# US 10,869,730 B2 · Surgical system instrument sterile adapter

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,869,730 B2
- Document ID: US10869730B2
- Status: Granted
- Kind: B2
- Application number: 14/788,919
- Filed: 2015-07-01
- Published: 2015-10-29
- Granted: 2020-12-22
- Earliest claimed: 2010-05-14
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical Operations, Inc.
- Inventors: Robert E. Holop; Anthony K. McGrogan; Craig R. Ramstad
- Web page: https://patentgrep.com/patent/US10869730B2

## CPC

- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 1/00135: {Oversleeves mounted on the endoscope prior to insertion}
- A61B 1/00142: {with means for preventing contamination, e.g. by using a sanitary sheath}
- A61B 17/0218: {for minimally invasive surgery (A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/3421: {Cannulas}
- A61B 17/3423: {Access ports, e.g. toroid shape introducers for instruments or hands (access sites for liquids A61M39/0247)}
- A61B 17/3474: {Insufflating needles, e.g. Veress needles}
- A61B 34/00: Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B 34/30: Surgical robots
- A61B 34/35: for telesurgery
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 46/10: specially adapted for instruments{, e.g. microscopes}
- A61B 46/23: with means to retain or hold surgical implements
- A61B 50/00: Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers (drapes specially adapted for instruments A61B46/10)
- A61B 50/20: Holders specially adapted for surgical or diagnostic appliances or instruments (drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02)
- A61B 50/30: Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments (for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40)
- A61B 90/98: using electromagnetic means, e.g. transponders
- A61M 13/003: {Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing}
- B25J 15/0066: {with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)}
- B25J 15/04: with provision for the remote detachment or exchange of the head or parts thereof
- B32B 3/12: characterised by a layer of regularly- arranged cells, e.g. a honeycomb structure
- F16F 1/121: {adjustable, e.g. to modify spring characteristics}
- G03B 3/00: Focusing arrangements of general interest for cameras, projectors or printers
- G03B 35/00: Stereoscopic photography
- H01F 5/02: wound on non-magnetic supports, e.g. formers
- H01F 5/04: Arrangements of electric connections to coils, e.g. leads
- H01F 27/2823: {Wires (H01F27/2866 takes precedence)}
- H04N 23/51: Housings
- H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
- H04N 23/55: Optical parts specially adapted for electronic image sensors; Mounting thereof
- H04N 23/555: {for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes}
- H04N 23/57: Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
- H04N 23/60: Control of cameras or camera modules
- H04N 23/687: {by shifting the lens or sensor position}
- H05K 1/18: structurally associated with non-printed electric components (H05K1/16 takes precedence)
- A61B 17/29: Forceps for use in minimally invasive surgery
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/3445: {used as instrument channel for multiple instruments}
- A61B 2017/3447: {Linked multiple cannulas}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2034/306: {Wrists with multiple vertebrae}
- A61B 2050/3008: {having multiple compartments}
- A61B 2090/5025: {with a counter-balancing mechanism}
- B25J 15/02: servo-actuated
- G03B 5/02: Lateral adjustment of lens
- G03B 2205/0015: by displacing one or more optical elements normal to the optical axis
- G03B 2205/0069: using electromagnetic actuators, e.g. voice coils
- H01F 2005/027: {wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer}
- Y10T 74/20305: Robotic arm
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)}
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B32B: LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- F16F: SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)
- H01F: MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- H05K: PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

A sterile adapter, a drape including the adapter, and a method of draping a manipulator arm are provided. In one embodiment, the sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, and a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces. The adapter further includes a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with an actuator interface between each corresponding instrument actuator input and manipulator actuator output.

## Claims

### Claim 1

A sterile adapter, comprising:
a housing, a plurality of instrument supports, a plurality of cylindrical tubes coupling the plurality of instrument supports to the housing, and an interface positioned between the housing and the plurality of instrument supports;
wherein the housing is configured to receive a distal face of an instrument manipulator, the instrument manipulator comprising a plurality of mechanical manipulator actuator outputs;
wherein the interface comprises a plurality of actuator interfaces;
wherein the plurality of instrument supports are configured to:
couple with an instrument, and the plurality of cylindrical tubes are slidable relative to the housing enabling the plurality of instrument supports to retract relative to the housing,
wherein in a retracted position relative to the housing, the plurality of instrument supports clamp an instrument coupled with the plurality of instrument supports against the interface,
wherein, on a condition of the instrument manipulator being received in the housing and the plurality of instrument supports being coupled to the instrument and in the retracted position, the plurality of actuator interfaces are configured to mechanically transfer motion from the plurality of mechanical manipulator actuator outputs to a plurality of instrument actuator inputs of the instrument.

### Claim 2 (depends on 1)

The sterile adapter of claim 1, wherein the housing comprises a wall configured to couple to a drape sleeve.

### Claim 3 (depends on 1)

The sterile adapter of claim 1, wherein the plurality of actuator interfaces comprises a grip actuator interface, a joggle actuator interface, a wrist actuator interface, a roll actuator interface, or any combination thereof.

### Claim 4 (depends on 1)

The sterile adapter of claim 1, wherein each of the plurality of instrument supports is configured to engage a force transmission mechanism of the instrument so as to couple to the instrument, the force transmission mechanism having the plurality of instrument actuator inputs on a proximal face of the force transmission mechanism.

### Claim 5 (depends on 1)

The sterile adapter of claim 1, further comprising:
a plurality of coupling members;
wherein each of the plurality of coupling members extends in a distal direction from the housing through the interface to one of the plurality of instrument supports; and
wherein the plurality of coupling members couples the housing to the plurality of instrument supports.

### Claim 6 (depends on 1)

The sterile adapter of claim 1, wherein in response to retracting the plurality of instrument supports relative to the housing, a proximal face of the instrument coupled to the plurality of instrument supports is moved toward the distal face of the instrument manipulator and thereby preloads a spring that presses a first one of the instrument actuator inputs against a first corresponding one of the manipulator actuator outputs.

### Claim 7 (depends on 1)

The sterile adaptor of claim 1, wherein the plurality of instrument supports is configured to couple the instrument to the housing in both the retracted position and a non-retracted position of the plurality of instrument supports relative to the housing.

### Claim 8 (depends on 1)

The sterile adaptor of claim 1, wherein each actuator interface of the plurality of actuator interfaces is configured to, on a condition of the plurality of instrument supports being coupled to the instrument and in the retracted position, mechanically transfer motion from a corresponding mechanical manipulator actuator output of the plurality of mechanical manipulator actuator outputs to a corresponding instrument actuator input of the plurality of instrument actuator inputs.

### Claim 9 (depends on 1)

The sterile adaptor of claim 1, wherein, in response to retraction of the plurality of instrument supports relative to the housing, the plurality of instrument actuator inputs is placed in engagement with the plurality of mechanical manipulator actuator outputs through the plurality of actuator interfaces.