein: one of the first and second features comprises a bore in a capstan around which a tendon is wrapped; another of the first and second features fits within the bore; and applying the engagement force comprises applying tension to the tendon so that a diameter of the bore decreases. ### Claim 5 (depends on 1) The method of claim 1, wherein the second feature is part of an adaptor in a sterile barrier. ### Claim 6 (depends on 1) The method of claim 1, further comprising determining a pose of the medical instrument after applying the engagement force. ### Claim 7 (depends on 1) The method of claim 1, wherein at least one of the first feature or the second feature is compliant to accommodate misalignment during engagement. ### Claim 8 (depends on 1) The method of claim 1, wherein applying the engagement force comprises engaging a latch to press the first feature toward the second feature. ### Claim 9 A method for engaging a medical instrument and a drive system, wherein the medical instrument comprises a first interface that includes a plurality of first elements, each of the first elements including a first feature that is rotatable to actuate a component of the medical instrument, and wherein the drive system comprises a second interface that includes a plurality of drive elements, each of the drive elements including a second feature shaped to engage a corresponding one of the first elements, the method comprising: bringing the first interface into contact with the second interface without restricting rotation angles of the first features relative to the second features; applying an engagement force to create friction between the first and second features, wherein bringing the first interface into contact with the second interface and applying the engagement force engages the first and the second features without inducing rotation that actuates the medical instrument; and operating the drive system to actuate the components of the medical instrument, wherein the friction transfers torques that the drive elements apply to the first features to actuate the components of the medical instrument. ### Claim 10 (depends on 9) The method of claim 9, wherein each of the drive elements comprises a drive motor, and each of the second features comprises a portion of an adaptor in a sterile barrier that is between the drive motors and the medical instrument. ### Claim 11 (depends on 9) The method of claim 9, wherein: bringing the first interface into contact with the second interface comprises inserting tapered projections that correspond to one of the first features and the second features into tapered holes that are in the other of the first features and the second features; and applying the engagement force comprises pressing the tapered projections into the tapered holes. ### Claim 12 (depends on 9) The method of claim 9, wherein: bringing the first interface into contact with the second interface comprises inserting a plurality of projections that correspond to one of the first features and the second features into bores in a plurality of capstans that correspond to the other of the first features and the second features; and applying the engagement force comprises applying tensions to tendons wrapped around the capstans so that each of the bores decreases in diameter. ### Claim 13 (depends on 12) The method of claim 12, wherein at least one capstan of the plurality of capstans includes a flexure structure to accommodate misalignment during engagement of the at least one capstan with a corresponding projection of the plurality of projections. ### Claim 14 (depends on 12) The method of claim 12, wherein at least one capstan of the plurality of capstans is loosely retained in the other of the first features and the second features to accommodate misalignment during engagement with a corresponding projection of the plurality of projections. ### Claim 15 (depends on 9) The method of claim 9, further comprising determining a pose of the medical instrument after applying the engagement force. ### Claim 16 (depends on 9) The method of claim 9, wherein at least one of the first elements or the second elements is compliant to accommodate misalignment during engagement. ### Claim 17 (depends on 9) The method of claim 9, wherein applying the engagement force comprises engaging a latch to press the first features toward the second features.