阅读说明：本技术 用于机器人手术组件的无菌接口模块 (Sterile interface module for robotic surgical assembly ) 是由 海门·卡帕迪亚 布罗克·科普 马克·麦克劳德 萧泽铭 迈克尔·热姆洛克 于 2019-01-07 设计创作，主要内容包括：一种无菌接口模块包括：主体构件,其用于将手术器械联接至机器人手术组件；分离卡圈,其支撑在所述主体构件上并且相对于所述主体构件能够从第一位置移动至第二位置；以及驱动传递组件,其由所述主体构件支撑。所述驱动传递组件包括驱动联接器和从所述驱动联接器延伸的传递轴。所述驱动联接器接合所述机器人手术组件并且所述传递轴接合所述手术器械。所述驱动联接器在所述分离卡圈处于所述第一位置的同时接合所述机器人手术组件,从而使所述机器人手术组件能够对所述手术器械进行机器人控制。所述驱动联接器在所述分离卡圈处于所述第二位置的同时在所述主体构件内缩回,从而防止所述驱动联接器接合所述机器人手术组件。(A sterile interface module comprising: a body member for coupling a surgical instrument to a robotic surgical assembly; a breakaway collar supported on the body member and movable relative to the body member from a first position to a second position; and a drive transmission assembly supported by the body member. The drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler engages the robotic surgical assembly and the transfer shaft engages the surgical instrument. The drive coupler engages the robotic surgical assembly while the breakaway collar is in the first position, thereby enabling the robotic surgical assembly to robotically control the surgical instrument. The drive coupler is retracted within the body member while the breakaway collar is in the second position, thereby preventing the drive coupler from engaging the robotic surgical assembly.)

1. A sterile interface module for coupling an electromechanical robotic surgical instrument to a robotic surgical assembly, the sterile access module comprising:

a body member configured to selectively couple a surgical instrument to a robotic surgical assembly;

a breakaway collar supported on the body member and movable relative to the body member from a first position to a second position; and

a drive transfer assembly supported by the body member and including a transfer shaft extending from the drive coupling and a drive coupler, the drive coupler engageable with the robotic surgical assembly and the transfer shaft engageable with the surgical instrument, the drive coupler configured to engage the robotic surgical assembly while the separation collar is in the first position to enable robotic control of the surgical instrument by the robotic surgical assembly, the drive coupler retracted within the body member while the separation collar is in the second position to prevent the drive coupler from engaging the robotic surgical assembly.

2. The sterile interface module of claim 1, further comprising:

a locking plate coupled to the breakaway collar; and

a locking tab extending from the body member and selectively engageable with the locking plate to prevent movement of the breakaway collar from the second position to the first position.

3. The sterile interface module of claim 2, wherein the locking plate is movable with the breakaway collar.

4. The sterile interface module according to claim 1, further comprising a release ring supported on the body member and positioned to prevent movement of the breakaway collar from the first position to the second position, the release ring being selectively removable from the body member to thereby enable movement of the breakaway collar from the first position to the second position.

5. The sterile interface module according to claim 4, wherein the release ring seals the body member.

6. The sterile interface module according to claim 1, further comprising an electrical connector supported on the body member and configured to enable electrical communication between the robotic surgical assembly and the surgical instrument.

7. The sterile interface module of claim 6, wherein movement of the breakaway collar from the first position to the second position prevents the electrical connector from providing electrical communication between the robotic surgical assembly and the surgical instrument.

8. The sterile interface module according to claim 6, wherein the electrical connector is recessed within the body member.

9. The sterile interface module according to claim 1, wherein the body member defines a vent.

10. The sterile interface module according to claim 1, wherein the body member includes a pair of tabs that selectively couple to the robotic surgical assembly to secure the body member to the robotic surgical assembly.

11. A robotic surgical system, comprising:

a surgical instrument comprising an end effector;

a robotic surgical assembly; and

a sterile interface module positionable between the robotic surgical assembly and the surgical instrument to couple the surgical instrument to the robotic surgical assembly, the sterile interface module comprising:

a body member configured to selectively couple the surgical instrument to the robotic surgical assembly;

a breakaway collar supported on the body member and movable relative to the body member from a first position to a second position; and

a drive transfer assembly supported by the body member and including a transfer shaft extending from the drive coupling and a drive coupler, the drive coupler engageable with the robotic surgical assembly and the transfer shaft engageable with the surgical instrument, the drive coupler configured to engage the robotic surgical assembly while the separation collar is in the first position to enable robotic control of the surgical instrument by the robotic surgical assembly, the drive coupler retracted within the body member while the separation collar is in the second position to prevent the drive coupler from engaging the robotic surgical assembly.

12. The robotic surgical system of claim 11, further comprising:

a locking plate coupled to the breakaway collar; and

a locking tab extending from the body member and selectively engageable with the locking plate to prevent movement of the breakaway collar from the second position to the first position.

13. The robotic surgical system according to claim 12, wherein the locking plate is movable with the breakaway collar.

14. The robotic surgical system according to claim 11, further comprising a release ring supported on the body member and positioned to prevent movement of the breakaway collar from the first position to the second position, the release ring being selectively removable from the body member to thereby enable movement of the breakaway collar from the first position to the second position.

15. The robotic surgical system according to claim 14, wherein the release ring seals the body member.

16. The robotic surgical system according to claim 11, further comprising an electrical connector supported on the body member and configured to enable electrical communication between the robotic surgical assembly and the surgical instrument.

17. The robotic surgical system according to claim 16, wherein movement of the breakaway collar from the first position to the second position prevents the electrical connector from providing electrical communication between the robotic surgical assembly and the surgical instrument.

18. The robotic surgical system according to claim 16, wherein the electrical connector is recessed within the body member.

19. The robotic surgical system according to claim 11, wherein the sterile interface module includes a tab that is selectively coupled to the robotic surgical assembly to secure the sterile interface module to the robotic surgical assembly, and wherein the robotic surgical assembly includes a plurality of buttons that face in the same direction and are depressible to separate the tab of the sterile interface module from the robotic surgical assembly such that the sterile interface module is released from the robotic surgical assembly.

20. The robotic surgical system of claim 11, further comprising a reset cam supported in the sterile interface module and configured to reset the sterile interface module after the breakaway collar is moved from the first position toward the second position.

Technical Field

The present disclosure relates to robotics, and more particularly to robotic surgical devices, assemblies, and/or systems for performing endoscopic surgical procedures, and methods of use thereof.

Background

Robotic surgical systems have been used in minimally invasive medical procedures. Some robotic surgical systems include a console that supports a surgical robotic arm and a surgical instrument mounted to the robotic arm. The surgical instrument can have an elongate shaft that supports at least one end effector (e.g., forceps or grasping tool) at a distal end thereof. In some robotic surgical systems, the entire length of the elongated shaft of the surgical instrument must pass through a holder or other feature of the robotic arm, thereby making removal or replacement of the surgical instrument from the robotic arm cumbersome.

Manually operated surgical instruments typically include a handle assembly for actuating the functions of the surgical instrument; however, when using robotic surgical systems, there is typically no handle assembly that actuates the functions of the end effector. It is the robotic arm of the robotic surgical system that provides mechanical power to the surgical instrument for its operation and movement. Each robotic arm may include an instrument drive unit operatively connected to a surgical instrument through an interface. The interface couples the selected surgical instrument to the robotic surgical system to drive operation of the surgical instrument and provides a structure for rapid removal or replacement of the surgical instrument from the robotic arm.

During a surgical procedure, portions of the surgical instrument may be exposed to a non-sterile environment or non-sterile components. Such exposure may contaminate the surgical instrument or portions thereof. Since it is necessary to keep many of the components of a robotic surgical system sterile, there is a need for: sterility is maintained at an interface for coupling the surgical instrument to the robotic surgical system to protect sterile components of the robotic surgical system from contamination by non-sterile portions of the surgical instrument. There is also a need for a robotic surgical system that: the robotic surgical system enables more efficient and rapid removal or replacement of surgical instruments and has improved usability.

