# US 12,178,543 B2 · Surgical drape with integral EMI shielding > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,543 B2 - Document ID: US12178543B2 - Status: Granted - Kind: B2 - Application number: 17/063,941 - Filed: 2020-10-06 - Published: 2021-01-21 - Granted: 2024-12-31 - Earliest claimed: 2018-12-31 - Assignees: Asensus Surgical US, Inc. - Applicants: Asensus Surgical US, Inc. - Inventors: Matthew David Marchese - Web page: https://patentgrep.com/patent/US12178543B2 ## CPC - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 46/30: {for surgery through the lower body openings, e.g. urology, gynaecology} - A61B 34/30: Surgical robots - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 46/40: {Drape material, e.g. laminates; Manufacture thereof} - A61B 90/98: using electromagnetic means, e.g. transponders - B25J 9/126: {Rotary actuators} - B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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}) ## Abstract A sterile drape positionable covering medical equipment, such as between a robotic manipulator and a sterile surgical instrument. The drape is formed of a flexible sterile material, with conductive ink printed on the flexible material. The drape provides both a sterile barrier and a shield against electrostatic discharge or electromagnetic interference. ## Claims ### Claim 1 A surgical system comprising: a robotic manipulator having a non-sterile distal portion which includes an actuator assembly comprising a first arm and a second arm having opposed first and second faces defining an instrument-receiving portion between the first arm and the second arm, the actuator assembly further including; a first drive element extending from the first arm into the instrument-receiving portion and a first motor operable to advance the first drive element relative to the actuator assembly; a second drive element extending from the second arm into the instrument-receiving portion and a second motor operable to advance the second drive element relative to the actuator assembly, wherein the first and second motors are independently operable to independently advance the first and second drive element; a sterile drape removably positionable on the robotic manipulator to cover the instrument-receiving portion of the robotic manipulator, the sterile drape comprised of a sterile flexible drape material with conductive ink printed thereon; and an energizable surgical instrument having a body removably positionable within the instrument-receiving portion of the actuator assembly with the sterile drape positioned between the body of the surgical instrument and the first arm and the second arm such that advancement of the first and second drive elements advances corresponding input elements on the body, wherein the conductive ink forms Faraday shielding between the instrument-receiving portion of the robotic manipulator and the surgical instrument to shield components of the robotic manipulator from electrostatic discharge or electromagnetic interference from the energizable surgical instrument. ### Claim 2 (depends on 1) The surgical system of claim 1, wherein the printed conductive ink comprises printed circuits. ### Claim 3 (depends on 2) The surgical system of claim 2, wherein the printed circuits form passive functional circuits. ### Claim 4 (depends on 3) The surgical system of claim 3, wherein the passive functional circuits are capacitive sensing circuits. ### Claim 5 (depends on 3) The surgical system of claim 3, wherein the passive function circuits are resistance sensing circuits. ### Claim 6 (depends on 5) The surgical system of claim 5, wherein the resistance sensing circuits are strain sensing circuits. ### Claim 7 (depends on 3) The surgical system of claim 3, wherein the passive functional circuits are antennas. ### Claim 8 (depends on 7) The surgical system of claim 7, wherein the passive functional circuits are RFID circuits. ### Claim 9 (depends on 1) The surgical system of claim 1, wherein the conductive ink is arranged to prevent passage of electrostatic discharge or electromagnetic interference from a first side of the drape to a second, opposite, side of the drape. ### Claim 10 (depends on 1) The surgical system of claim 1, wherein the ink is printed in a mesh pattern. ### Claim 11 (depends on 1) The surgical system of claim 1, wherein the drape comprises at least two laminations of drape material, and wherein the ink is sandwiched between the laminations. ### Claim 12 (depends on 1) The surgical system of claim 1, wherein the drape includes a first side and a second, opposite side, and wherein the drape includes conductive pads on the first and second sides. ### Claim 13 A method of using a surgical robotic system, comprising: providing a robotic manipulator including an actuator assembly comprising a first arm and a second arm having opposed first and second faces defining an instrument-receiving portion between the first arm and the second arm, the actuator assembly further including a first drive element extending from the first arm into the instrument-receiving portion and a first motor operable to advance the first drive element relative to the actuator assembly; a second drive element extending from the second arm into the instrument-receiving portion and a second motor operable to advance the second drive element relative to the actuator assembly, wherein the first and second motors are independently operable to independently advance the first and second drive element; providing a sterile drape comprised of a polymeric material incorporating conductive material to create Faraday shielding, positioning the sterile drape to cover the instrument-receiving portion of the actuator assembly; and mounting an energizable sterile surgical instrument between the first arm and the second arms of the actuator assembly of the robotic manipulator, with the sterile drape forming a sterile barrier between the instrument-receiving portion and the surgical instrument, and energizing the surgical instrument and treating a patient using the energized surgical instrument, wherein the sterile drape shields components of the robotic manipulator from electrostatic discharge or electromagnetic interference from the surgical instrument. ### Claim 14 (depends on 13) The method of claim 13, wherein the conductive material comprises conductive ink. ### Claim 15 (depends on 14) The method of claim 14, wherein the conductive ink is printed conductive ink. ### Claim 16 (depends on 13) The method of claim 13, wherein the conductive material is in a mesh pattern. ### Claim 17 (depends on 13) The method of claim 13, wherein the drape comprises at least two laminations of drape material, and wherein the conductive material is sandwiched between the laminations. ### Claim 18 (depends on 13) The method of claim 13, wherein the drape includes a first side and a second, opposite side, and wherein the conductive material comprises conductive pads on the first and second sides. ### Claim 19 (depends on 13) The method of claim 13, further including: with the surgical instrument mounted between the first arm and the second arm, operating the motors to advance the first and second drive elements and to thereby advance corresponding input elements on the surgical instrument.