# US 11,304,765 B2 · Interface structure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,765 B2 - Document ID: US11304765B2 - Status: Granted - Kind: B2 - Application number: 16/321,746 - Filed: 2017-07-27 - Published: 2019-06-06 - Granted: 2022-04-19 - Earliest claimed: 2016-07-29 - Assignees: Cmr Surgical Limited - Applicants: Cmr Surgical Limited - Inventors: Ben Robert Chaplin; James Oliver Grant; Keith Marshall; Nikki Priyam Su-Ling Phoolchund; Thomas Bates Jackson - Web page: https://patentgrep.com/patent/US11304765B2 ## CPC - A61B 34/30: Surgical robots - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 46/17: closed at the distal end - A61B 46/40: {Drape material, e.g. laminates; Manufacture thereof} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising a main body; and a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of the surgical robot arm and the second portion being releasably engageable with a portion of the surgical instrument; the drive transfer element being movable relative to the main body so as to enable transfer of drive between the surgical robot arm and the surgical instrument. ## Claims ### Claim 1 An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a main body; and a plurality of drive transfer elements, each comprising a first portion and a second portion, the first portion being releasably engageable with a respective portion of the surgical robot arm and the second portion being releasably engageable with a respective portion of the surgical instrument; each of the drive transfer elements being linearly movable relative to the main body so as to transfer linear drive between the surgical robot arm and the surgical instrument, wherein the main body defines a plurality of linear paths, at least two of which are of differing lengths, along a respective one of which a respective one of the drive transfer elements is movable to transfer the linear drive; wherein the main body comprises a first side for facing the surgical robot arm and a second side for facing the surgical instrument, the first portion being disposed towards the first side and/or the second portion being disposed towards the second side; wherein the main body comprises an aperture connecting the first side and the second side, the plurality of drive transfer elements being configured so as to obstruct fluid flow through the aperture so as to maintain a sterile barrier between the surgical robot arm and the surgical instrument; and wherein the plurality of drive transfer elements covers the aperture. ### Claim 2 (depends on 1) An interface structure as claimed in claim 1, the interface structure being configured so that the plurality of drive transfer elements obstructs fluid flow through the aperture as the drive transfer element moves relative to the main body. ### Claim 3 (depends on 1) An interface structure as claimed in claim 1, in which each of the plurality of paths defined by the main body comprises a channel within which a respective one of the plurality of drive transfer elements is receivable and along which the drive transfer element is movable. ### Claim 4 (depends on 3) An interface structure as claimed in claim 3, comprising a cover attachable to the main body, the channel being defined between a portion of the main body and a portion of the cover. ### Claim 5 (depends on 4) An interface structure as claimed in claim 4, in which the cover is attachable to one of the first side and the second side of the main body. ### Claim 6 (depends on 5) An interface structure as claimed in claim 5, in which each drive transfer element comprises a central portion, the central portion comprising the first portion and the second portion, and an extending portion which extends away from the central portion. ### Claim 7 (depends on 6) An interface structure as claimed in claim 6, in which the extending portion is configured so that at an end of a range of motion of the drive transfer element relative to the main body, a distal end of the extending portion remains covered by the cover. ### Claim 8 (depends on 1) An interface structure as claimed in claim 1, in which each drive transfer element is a rigid element. ### Claim 9 (depends on 1) An interface structure as claimed in claim 1, in which the plurality of drive transfer elements comprises a portion of movable material to which at least one of the first portion and second portion are attachable, the movable material being movable so as to accommodate movement of the plurality of drive transfer elements relative to the main body whilst permitting the maintenance of the sterile barrier between the surgical robot arm and the surgical instrument. ### Claim 10 (depends on 9) An interface structure as claimed in claim 9, in which the interface structure comprises a roller, and the portion of movable material is windable onto the roller. ### Claim 11 (depends on 1) An interface structure as claimed in claim 1, in which the interface structure comprises a first drive transfer element movable relative to the main body along a first linear path, and a second drive transfer element movable relative to the main body along a second linear path, the first path and second path being parallel to one another. ### Claim 12 (depends on 11) An interface structure as claimed in claim 11, in which the first path is parallel to a shaft of a surgical instrument when the interface structure is interfaced with the surgical instrument. ### Claim 13 (depends on 1) An interface structure as claimed in claim 1, in which the main body of the interface structure comprises at least one of a deformable material, a resilient material and an unconstrained portion. ### Claim 14 (depends on 1) An interface structure as claimed in claim 1, in which the main body comprises a first retention portion for retaining the interface structure on at least one of the surgical robot arm and the surgical instrument, the retention portion being engageable with a second retention portion on the at least one of the surgical robot arm and the surgical instrument. ### Claim 15 (depends on 1) An interface structure as claimed in claim 1, in which the main body comprises an alignment feature on at least one of the first side and the second side for aiding alignment of the interface structure with the surgical robot arm and/or the surgical instrument during engagement. ### Claim 16 (depends on 1) An interface structure as claimed in claim 1, in which a surgical drape extends from the interface structure. ### Claim 17 (depends on 1) A robotic surgical system comprising an interface structure as claimed in claim 1 and a surgical robot arm, the surgical robot arm comprising a base and a plurality of articulations connecting the base to a drive assembly interface at or towards a distal end of the surgical robot arm, the plurality of articulations enabling the drive assembly interface to be articulated relative to the base; the interface structure being attachable to the drive assembly interface.