Disclosure of Invention

In accordance with aspects of the present disclosure, a sterile interface module for coupling an electromechanical robotic surgical instrument to a robotic surgical assembly is provided. The sterile interface module includes a body member, a breakaway collar, and a drive transfer assembly. The body member may be configured to selectively couple a surgical instrument to a robotic surgical assembly. The breakaway collar may be supported on the body member and may be movable relative to the body member from a first position to a second position. The drive transfer assembly may be supported by the body member and may include a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler may be engageable with the robotic surgical assembly, and the transfer shaft may be engageable with the surgical instrument. The drive coupling may be configured to engage the robotic surgical assembly while the breakaway collar is in the first position, thereby enabling the robotic surgical assembly to robotically control the surgical instrument. The drive coupler is retractable within the body member while the breakaway collar is in the second position, thereby preventing the drive coupler from engaging the robotic surgical assembly.

In some embodiments, the sterile interface module may further include a locking plate and a locking tab. The locking plate may be coupled to the breakaway collar. The locking tab may extend from the body member and may be selectively engageable with the locking plate to prevent the breakaway collar from moving from the second position to the first position. The locking plate may be moveable with the breakaway collar.

In certain embodiments, the sterile interface module may further include a release ring supported on the body member. The release ring may be positioned to prevent movement of the breakaway collar from the first position to the second position. The release ring may be selectively removable from the body member to enable the breakaway collar to move from the first position to the second position. The release ring may seal the body member.

In some embodiments, the sterile interface module may further comprise an electrical connector supported on the body member. The electrical connector may be configured to enable electrical communication between the robotic surgical assembly and the surgical instrument. Movement of the separation collar from the first position to the second position may prevent the electrical connector from providing electrical communication between the robotic surgical assembly and the surgical instrument. The electrical connector may be recessed within the body member.

In certain embodiments, the body member may define a vent.

In some embodiments, the body member may include a pair of tabs that are selectively coupled to the robotic surgical assembly to secure the body member to the robotic surgical assembly.

According to another aspect of the present disclosure, a robotic surgical system is provided. The robotic surgical system includes a surgical instrument including an end effector, a robotic surgical assembly, and a sterile interface module. The sterile interface module may be positionable between the robotic surgical assembly and the surgical instrument to couple the surgical instrument to the robotic surgical assembly.

In some embodiments, the sterile interface module may include a tab that selectively couples to the robotic surgical assembly to secure the sterile interface module to the robotic surgical assembly. The robotic surgical assembly may include a plurality of buttons facing in the same direction and depressible to separate the tab of the sterile interface module from the robotic surgical assembly such that the sterile interface module is released from the robotic surgical assembly.

In some embodiments, the robotic surgical system may include a reset cam supported in the sterile interface module and configured to reset the sterile interface module after the breakaway collar is moved from the first position toward the second position.

Other aspects, features, and advantages will be apparent from the following description, the accompanying drawings, and the claims.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the general description of the disclosure given above and the detailed description given below, serve to explain the principles of the disclosure, in which:

fig. 1 is a schematic illustration of a robotic surgical system according to the present disclosure;

FIG. 2 is a front view of a portion of a robotic surgical assembly of the robotic surgical system of FIG. 1;

FIG. 3 is a rear view of a portion of the robotic surgical assembly of FIG. 2;

fig. 4 is a front perspective view of a sterile interface module of the robotic surgical assembly of fig. 2 and 3;

FIG. 5 is a rear perspective view of the sterile interface module of FIG. 4;

6-8 are progressive cross-sectional views of the sterile interface module of FIG. 4 taken along line 6-6 shown in FIG. 4, illustrating separation of the sterile interface module from the robotic surgical assembly of FIGS. 2 and 3;

FIG. 9 is a cross-sectional view of the sterile interface module of FIG. 4 taken along line 9-9 shown in FIG. 4;

FIG. 10 is a cross-sectional view of the sterile interface module of FIG. 4, taken along line 10-10 shown in FIG. 4;

FIG. 11 is a front perspective view of the sterile interface module of FIGS. 4 and 5 with components separated;

fig. 12A and 12B are progressive views of the sterile interface module of fig. 4 and 5, illustrating removal of the release ring of the sterile interface module from the sterile interface module;

fig. 13A is a side view of the sterile interface module of fig. 4 and 5 coupled to an instrument drive unit of the robotic surgical assembly of fig. 2 and 3;

FIG. 13B is an enlarged perspective view of a button of the instrument drive unit of FIG. 13A;

fig. 13C is a side view of the sterile interface module of fig. 4 and 5, and a portion of the instrument drive unit of fig. 13A with a button of the instrument drive unit shown in a first position;

FIG. 13D is a side view of the sterile interface module of FIGS. 4 and 5, and a portion of the instrument drive unit of FIG. 13A with a button of the instrument drive unit shown in a second position;

14A-14C are progressive views of the sterile interface module of FIGS. 4 and 5 illustrating receipt of the electromechanical surgical instrument of the robotic surgical assembly of FIGS. 2 and 3;

fig. 15 is a perspective view of one embodiment of a sterile interface module system with a reset tool of the sterile interface module system coupled to a sterile interface module of the sterile interface module system;

FIG. 16 is a cross-sectional view of the sterile interface module of FIG. 15 taken along section line 16-16 of FIG. 15;

FIG. 17 is a perspective cross-sectional view of the sterile interface module of FIG. 15 taken along section line 17-17 of FIG. 16;

fig. 18 is a perspective view of a reset cam of the sterile interface module of fig. 15;

fig. 19A-19C are various perspective and top views of a release ring of the sterile interface module of fig. 15;

fig. 20A-20D are progressive views illustrating operation of a sterile interface module system including the reset tool of fig. 15;

FIG. 21 is a perspective view of one embodiment of a floating plate assembly; and

FIG. 22 is a cross-sectional view of the floating plate assembly of FIG. 21 taken along section line 22-22 shown in FIG. 21.

Detailed Description

Embodiments of the present disclosure are described in detail with reference to the drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of a robotic surgical system, surgical assembly, or component thereof that is proximal to a patient, while the term "proximal" refers to the portion of a robotic surgical system, surgical assembly, or component thereof that is distal from a patient. As used herein, the terms parallel and perpendicular are understood to include relative configurations that are substantially parallel and substantially perpendicular, up to about +10 degrees or-10 degrees from perfectly parallel and perfectly perpendicular.

As used herein, the term "clinician" refers to a doctor, nurse, or other care provider and may include support personnel. In the following description, well-known functions or constructions are not described in detail to avoid obscuring the disclosure in unnecessary detail.

Referring first to fig. 1-3, for example, a surgical system, such as a robotic surgical system 1, generally includes more than one surgical robotic arm 2, 3, a control device 4, and an operating console 5 coupled with the control device 4. Either of the surgical robotic arms 2, 3 may have a robotic surgical assembly 50 and an electromechanical surgical instrument 60 coupled thereto. The robotic surgical assembly 50 also includes an instrument drive unit 70 and a collar assembly or sterile interface module 100 that couples the electromechanical surgical instrument 60 to the instrument drive unit 70, as described in greater detail below. In some embodiments, the robotic surgical assembly 50 may be removably attached to the slide rail 40 of one of the surgical robotic arms 2, 3. In certain embodiments, the robotic surgical assembly 50 may be fixedly attached to the slide rail 40 of one of the surgical robotic arms 2, 3.

As is known in principle to the person skilled in the art, the operating console 5 comprises a display device 6 which is set up to display a three-dimensional image; and manual input means 7, 8 by means of which manual input means 7, 8a clinician (not shown) can remotely manipulate the robotic arms 2, 3 in the first mode of operation. Each of the robotic arms 2, 3 may be composed of any number of members connected by joints. The robot arms 2, 3 may be driven by an electric drive (not shown) connected to the control device 4. The control device 4 (e.g. a computer) is set up to activate the drive, for example by means of a computer program, in the following manner: the robotic arms 2, 3, the attached robotic surgical assembly 50, and thus the electromechanical surgical instrument 60 (including its electromechanical end effector 60a) perform a desired motion in accordance with the motion defined by the manual input devices 7, 8. The control device 4 can also be set up in such a way that it adjusts the robot arms 2, 3 and/or the drives.

