Alignment and engagement for teleoperated actuated surgical instrument
AssigneeIntuitive Surgical Operations, Inc.
InventorsGregory W. Dachs, II, Bruce Michael Schena
Life of this patent
Estimating the term…
Abstract
A method of aligning a surgical instrument with the instrument sterile adapter for coupling the surgical instrument and an instrument carriage includes inserting the instrument shaft of the surgical instrument into an entry guide held in a fixed relation to the instrument carriage and the instrument sterile adapter, insertion of the instrument shaft into the entry guide constraining the surgical instrument to rotation around a first cylindrical axis of the instrument shaft and axial translation along the first cylindrical axis of the instrument shaft. The method further includes passing the instrument shaft of the surgical instrument through the shaft receiving slot of the instrument sterile adapter.
Claims20
A method of aligning a surgical instrument with an instrument sterile adapter for coupling the surgical instrument and an instrument carriage, the method comprising:
- inserting an instrument shaft of the surgical instrument into an entry guide held in a fixed relation to the instrument carriage and the instrument sterile adapter, insertion of the instrument shaft into the entry guide constraining the surgical instrument to rotation around a first cylindrical axis of the instrument shaft and axial translation along the first cylindrical axis of the instrument shaft;
- and
- passing the instrument shaft of the surgical instrument through a shaft receiving slot of the instrument sterile adapter such that the instrument shaft extends from a first side of the instrument sterile adapter configured to engage with the instrument carriage to a second side of the instrument sterile adapter configured to engage with the surgical instrument.
A method of mounting a surgical instrument with an instrument sterile adapter for coupling the surgical instrument and an instrument carriage, the method comprising:
- passing an instrument shaft of the surgical instrument through a shaft receiving slot of the instrument sterile adapter;
- and
- engaging latch receptacles located on a control interface of the surgical instrument with latch arms extending from an adapter control interface on the instrument sterile adapter, wherein in an engaged state, the latch arms secure the surgical instrument to the instrument sterile adapter.
Dependencies are inferred from the claim text.