# US 11,992,182 B2 · Sterile barrier systems and methods for robotic surgery systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,182 B2 - Document ID: US11992182B2 - Status: Granted - Kind: B2 - Application number: 17/187,565 - Filed: 2021-02-26 - Published: 2021-06-17 - Granted: 2024-05-28 - Earliest claimed: 2019-06-26 - Assignees: Titan Medical Inc. - Applicants: Titan Medical Inc. - Inventors: Perry A. Genova; Chad Clayton Walters; Michael Edward Laut; Steven Wayne Bockmann; Timothy Brandon Hunt; Manuel Paez - Web page: https://patentgrep.com/patent/US11992182B2 ## CPC - A61B 1/00144: {Hygienic packaging} - A61B 1/00149: {using articulated arms} - A61B 1/04: combined with photographic or television appliances - A61B 34/30: Surgical robots - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 46/40: {Drape material, e.g. laminates; Manufacture thereof} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A method of preparing a robotic surgery apparatus for a medical procedure can include covering a manipulator unit of the robotic surgery apparatus with a first sterile barrier by coupling a drape coupler of the first sterile barrier to a bottom surface of the manipulator unit and wrapping a drape of the first sterile barrier around side and top surfaces of the manipulator unit. The drape can be coupled to the drape coupler. The drape can be made of material that is more flexible than material of the drape coupler. The method can include covering an arm of the robotic surgery apparatus supporting the manipulator unit with a second sterile barrier that is distinct from the first sterile barrier by coupling the second sterile barrier to the arm and wrapping the second sterile barrier around the arm. ## Claims ### Claim 1 An instrument adapter for a robotic surgery apparatus, the instrument adapter comprising: an adapter housing configured to receive and support an actuator housing of a surgical instrument, the actuator housing comprising a plurality of instrument actuators; a plurality of interface actuators supported by the adapter housing and configured to engage with the plurality of instrument actuators of the actuator housing and cause movement of the instrument actuators, the movement of the instrument actuators causing movement of an end effector of the surgical instrument; a guide non-removably connected to the adapter housing and oriented at an angle relative to a plane in which the interface actuators are positioned, the guide configured to permit installation of the actuator housing of the surgical instrument into the adapter housing in a first orientation in which the interface actuators are not engaged with the instrument actuators of the surgical instrument, thereby preventing movement of the end effector of the surgical instrument; and a fastener supported by the adapter housing and configured to engage the actuator housing of the surgical instrument, the fastener further configured to transition from a first position to a second position to cause the actuator housing installed into the adapter housing to transition from the first orientation in which the interface actuators are not engaged with the instrument actuators of the surgical instrument to a second orientation in which the interface actuators are engaged with the instrument actuators of the surgical instrument, thereby facilitating movement of the end effector of the surgical instrument. ### Claim 2 (depends on 1) The instrument adapter of claim 1, wherein the guide is configured to receive the actuator housing at an angle consistent with the first orientation. ### Claim 3 (depends on 1) The instrument adapter of claim 1, wherein the interface actuators are oriented in a horizontal plane. ### Claim 4 (depends on 1) The instrument adapter of claim 1, wherein the fastener comprises a latch configured to be locked when the fastener is in the second position. ### Claim 5 (depends on 1) The instrument adapter of claim 1, wherein the fastener is configured to transition from the first position to the second position to cause a rotation of the actuator housing from the first orientation to the second orientation. ### Claim 6 (depends on 5) The instrument adapter of claim 5, wherein the fastener comprises a protrusion configured to engage with an opening in the actuator housing of the surgical instrument and to cause the rotation of the actuator housing to from the first orientation to the second orientation. ### Claim 7 (depends on 1) The instrument adapter of claim 1, wherein the guide is configured to: at least partially support the actuator housing when the actuator housing is being inserted into the adapter housing; and not support the actuator housing when the actuator housing is being transitioned from the first orientation to the second orientation. ### Claim 8 (depends on 1) The instrument adapter of claim 1, wherein at least one interface actuator of the plurality of interface actuators comprises a distal end and a proximal end opposite the distal end, the at least one interface actuator being tapered toward the distal end. ### Claim 9 (depends on 1) The instrument adapter of claim 1, wherein the interface actuators are configured to engage with the instrument actuators of the surgical instrument and move from a first position to a second position to cause the instrument actuators to correspondingly move from the first position to the second position. ### Claim 10 (depends on 1) The instrument adapter of claim 1, wherein the instrument adapter is sterile. ### Claim 11 (depends on 1) The instrument adapter of claim 1, wherein the interface actuators are positioned in a top portion of the adapter housing and the fastener is positioned in a side portion of the adapter housing. ### Claim 12 (depends on 1) The instrument adapter of claim 1, wherein the guide comprises a protrusion configured to engage with an opening in the actuator housing of the surgical instrument to permit installation of the actuator housing into the adapter housing. ### Claim 13 (depends on 1) The instrument adapter of claim 1, further comprising a retainer surrounding the interface actuators and maintaining alignment of the interface actuators to facilitate engagement with the instrument actuators, the retainer configured to be removed after installation of the surgical instrument into the adapter housing. ### Claim 14 (depends on 1) A manipulator unit of the robotic surgery apparatus comprising a surgical instrument actuation interface configured to receive the instrument adapter of claim 1. ### Claim 15 An instrument adapter for a robotic surgery apparatus, the instrument adapter comprising: an adapter housing configured to receive and support an actuator housing of a surgical instrument, the actuator housing comprising a plurality of instrument actuators; a plurality of interface actuators supported by the adapter housing and configured to engage with the plurality of instrument actuators of the actuator housing and cause movement of the instrument actuators, the movement of the instrument actuators causing movement of an end effector of the surgical instrument; a guide non-removably connected to the adapter housing and oriented at an angle relative to a plane in which the interface actuators are positioned, the guide configured to facilitate insertion of the actuator housing of the surgical instrument into the adapter housing; and a fastener supported by the adapter housing, the fastener configured to cause the actuator housing of the surgical instrument inserted into the adapter housing to transition from a first orientation in which the interface actuators are not engaged with the instrument actuators of the surgical instrument to a second orientation in which the interface actuators are engaged with the instrument actuators of the surgical instrument. ### Claim 16 (depends on 15) The instrument adapter of claim 15, wherein the guide is configured to facilitate axial movement of the actuator housing at an angle consistent with the first orientation. ### Claim 17 (depends on 15) The instrument adapter of claim 15, wherein the fastener configured to engage the actuator housing and cause the actuator housing to rotatably transition from the first orientation to the second orientation. ### Claim 18 (depends on 17) The instrument adapter of claim 17, wherein the fastener comprises a protrusion configured to engage with a groove in the actuator housing of the surgical instrument and to cause rotation of the actuator housing from the first orientation to the second orientation. ### Claim 19 (depends on 15) The instrument adapter of claim 15, wherein the guide comprises a protrusion configured to engage with a groove in the actuator housing of the surgical instrument to permit insertion of the actuator housing into the adapter housing. ### Claim 20 (depends on 15) The instrument adapter of claim 15, further comprising a retainer surrounding the interface actuators and maintaining alignment of the interface actuators to facilitate engagement with the instrument actuators, the retainer being removably attached to the adapter housing.