The robotic surgical system 1 is configured for use on a patient "P" positioned (e.g., lying) on an operating table "ST" to be treated in a minimally invasive manner by a surgical instrument, such as an electromechanical surgical instrument 60. The robotic surgical system 1 may comprise more than two robotic arms 2, 3, the further robotic arms being likewise connected to the controller 4 and being remotely steerable by operating the console 5. A surgical instrument, such as an electromechanical surgical instrument 60, may also be attached to any additional robotic arm.

The control device 4 may control more than one motor, e.g. a motor (motor 1.. n), each configured to drive the movement of the robot arm 2, 3 in any number of directions. Furthermore, the control device 4 may control the instrument drive unit 70 including its motor assembly 74, which motor assembly 74 drives various operations of the end effector 60a of the electrosurgical instrument 60. The motor assembly 74 of the robotic surgical assembly 50 includes any number of motors 74a, 74b, 74c, etc., which any number of motors 74a, 74b, 74c are coupled to the sterile interface module 100 via a corresponding number of motor couplings 76, such as motor couplings 76a, 76b, 76c, etc., extending from the motors 74a, 74b, 74c, etc.

Generally, the robotic surgical assembly 50 transmits power and actuation forces (e.g., torque) from the motors 76a, 76b, 76c, etc. of the motor assembly 74 to the driven members 62a, 62b, 62c, etc. supported within the instrument housing 61 of the electro-mechanical surgical instrument 60 via the sterile interface module 100. Such transfer of power and actuation forces ultimately drives movement of components of end effector 60a of electro-mechanical surgical instrument 60 to operate electro-mechanical surgical instrument 60. Such movement may include, for example, movement of a blade (not shown) and/or closing and opening of jaw members (not shown) of end effector 60a, articulation/rotation/pitch/yaw of end effector 60a, and/or actuation or firing of end effector 60a (e.g., an anastomotic portion of end effector 60 a). The driven members 62a, 62b, 62c, etc. of the electromechanical surgical device 60 are coupled at a first end thereof to one or more coupling members "CM" (e.g., cables, drive rods, etc.). The one or more coupling members "CM" of the electromechanical surgical instrument 60 extend along the electromechanical surgical instrument 60 toward the end effector 60a of the electromechanical surgical instrument 60. The second ends of the one or more coupling members "CM" are coupled to the end effector 60a of the electromechanical surgical instrument 60 to operate the end effector 60a as described in detail above. For a detailed discussion of illustrative examples of the structure and operation of an end effector for use with, or connection to, an electromechanical Surgical instrument 60, reference may be made to commonly-owned international patent application No. PCT/US14/61329, U.S. patent No. 8,636,192, or U.S. patent No. 8,925,786, filed 10/20/2014, entitled "Wrist and Jaw assembly for Robotic Surgical Systems" (Wrist and Jaw Assemblies for Robotic Surgical Systems), the entire contents of each of which are incorporated herein by reference.

For example, the robotic surgical assembly 50 may also be configured to activate or fire electrosurgical energy-based instruments and the like via a drive mechanism (not shown) that may include, for example, a screw/nut, cable drive, pulley, friction wheel, rack and pinion arrangement, or the like, or a combination thereof.

For a detailed description of the structure and operation of a similar robotic surgical system having one or more identical or similar components for use with one or more components of the presently disclosed robotic surgical system, reference may be made to U.S. patent application publication No. 2012/0116416 entitled "Medical Workstation" (Medical Workstation) filed on 3.11.2011, and/or U.S. patent application publication No. 62/341,714 filed on 26.5.2016, each of which is hereby incorporated by reference in its entirety.

Referring to fig. 2, 3, 4, and 13A-13D, the robotic surgical assembly 50 of the robotic surgical system 1 includes an instrument drive unit or housing 70, the instrument drive unit or housing 70 supporting a sterile interface module 100 that couples the electromechanical surgical instrument 60 to the instrument drive unit 70. The distal or head end of the instrument drive unit 70 includes a pair of buttons 72a, 72b, the buttons 72a, 72b being supported adjacent to one another and arranged in the same direction (e.g., forward or forward facing). Buttons 72a, 72b, which are spring biased by more than one spring (not shown), may be depressed simultaneously to attach sterile interface module 100 to instrument drive unit 70 and/or to release sterile interface module 100 from instrument drive unit 70. Each button 72a, 72b may include one or more protrusions 72c, 72d configured to selectively engage with one or more attachment tabs 118 a-118 d (described in more detail below) of sterile interface module 100 to selectively secure sterile interface module 100 to instrument drive unit 70.

For example, with sterile interface module 100 attached to instrument drive unit 70, depression of buttons 72a, 72b slides projections 72C, 72D of respective buttons 72a, 72b relative to attachment tabs 118 a-118D of sterile interface module 100, as seen in fig. 13C and 13D. Such relative movement disengages attachment tabs 118 a-118 d of sterile interface module 100 from protrusions 72c, 72d of respective buttons 72a, 72b, whereby sterile interface module 100 can be disengaged from instrument drive unit 70 (e.g., by pulling sterile interface module 100 away from instrument drive unit 70). Similarly, attachment of sterile interface module 100 can be accomplished by depressing buttons 72a, 72b such that attachment tabs 118 a-118 d of sterile interface module 100 can be inserted adjacent to one or more protrusions 72c, 72d of buttons 72a, 72b, whereby releasing depressed buttons 72a, 72b biases protrusions 72c, 72d into engagement with respective attachment tabs 118 a-118 d. Alternatively and/or additionally, protrusions 72c, 72d and attachment tabs 118 a-118 d may be configured to cam along each other such that sterile interface module 100 may be coupled to instrument drive unit 70 via a push-and/or snap-fit connection.

Referring again to fig. 2 and 3, the distal end of instrument drive unit 70 also supports a ring-shaped member 80, which ring-shaped member 80 has a sterile drape (stereo drape)82 secured thereto. Ring member 80 is secured to the distal end of instrument drive unit 70 via a single-sided axial attachment (e.g., a push-in, snap-fit, and/or loose-fit type arrangement), whereby removal of ring member 80 from instrument drive unit 70 may be effected laterally (e.g., via sliding and/or rotational movement relative to instrument drive unit 70). In some embodiments, ring member 80 may be supported (e.g., loosely) between instrument drive unit 70 and sterile interface module 100, and may be sandwiched between instrument drive unit 70 and sterile interface module 100 until sterile interface module 100 is detached from instrument drive unit 70. The sterile drape 82 is configured to be pressed over the robotic surgical assembly 50 and robotic arms 2, 3, and the sterile drape 82 may be disposed over the robotic surgical assembly 50 and robotic arms 2, 3 as desired to provide a sterile barrier between the various aforementioned components and/or surgical site/fluid and the electromechanical surgical instrument 60. Annular member 80 is configured to be disposed between instrument drive unit 70 and sterile interface module 100, and enables operative interconnection between instrument drive unit 70 and sterile interface module 100.

Turning now to fig. 4-10, a sterile interface module 100 of the robotic surgical assembly 50 is provided to selectively interconnect the robotic surgical assembly 50 with the electromechanical surgical instrument 60. The electromechanical surgical instrument 60 may be laterally coupled (e.g., side-loaded) to or laterally decoupled from the sterile interface module 100 of the robotic surgical assembly 100. In general, sterile interface module 100 is used to provide an interface between instrument drive unit 70 and an electromechanical surgical instrument, such as electromechanical surgical instrument 60. The interface beneficially maintains sterility, provides a means of transmitting electrical communication between the robotic surgical assembly 50 and the electromechanical surgical instrument 60, provides structure configured to transfer rotational forces from the robotic surgical assembly 50 to the electromechanical surgical instrument 60 to perform functions with the electromechanical surgical instrument 60, and/or provides structure to selectively attach/remove the electromechanical surgical instrument 60 to/from the robotic surgical assembly 50 (e.g., for rapid instrument replacement).

As seen in fig. 4-6, sterile interface module 100 includes a body member 110 having an upper portion 110a, a middle portion 110b (fig. 6), and a lower portion 110c coupled together by one or more fasteners "F" such as screws 101a, 10lb, 101 c. Sterile interface module 100 includes pins 101d (e.g., pogo pins) (fig. 11), which pins 101d provide an electrically conductive path through sterile interface module 100 (e.g., to end effector 60a of surgical instrument 60 when surgical instrument 60 is coupled to sterile interface module 100-see fig. 1). The upper portion 110a of the body member 110 defines drive transfer channels 112a, 112b, 112c, 112d, which drive transfer channels 112a, 112b, 112c, 112d support drive transfer assemblies 114 therein, such as respective drive transfer assemblies 114a, 114b, 114c, H4 d. The upper portion 110a of the body member 110 also includes a cover 110z (fig. 11) that defines an electrical connector passage or receptacle 116. The receptacle 116 houses a first electrical connector 116a (fig. 10) of an electrical component 116x (fig. 11) therein. The first electrical connector 116a (e.g., pins thereof) that serves as an electrical interface may be recessed within the receptacle 116 and/or shielded from damage (e.g., from being dropped and/or mated and/or unmated with the instrument drive unit). Electrical component 116x is described in more detail below.

Sterile interface module 100 includes attachment tabs 118a, 118b, 118c, 118d that extend around or protrude from opposite sides of sidewall 120 of upper portion 110 a. As detailed herein, attachment tabs 118a, 118b, 118c, 118d are used to selectively couple sterile interface module 100 to robotic surgical assembly 50. The attachment tabs 118a, 118b, 118c, 118d may have the shape of a flag to facilitate engagement with the buttons 72a, 72b of the instrument drive unit 70. Each attachment tab 118a, 118b, 118c, 118d includes a head 118e having a tapered cam surface 118f and a lip 118g, the lip 118g cooperating with a button 72a, 72b (see fig. 2) of the instrument drive unit 70 to selectively couple the sterile interface module 100 to the instrument drive unit 70.

The upper portion 110a of the body member 110 also defines a distally oriented tapered wall or surface 122, which tapered wall or surface 122 may be helical and extend from a shoulder 122a of the upper portion 110a around the upper portion 110 a.

Referring to fig. 6, the intermediate portion 110b of the body member 110 includes a resilient tab 113 extending proximally therefrom. The plurality of tabs 113, which may include any number of tabs 113, are arranged in spaced relation to one another and may be arranged in circumferential relation about a longitudinal axis "X" defined through the sterile interface module 100 (e.g., four tabs 113 spaced 90 degrees apart). The tab 113 may be formed of a flexible material and may be configured to bend radially outward. Each tab 113 includes a shaft 113a extending proximally to a head 113 b. The head 113b of each respective tab 113 includes an angled cam surface 113c that extends to a transverse lip 113 d.

The intermediate portion 110b of the body member 110 movably supports a breakaway collar 124 thereon and removably supports an emergency release ring 126 thereon. The release ring 126 may be used to provide a fluid and/or dust proof and/or seal for the body member 110. In some embodiments, the release ring 126 may provide a hermetic seal.

Referring to FIG. 4, the breakaway collar 124 defines a tapered ramp 124a that extends from a shoulder 124b of the breakaway collar 124. The tapered ramp 124a of the release collar 124 and the shoulder 124b of the release collar 124 are complementary to the tapered wall 122 and the shoulder 122a of the upper portion 110a of the body member 110.

The release collar 124 also includes dimples or gripping grooves 124c around its outer surface to facilitate user gripping of the release collar 124 and/or movement of the release collar 124 relative to the body member 110 of the sterile interface module 100. For example, as described in greater detail below, after the release ring 126 is removed from the body member 110, the breakaway collar 124 can be rotated (and/or axially translatable) relative to the body member 110, as indicated by arrow "a". Each gripping groove 124c may include a planar surface 124x (fig. 4) such that the release collar 124 includes an array of planar surfaces 124x around the outer surface of the release collar 124 that further facilitates gripping and/or movement of the release collar 124.

The separation collar 124 further defines a flange channel 124d (fig. 7) on its inner surface. The breakaway collar 124 can also include any number of vents 124e for cooling of one or more electrical components of the sterile interface module 100 and/or instrument drive unit 70. In particular, for example, rotation or activation of a cooling fan (not shown) of instrument drive unit 70 may draw outside air inward into sterile interface module 100 through vents 124e of sterile interface module 100 such that the air is able to travel along one or more air flow paths (see air flow paths "AA" and "AB" shown in fig. 9) extending through sterile interface module 100 and/or instrument drive unit 70, thereby cooling the electrical components thereof as the air travels along the air flow paths. Alternatively, and/or additionally, air disposed internally in sterile interface module 100 and/or instrument drive unit 70 (e.g., hot air resulting from operation of its electrical components), such as when a cooling fan is activated or rotated (e.g., creating pressure that expels air outward), can be expelled outward from vent 124 e.

As shown in fig. 4, release ring 126 of sterile interface module 100 includes a body portion 126a defining one or more detachment slots 126b, and one or more tabs 126c extending from body portion 126 a. Each separation slot 126b may be disposed adjacent to a frangible section 126d of the body portion 126 a. The frangible section 126d is configured to break upon movement of one of the one or more tabs 126c relative to the body portion 126a of the release ring 126 such that the release ring 126 can be separated from the sterile interface module 100 to enable the breakaway collar 124 to be moved relative to the body member 110 of the sterile interface module 100.

As shown in fig. 6-10, the lower portion 110c of the body member 110 is in the form of a semi-annular coupling sheath that is supported on or otherwise secured to the distal end of the middle portion 110b of the body member 110. The lower portion 110c of the body member 110 includes a U-shaped body having an instrument opening 128 defined between two side arms 128a, 128b and opening distally and laterally. The lower portion 110c also includes an angled surface 128c formed on an inner surface thereof, the angled surface 128c being complementary to the angled cam surfaces 61a, 61b (fig. 2) disposed on the outer surface of the instrument housing 61 of the electro-mechanical surgical instrument 60. The instrument opening 128 is configured to receive an electromechanical surgical instrument, such as the electromechanical surgical instrument 60, therein to removably secure the electromechanical surgical instrument 60 to the robotic surgical assembly 50. The side arms 128a, 128b of the lower portion 110c extend distally from the middle portion 110b of the body member 110 and are positioned to support the electromechanical surgical instrument 60 within the instrument opening 128 of the lower portion 110 c.

As seen in fig. 6, sterile interface module 100 further includes a floating plate 130 supported between middle portion 110b of body member 110 and lower portion 110c of body member 110. Floating plate 130 of sterile interface module 100 is movable between an uncompressed position (or extended position) and a compressed position (or retracted position). Floating plate 130 is distally spring biased toward the uncompressed position biasing members of drive transfer assemblies 114a, 114b, 114c, 114d (fig. 4) of sterile interface module 100. In some embodiments, a circular spring (e.g., a wave spring) or the like (not shown) may be used to bias floating plate 130 distally to the uncompressed position. Floating plate 130 includes a base 132 and tabs 134a, 134b extending distally from base 132. The tabs 134a, 134b of the floating plate 130 extend through the lower portion 110c of the body member 110. Floating plate 130 defines an aperture 136 therein, which aperture 136 receives drive transfer components 114a, 114b, 114c, 114d of sterile interface module 100. Floating plate 130 may be used, for example, to prevent vertical loads from acting on drive transfer assemblies 114a, 114b, 114c, 114d when electro-mechanical surgical instruments are loaded against the sides of sterile interface module 100.

As seen in fig. 6 and 7, sterile interface module 100 also includes a support plate 123 coupled to a breakaway collar 124. The support plate 123 defines a coupling opening 123a in registration with the drive assembly 114 of the sterile interface module 100, and a tab aperture 123b in registration with the tab 113 of the middle portion 110b of the sterile interface module 100. Tab aperture 123b may be configured to impart a radially inward bend on tab 113 (e.g., shaft 113a of tab 113) as angled cam surface 1l3c of head portion 1l3b of tab 113 cams along tab aperture 123b of support plate 123, as described in detail below. The support plate 123 includes a flange 123c that is received within a flange channel 124d of the release collar 124 such that the support plate 123 can move with the release collar 124.

Sterile interface module 100 further includes an annular coupler 125 coupled to separation collar 124 and in contact with a bottom surface of flange 123c of support plate 123 such that separation collar 124 is rotatable about flange 123c of support plate 123, as indicated by arrow "a" (fig. 4), while moving support plate 123 axially as separation collar 124 is axially translated relative to longitudinal axis "X" as indicated by arrow "B1" with rotation of separation collar 124. The breakaway collar 124 may be axially movable relative to the body member 110 without rotation, as indicated by arrow "B2" (fig. 8).

As seen in fig. 8, the annular coupler 125 includes a ledge 125a that extends radially inward from the annular coupler 125 along at least a portion of the circumference of the annular coupler 125 to support an idler coupler (idler) 127. Referring also to fig. 9, the ring coupler 125 also includes a cross-section having a tapered profile 125b along at least a portion of the ring coupler 125. For example, the annular coupling 125 may include a tapered profile 125b adjacent to one or more vents 124e of the breakaway snap ring 124. Tapered profile 125b may be positioned in fluid communication with more than one vent 124e, thereby providing more than one air flow path between annular coupler 125 and separation collar 124, such as air flow paths "AA" and "AB" shown in fig. 9.

Air flow paths "AA" and "AB" are used to assist in maintaining sterility of various components of robotic surgical system 1 (e.g., sterile interface module 100, instrument drive unit 70, etc.) and cooling various components (e.g., motors, sensors, etc.). The air flow path provides a balanced air flow cross section from outside the sterile interface module into the instrument drive unit for cooling and thermal management. The air flow path provides a tortuous path for air flow through the sterile interface module and into the instrument drive unit. The vent holes may be shaped with a desired symbol, such as a loading or unloading direction using an arrow. The symbols may be molded and/or laser etched and positioned for indicating indicia regarding use, loading, removal, fit and/or alarm.

Referring to fig. 7, sterile interface module 100 further includes idler couplers 127, which idler couplers 127 are coupled to annular couplers 125 and are supported on ledges 125a of annular couplers 125. The idler coupler 127 is rotatably supported on a coupling shaft 129, which coupling shaft 129 interconnects the upper and intermediate portions 110a, 110b of the body member 110. As the breakaway collar 124 rotates about the longitudinal axis "X" and/or moves axially relative to the body member 110, the idler coupler 127 is axially slidable along the coupling shaft 129, as detailed herein.

Referring to fig. 3 and 7, each drive transfer assembly 114 of sterile interface module 100 includes a drive coupler 115, which drive coupler 115 defines a coupling end 115a (e.g., a slot) on a proximal end of drive coupler 115 engageable with one of the respective motor couplers 76 of motor assembly 74. Drive coupler 115 also includes a flange 115b on its distal end. Each drive coupler 115 extends through one of the coupling openings 123a of the support plate 123 of the sterile interface module 100. The support plate 123 is coupled to the breakaway collar 124 such that a bottom surface of the support plate 123 contacts a top surface of the flange 115b of the drive coupler 115 of the drive transfer assembly 114. Each drive transmission assembly 114 includes a first transmission shaft 117 or a second transmission shaft 119. The first transmission shaft 117 includes a radial coupler 117a extending radially outward from the transmission shaft 117, and a distal coupler 117b extending distally from the transmission shaft 117. The second transmission shaft 119 includes a distal coupler 119a extending distally from the transmission shaft 119. The distal couplers 117b and 119a of the respective first and second transfer shafts 117 and 119 are configured to engage corresponding couplers (not shown) of the driven members 62a, 62b, 62c, etc. of the electro-mechanical surgical instrument 60. Any of the couplings described herein may be in the form of a gear having any number of teeth.

Each drive transfer assembly 114 of sterile interface module 100 includes a spring 121 to enable movement of the components of the respective drive transfer assembly 114 relative to one another. As seen in fig. 8 and 9, for example, a first spring 121a is supported between the first transmission shaft 117 and its respective drive coupler 115, while a second spring 121b is supported between the second transmission shaft 119 and its respective drive coupler 115. Each spring 121 is configured to apply a spring force to its respective drive transfer assembly 114 as it compresses.

As seen in fig. 10 and 11, the sterile interface module 100 includes an electrical assembly 116x, the electrical assembly 116x including a first electrical connector 116a, a second electrical connector 116b, and an electrical band 116c coupled between the first electrical connector 116a and the second electrical connector 116b to provide electrical communication between the robotic surgical assembly 50 and any electromechanical surgical instrument, such as the electromechanical surgical instrument 60 coupled thereto. The electrical assembly 116x may include a counter (not shown) configured to measure the usage of the sterile interface module 100, for example, to account for degradation over time of the spring pins 116d of one or both of the electrical connectors 116a, 116b, such that the sterile interface module 100 can be replaced as necessary or desired.

Referring to fig. 2, 6, and 14A-14C, to couple an electromechanical surgical instrument, such as the electromechanical surgical instrument 60, to the sterile interface module 100, the angled cam surfaces 6la, 6lb of the electromechanical surgical instrument 60 are aligned with the angled surfaces 128C of the lower portion 110C of the sterile interface module 100. The electromechanical surgical instrument 60 is then moved laterally (e.g., side-loaded) relative to the robotic surgical assembly 50 until the angled cam surfaces 6la, 6lb of the electromechanical surgical instrument 60 are fully received or seated on the angled surfaces 128c of the lower portion 110c of the sterile interface module 100.

As electro-mechanical surgical instrument 60 is laterally moved into lower portion 110C of sterile interface module 100, electro-mechanical surgical instrument 60 cams upwardly, thereby moving or compressing floating plate 130 of sterile interface module 100 proximally relative to body member 110, as indicated by arrow "C" shown in fig. 6 (see also fig. 14B). Movement of floating plate 130 from its initial extended position (fig. 14A) to a compressed position (fig. 14B) pulls transfer shafts 117, 119 of sterile interface module 100 (and their corresponding instrument-engaging ends 117B, 119a) proximally away from instrument opening 128 of lower portion 110c of sterile interface module 100, thereby facilitating insertion of electromechanical surgical instrument 60 into instrument opening 128 of sterile interface module 100. Moving the floating plate 130 from the extended position (fig. 14A) to the compressed position (fig. 14B) helps prevent intrusive contact/interference between the distal couplers 117B, 119a of the drive transfer assembly 114 of the sterile interface module 100 and the corresponding driven members 62a, 62B, 62c, etc. (see fig. 2) of the electromechanical surgical instrument 60.

Once electromechanical surgical instrument 60 is fully seated within lower portion 110C of sterile interface module 100, floating plate 130 of sterile interface module 100 is pushed back to the extended position (fig. 14C) such that distal couplers 117b, 119a of drive transfer assembly 114 of sterile interface module 100 and corresponding driven members 62a, 62b, 62C, etc. of electromechanical surgical instrument 60 are in registry with one another, thereby coupling electromechanical surgical instrument 60 to robotic surgical assembly 50 via sterile interface module 100.

With the robotic surgical assembly 50 of the robotic surgical system 1 secured to one of the surgical robotic arms 2, 3 of the robotic surgical system 1 and the electromechanical surgical instrument 60 of the robotic surgical system 1 secured to the sterile interface module 100 of the robotic surgical system 1, the clinician is able to perform a surgical procedure by robotically controlling the driven members 62a, 62b, 62c, etc. of the electromechanical surgical instrument 60 using the motor assembly 74 of the robotic surgical assembly 50, as desired. In particular, the one or more motors 76a, 76b, 76c, etc. of the motor assembly 74 are actuated to rotate the one or more motors 76a, 76b, 76c, etc. of the motor assembly 74 such that the one or more drive transfer assemblies 114 of the sterile interface module 100 cooperate with the one or more driven members 62a, 62b, 62c, etc. of the electromechanical surgical instrument 60 to operate and/or manipulate (e.g., fire, articulate, rotate, etc.) the end effector 60a of the electromechanical surgical instrument 60 as desired.

To remove the electromechanical surgical device 60 from the robotic surgical assembly 50, such as to perform a device change, the clinician can depress paddles (paddles) 64a, 64b (fig. 2) of the electromechanical surgical device 60. Depression of paddles 64a, 64b exerts a force on tabs 130a, 130b (fig. 8) of floating plate 130 of sterile interface module 100, thereby moving floating plate 130 in a proximal direction relative to body member 110 of sterile interface module 100. As floating plate 130 moves in a proximal direction, first and second transfer shafts 117, 119 of respective drive transfer assemblies 114 translate with floating plate 130 of sterile interface module 100 in the proximal direction against the biasing force from springs 121 of respective drive transfer assemblies 114. Movement of the transfer shafts 117, 119 of the respective drive transfer assemblies 117, 119 relative to the body member 110 of the sterile interface module 100 decouples the distal couplers 117b, 119a of the first and second transfer shafts 117, 119 of the drive transfer assembly 114 from the respective driven members 62a, 62b, 62c, etc. of the electromechanical surgical instrument 60.

Once the distal couplers 117b, 119a of the first and second transmission shafts 117, 119 of the respective drive transmission assemblies 114 are decoupled from the respective driven members 62a, 62b, 62c, etc. of the electromechanical surgical instrument 60, the proximal end of the instrument housing 61 of the electromechanical surgical instrument 60 can be laterally slid out of the instrument opening 128 of the lower portion 110c of the body member 110 of the sterile interface module 100.

As described above, the electromechanical surgical instrument 60 can be reattached to the sterile interface module 100 through the instrument opening 128 of the lower portion 110c of the body member 110 of the sterile interface module 100. Alternatively, different electromechanical surgical instruments (e.g., staplers, endoscopes, forceps, etc.) can be attached as well, as desired.

Referring to fig. 1, 12A, and 12B, the release ring 126 of the sterile interface module 100 can be removed from the body member of the sterile interface module 100 in an emergency, such as when there is a power failure, and when the electro-surgical instrument 60 is at least partially positioned within the patient. With respect to fig. 12A and 12B, the tab 126c of the release ring 126 can be manually manipulated relative to the body portion 126a of the release ring 126 until the frangible section 126d of the release ring 126 breaks such that the release ring 126 can be separated from the sterile interface module 100.

Referring to fig. 1-11, once release ring 126 is disengaged from sterile interface module 100, breakaway collar 124 of sterile interface module 100 can be rotated about body member 110 of sterile interface module 100, as indicated by arrow "a", thereby moving breakaway collar 124 in a distal direction axially from an initial, proximal-most position toward lower portion 110c of body member 110 of sterile interface module 100. In effect, such movement of breakaway collar 124 enables sterile interface module 100 to provide a manual override (override) function. In the initial, proximal-most position of the breakaway collar 124 (fig. 6), the annular coupling 125 and idler coupling 127 of the sterile interface module 100 are longitudinally spaced from the radial coupling 117a of the first transfer shaft 117 of the sterile interface module 100.

The breakaway collar 124 of the sterile interface module 100 can be moved (e.g., rotationally and/or axially) from an initial, proximal-most position (fig. 6) to a distal-most position (fig. 8) through any number of intermediate positions between the proximal-most and distal-most positions. Rotation of the breakaway collar 124 of the sterile interface module 100 (from a proximal-most position toward a distal-most position) rotates the ring coupler 125 of the sterile interface module 100, which causes the idler couplers 127 of the sterile interface module 100 to freely rotate about the coupling shafts 129 of the sterile interface module 100 and/or slide distally along the coupling shafts 129 of the sterile interface module 100.

In response to continued distal movement (e.g., rotational and/or axial movement) of the breakaway collar 124 of the sterile interface module 100 relative to the body member 110 of the sterile interface module 100, the idler couplers 127 of the sterile interface module 100 continue to advance distally, engaging the idler couplers 127 with the radial couplers 117a of the first transfer shaft 117 of one of the drive assemblies 114 of the sterile interface module 100. As the breakaway collar 124 is advanced distally, the breakaway collar 124 pulls the support plate 123 of the sterile interface module 100 distally relative to the tabs 113 of the sterile interface module 100 such that the heads 113b of the tabs 113 slide through the tab apertures 123b of the support plate 123. As the support plate 123 moves relative to the tab 113, the angled cam surface 113c of the head 113b of the tab 113 cams along the tab aperture 123 b. Distal advancement of support plate 123 also pulls drive coupler 115 of drive assembly 114 distally due to contact between the bottom surface of support plate 123 and the top surface of flange 115b of drive coupler 115 (fig. 7 and 8). The distal movement of drive coupler 115 separates coupling end 115a of drive coupler 115 from the corresponding motor coupler 76 of motor assembly 74 of robotic surgical assembly 50 and retracts drive coupler 115 of sterile interface module 100 within drive transfer channels 1l2a, 1l2b, 1l2c, 1l2d of body member 110 of sterile interface module 100.

Once the support plate 123 of the sterile interface module 100 is moved distally past the angled cam surface 113c of the tab 113 of the sterile interface module 100, the tab 113 flexes outwardly (in response to inward flexing due to contact between the head 113b of the tab 113 and the tab aperture 123a of the support plate 123) such that the transverse lip 113d of the tab 113 extends above the top surface of the support plate 123 and prevents proximal movement of the support plate 123 (see fig. 8). At this distal-most position of support plate 123 and breakaway collar 124 of sterile interface module 100, breakaway collar 124 and drive coupler 115 of drive assembly 114 are also prevented from moving proximally such that drive coupler 115 cannot re-engage motor coupler 76 of motor assembly 74, thereby preventing robotic control of drive coupler 115.

Distal movement of the breakaway collar 124 of the sterile interface module 100 toward this distal-most position may electrically disconnect one or more of the electrical connectors 116a, 116b and/or electrical strips 116c of the sterile interface module 100 such that there is no electrical communication between the robotic surgical assembly 50 and the electromechanical surgical instrument 60. For example, electrical strap 116c may be secured to support plate 123 such that distal advancement of breakaway collar 124 relative to body member 110 of sterile interface module 100 separates electrical strap 116c from electrical connector 116 a.

Once the breakaway collar 124 of the sterile interface module 100 is disposed in a distal-most position, rotation of the breakaway collar 124 causes the ring coupler 125 to rotate the carrier coupler 127 of the sterile interface module 100. With the carrier coupler 127 engaged with the radial coupler 117a of the first transfer shaft 117 of the sterile interface module 100, rotation of the carrier coupler 127 rotates the radial coupler 117a, and thereby the distal coupler 117b of the first transfer shaft 117. This rotation of transfer shaft 117 may be independent of the second transfer shaft 119 of sterile interface module 100 (which may typically remain stationary without robotic control thereof). As the distal coupler 117b of the first transfer shaft 117 rotates in response to rotation of the idler coupler 127, the distal coupler 117b of the first transfer shaft 117 cooperates with a respective one of the driven members 62a, 62b, 62c, etc. of the electromechanical surgical instrument 60 to beneficially manually manipulate the end effector 60a thereof.

Such movement of the breakaway collar 124 of the sterile interface module 100 from the proximal-most position to the distal-most position applies a force (e.g., a torque) through the sterile interface module 100 and the corresponding components of the electromechanical surgical instrument 60 to manually manipulate the end effector 60a of the electromechanical surgical instrument 60 to position the end effector 60a in a desired position/location. For example, end effector 60a of electro-mechanical surgical instrument 60 can be manually manipulated to an open position to release tissue grasped by end effector 60a, enabling removal of electro-mechanical surgical instrument 60 from the surgical site while limiting the risk of unwanted tissue damage (which may be present if such manual manipulation is not feasible when a power failure or other similar emergency occurs). It is also contemplated that the breakaway collar 124 of the sterile interface module 100 can be rotated in the opposite direction as needed to manipulate (e.g., close) the end effector 60a of the electromechanical surgical instrument 60.

With the release ring 126 of the sterile interface module 100 removed and the detachment collar 124 secured in a distal-most position via the fixed or locked relationship between the tabs 113 of the sterile interface module 100 and the support plate 123, the sterile interface module 100 can no longer robotically control any electromechanical surgical instrument coupled thereto, such that the sterile interface module 100 needs to be removed and replaced. As described above, sterile interface module 100 can be removed from robotic surgical assembly 50 by depressing buttons 72a, 72b of sterile interface module 100. Then, as described above, replacement sterile interface module 100 and electro-mechanical surgical instrument 60 can be attached, enabling robotic control of any electro-surgical instrument coupled to robotic surgical assembly 50 as detailed herein.

Turning now to fig. 15-17, one embodiment of a sterile interface module system, generally referenced as 200, includes a sterile interface module 300 defining a longitudinal axis "X-X" and a reset tool 400. Sterile interface module 300 is similar to sterile interface module 100 and includes a body member 301 that supports a reset cam 310 and a release ring 350. The body member 301 of the sterile interface module 300 supports the breakaway collar 124 and includes a tab 113 that cooperates with a reset cam 310. Body member 301 of sterile interface module 300 defines therein a pull tab recess 302 and a locking slot 304 that cooperate with release ring 350.

Advantageously, reset tool 400 of sterile interface module system 200 cooperates with reset cam 310 of sterile interface module 300 of sterile interface module system 200, thereby enabling sterile interface module 300 to be activated, tested, and reset during manufacturing assembly and authorization of sterile interface module 300.

As seen in fig. 17 and 18, the reset cam 310 of the sterile interface module 300 is supported around the tabs 113 of the sterile interface module 300, and the reset cam 310 of the sterile interface module 300 includes arms 312 that extend radially outward from the reset cam 310 at spaced apart locations around the reset cam 310. Each arm 312 of the reset cam 310 defines a receiving aperture 312a therethrough, which receiving aperture 312a receives a respective one of the tabs 113 of the sterile interface module 300. The reset cam 310 also defines a central opening 314 configured to receive the reset tool 400. The reset cam 310 may include threads 314a around the central opening 314 to facilitate threaded engagement with the reset tool 400. In some embodiments, the reset cam 310 may include self-tapping features, bosses, and/or stop features (not shown) to engage the reset tool 400. Reset cam 310 may be formed from any suitable plastic and/or metal material.

Referring to fig. 19A-19C, the release ring 350 of the sterile interface module 300 includes an annular frame 352 having a first end 354 and a second end 356 that are selectively engageable (e.g., such that the release ring 350 is repositionable). The annular frame 352 of the release ring 350 supports pull tabs 358a, 358b (e.g., for ease of access) on opposite sides of the annular frame 352, the pull tabs 358a, 358b extending distally from the annular frame 352 and including a distal tapered configuration that recesses the pull tabs 358a, 358b into the pull tab recesses 302 (fig. 17) of the sterile interface module 300 to help prevent false activation. The pull tabs 358a, 358b of the release ring 350 may be finger wide, providing lever assistance for actuation. The inner surface of annular frame 352 includes a plurality of radial tabs 360, which plurality of radial tabs 360 extend radially inward to provide concentric alignment with body member 301 of sterile interface module 300 and to help prevent false activation of release ring 350 from body member 301 of sterile interface module 300. The top surface of the annular frame 352 of the release ring 350 supports locking tabs 362a, 362b that extend proximally from the top surface of the annular frame 352 of the release ring 350 and align with the pull tabs 358a, 358b of the release ring 350. Locking tabs 362a, 362b may be received within locking slots 304 of sterile interface module 300. The locking tabs 362a, 362b serve to align the pull tabs 358a, 358b and prevent false activation of the release ring 350.

A first end 354 of the annular frame 352 of the release ring 350 defines a receiving slot 354a and a second end 356 of the annular frame 352 includes a projection 356 a. The protrusion 356a of the second end 356 of the annular frame 352 may be received within the receiving slot 354a of the first end 354, such as via a snap fit, interference fit, or the like, to provide an optimal separation force for finger activation, and to enable multiple resets for disassembly, such as during cleaning.

The first end 354 of the annular frame 352 also includes first and second arms 354d, 354e having spaced apart tabs 354b extending between the first and second arms 354d, 354 e. The tabs 354b define separate openings 354c at spaced apart locations between the first and second arms 354d, 354e of the first end 354. Advantageously, the release ring 350 of the sterile interface module 300 provides a moisture barrier to prevent moisture from entering the sterile interface module 300. The release ring 350 may be provided in any suitable high contrast or bright color, such as orange or red, to help communicate its presence for quick removal. The release ring 350 can include any suitable indicia, such as molded in symbols or text to indicate its purpose as an emergency release. The release ring 350 can be made in any form of high elongation plastic, elastomer, or flexible material that is beneficial for cleaning and sterilization.

Referring to fig. 20A and 20B, in use, release ring 350 of sterile interface module 300 is removed by: one or both of the pull tabs 358a, 358b of the release ring 350 are actuated with a finger with sufficient force to separate or separate the first end 354 and the second end 356 of the release ring 350 so that the release ring 350 can be released from around the sterile interface module 300 (fig. 20A). Then, as indicated by arrows "M1" and "M2", the detachment collar 124 of the sterile interface module 300 can be rotated (e.g., counterclockwise) about the body member 301 of the sterile interface module 300 and translated downward, for example, to test and/or authorize the sterile interface module 300 (fig. 20B). As the breakaway collar 124 rotates and translates downward, the support plate 123 of the sterile interface module 300 cams along the tabs 113 of the sterile interface module 300 until the tabs 113 extend radially outward on the support plate 123 and prevent the support plate 123 from moving proximally toward its initial position (e.g., locking the support plate 123).

Referring to fig. 20C and 20D, to reset the sterile interface module 300, the reset tool 400 may be inserted into the central opening 30la defined in the body member 301 of the sterile interface module 300 and the reset tool 400 advanced into engagement with the reset cam 310. As indicated by arrow "R", the reset tool 400 can then be manipulated (e.g., rotated) relative to the sterile interface module 300, thereby causing the reset cam 310 to advance axially upward along the tab 113 of the body member 301 of the sterile interface module 300, as indicated by arrow "U". As reset cam 310 cams along tabs 113, reset cam 310 approaches tabs 113 toward one another in a radially inward direction, as indicated by arrow "R1," until support plate 123 of sterile interface module 300 can be moved proximally (e.g., translation and/or clockwise rotation of separation collar 124) to its initial proximal position (see fig. 16) in which support plate 123 is proximal to tabs 113 of sterile interface module 300, thereby resetting sterile interface module 300. Once the support plate 123 is in its proximal position, the reset tool 400 can be removed from the sterile interface module 300. The release ring 350 of the sterile interface module 300 or a new release ring 350 can then be reattached around the body member 301 of the sterile interface module 300 so that the sterile interface module 300 can be used in a surgical procedure.

Robotic surgical system 1 and/or components thereof (e.g., robotic surgical assembly 50, sterile interface modules 100, 300, etc.) may include one or more electrical components (e.g., electrically coupled to electrical assembly 116x) for providing sterile interface module identification. For example, the electrical components may include one or more of the following: contacts (which may be insulated and/or non-insulated contacts), sensors, magnetic arrays, hall sensors, reed switches, wireless features, optical features, bar codes, QR codes, etc., and/or combinations thereof (not shown), wherein any number and/or configuration of each of these electrical components may be provided.

Any of the presently disclosed electrical components may be used to provide the presently disclosed sterile interface module with the following and/or identification by the device, instrument, and/or loading unit as one or more feeds of: a serial number, lot number, and/or date code of manufacture, a device type, a service life, a calibration date and offset, a reload type, a usage and/or number of uses, a device status, an instrument travel position, a clamp position, a wrist position, a rotation angle, a pitch and/or yaw position, a cutter and/or cutting mechanism position, an energy activation, an RF activation, a cauterization activation, a harmonic vibration activation, an end effector type, an end effector status, an end effector position, an end effector end of life and/or a state of use, and/or combinations thereof.

In embodiments, for example, the presently disclosed sterile interface module can be provided in various configurations to facilitate manual override functionality similar to that described above. For example, embodiments of the sterile interface module, or components thereof (such as the breakaway collar 124), can be configured to drive and/or operate more than one drive, drive a single drive, and/or can be rotated clockwise, counterclockwise, and/or combinations thereof. In some embodiments, the breakaway collar 124 can be configured to rotate in a single desired direction.

In certain embodiments, the presently disclosed sterile interface module or components thereof (e.g., the breakaway collar 124, the release ring 126, 350, etc.) can include external ribs, grooves, texturing, etc. to improve manual gripping capabilities.

In certain embodiments, decoupling one of the presently disclosed sterile interface modules from the drive motor coupling of the instrument drive unit eliminates backdrive loading and reduces the likelihood of the motor, coupling or gear set or driver within the instrument drive unit becoming jammed.

In some aspects, a failure mode of instrument drive unit 70 may include a condition in which one or more of motors 76a, 76b, 76c, etc. thereof is in a failed state (e.g., unable to apply torque to a drive component of robotic surgical assembly 50 and/or electromechanical surgical instrument 60). In some aspects, another failure mode may include a condition in which one or more motors 76a, 76b, 76c, etc. of instrument drive unit 70 cannot rotate. In such a scenario, it may be desirable to decouple the couplers of sterile interface module 100 from the couplers of instrument drive unit 70 (e.g., via a downward motion) to enable the clinician to rotate more than one coupler of sterile interface module 100 regardless of the position of the corresponding coupler of instrument drive unit 70. This minimizes the torque required to rotate the couplings of the sterile interface module 100 by eliminating the need to back drive the motor. The ramp feature of the breakaway collar 124 of the sterile interface module 100 can assist in such breakaway efforts (e.g., downward movement) and provide a mechanical advantage to reduce the force required to act (e.g., pull down) on the collar 124 by helping to provide the breakaway force required to overcome the initial friction due to engagement of the couplings of the robotic surgical assembly 50 and/or the electromechanical surgical instrument 60 and the transfer of torque through the interface thereof.

In some embodiments, the breakaway collar may have a diameter that provides a large leverage torque to the end user.

In certain embodiments, the presently disclosed sterile interface module, or components thereof, may comprise plastic, or a combination of plastic and metal, thereby eliminating the need for lubrication that can be removed during the cleaning and sterilization process. The plastic material of the presently disclosed sterile interface module may be manufactured using a highly impact resistant and high elongation plastic that may also be considered to be resistant to high temperatures and chemicals. These materials of the presently disclosed sterile interface module may be specific to provide a robust design for medical automatic washing machines, autoclave steam sterilization cycles, light drop and/or abuse of impacts/impacts during use, and for central processing and cleaning. In some embodiments, the material of the presently disclosed sterile interface module may be a material that is high temperature, non-corrosive, and/or facilitates autoclaving and/or automatic washing. These materials can include, but are not limited to, stainless steel, polyphenylsulfone plastic, Polyetheretherketone (PEEK), polyphenylsulfone (ppsu (radel)), Polysulfone (PSU), Polyethersulfone (PES), polyetherimide (Ultem), Polyaryletherketone (PAEK), and the like, or combinations thereof. In embodiments, the flexible portion of the electronics of the presently disclosed sterile interface module can be mechanically separated, disconnected, or shortened to prevent electronic communication and reuse after activation.

In some embodiments, the presently disclosed sterile interface module, or components thereof, can include dielectric insulation, e.g., can incorporate plastics, coatings, films, and high dielectric materials, thereby providing a dielectric barrier between the instrument/device and the instrument drive unit. In certain embodiments, more than one coupler may comprise a non-conductive plastic, thereby increasing the dielectric strength of the interface with the coupled device. In some embodiments, ribs, tongue and groove, dovetails, flanges and/or overlapping walls can be incorporated to increase creepage and clearance dielectric properties.

In some embodiments, the presently disclosed sterile interface module, or components thereof, can include a sealing feature. For example, more than one seal can be incorporated to increase fluid resistance and prevent egress/ingress, more than one seal can be incorporated around the outer diameter of the proximal or distal end of the coupler, more than one washer can be used on the proximal and distal mating surfaces for sealing, and/or more than one washer can be incorporated around the proximal or distal connector interface that compresses when mated to the instrument drive unit or instrument.

In certain embodiments, the presently disclosed sterile interface module, or components thereof, can include a side-loading rail mating feature. For example, the presently disclosed sterile interface module or components thereof can include lead-in features for easy mating, ribs for locking, dual actuators for preventing false activation, and/or spring loaded plate locking features that lock the device and eliminate play and/or movement of the interface.

In certain embodiments, the presently disclosed sterile interface module, or components thereof, can include more than one wedge surface on its mounting latch, e.g., to eliminate or reduce play/clearance of the fit.

In some embodiments, the presently disclosed sterile interface module, or components thereof, can include cleaning and/or sterilization features. For example, the presently disclosed sterile interface module, or components thereof, can be configured to be flushable and cleanable, thereby facilitating cleaning and sterilization. In embodiments, the presently disclosed sterile interface module, or components thereof, can include a flush port for easy cleaning. In some embodiments, the presently disclosed sterile interface module, or components thereof, may be disposable and/or adapted for single use.

In an embodiment, the one or more couplers may be Oldham-type (Oldham-type) couplers that allow for full coupling with a high degree of tolerance and misalignment. Any of the presently disclosed couplers may include more than one tooth or other similar coupling features.

According to some embodiments, more than one actuator (e.g., two actuators) may be used for installation of the instrument drive unit to resist false activations during automatic use, collisions, and/or end user induced false activations. The actuator may comprise a high throw actuator (high throw actuator) that is slightly embedded to prevent false actuations.

In some embodiments, more than one coupling can include a pointed surface that disengages after a threshold torque is reached. The clutch may be bi-directional and/or unidirectional. In embodiments, the clutch torque threshold may be a different value for clockwise and/or counterclockwise rotation.

In some embodiments, the presently disclosed sterile interface module, or components thereof, can include a recoil reduction feature. For example, the teeth of other similar mating features of more than one coupler may include angled faces that can mate under spring loading. The angled faces can provide adequate mating during blind mating conditions and/or can eliminate or reduce backlash when such angled faces act as hard stops for the respective couplers.

In certain embodiments, the presently disclosed sterile interface module, or components thereof, can include coupler bearings including, but not limited to, a solid journal type, a sleeve type, a ball type, a radial type, a thrust type, and/or a needle type.

In some embodiments, the presently disclosed sterile interface module, or components thereof, can include an axially floating coupler. For example, the axially floating coupler may be configured to float axially over one or both coupling interfaces. Such axially floating couplings may utilize compression, tension, leaf springs, wave springs, and/or elastomers. In an embodiment, the floating plate may hold the couplers and act as a thrust bearing surface to consistently disengage all of the couplers at the same time.

Mounting features of the presently disclosed sterile interface module for facilitating mounting thereof may include, but are not limited to, latches, threads, sliders, and/or clips.

The electronic features of the presently disclosed sterile interface module may include coatings and/or potting materials to improve autoclave resistance and/or auto-wash resistance. Such coatings and/or potting materials may include, but are not limited to, moisture-resistant sealants (humiseal), parylene, and/or silicone. The leads of the electronic feature may utilize a high temperature jacket material such as teflon, teflon blends, and/or silicone. The flexible circuit material of the electronic feature may include polyimide for high temperature resistance. These wires and/or flexible materials can be provided for the high flexibility cycle life conduits of the presently disclosed floating interface assembly.

Turning now to fig. 21 and 22, one embodiment of a floating plate assembly, generally referenced 500, includes a floating plate 130 and a bus bar 502 mounted thereon. The floating plate 130 of the floating plate assembly 500 supports pogo pins 110b coupled together via bus bars 502. Bus bar 502 may be in the form of a conductive plate that electrically couples pogo pins 101d and/or pogo pins 101d mechanically captured or supported within floating plate 130. The bus bar 502 defines spaced apart openings 504, 506, the openings 504, 506 receiving a tip 508 of the pogo pin 10ld therein. Bus bar 502 may include any suitable flexible material, such as a flexible Printed Circuit Board (PCB). In some embodiments, the bus bar 502 may comprise any suitable rigid material, such as a rigid PCB. In certain embodiments, the bus bar 502 can be coated with any suitable material, such as silicone and/or epoxy. For example, such coatings may be used to protect the bus bar 502 during an autoclave and/or cleaning process. In certain embodiments, bus bar 502 may comprise a metal. Bus bar 502 may have any suitable plating to protect against corrosion.

Those of skill in the art will understand that the structures and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the description, disclosure, and drawings are to be interpreted as merely illustrative of the specific embodiments. It is to be understood, therefore, that this disclosure is not limited to the precise embodiments described, and that various other changes and modifications may be affected therein by one skilled in the art without departing from the scope or spirit of the disclosure. Additionally, elements and features shown or described in connection with certain embodiments may be combined with elements and features of certain other embodiments without departing from the scope of the present disclosure, and such modifications and variations are intended to be included within the scope of the present disclosure. Accordingly, the subject matter of the present disclosure is not limited by what has been particularly shown and described.