阅读说明：本技术 用于机器人手术系统的帷帘管理组件 (Drape management assembly for robotic surgical system ) 是由 雷蒙德·P·彭诺耶 萧泽铭 海门·卡帕迪亚 沙恩·里尔登 马克·汉密尔顿·麦克劳德 迈克尔 于 2018-11-28 设计创作，主要内容包括：本申请公开了一种用于机器人手术系统的帷帘管理组件,帷帘管理组件包括夹子,所述夹子具有被构造为用于选择性地与机器人手术系统连接的基部和从基部延伸出的抓握部。基部和抓握部可以在它们之间限定空腔。基部和抓握部可以布置为在空腔中保持一定量的手术帷帘,以使覆盖在机器人手术系统的机器人臂上的手术帷帘的余量最小化。(A drape management assembly for a robotic surgical system includes a clip having a base configured for selective connection with the robotic surgical system and a grip portion extending from the base. The base and the grip may define a cavity therebetween. The base and the grip may be arranged to hold a quantity of surgical drape in the cavity to minimize a margin of surgical drape draped over a robotic arm of the robotic surgical system.)

1. A drape management assembly, comprising:

a clip, comprising:

a base configured for selective connection with a robotic surgical system; and

a grip extending from the base, the base and the grip defining a cavity therebetween, wherein the base and the grip are arranged to hold a quantity of surgical drape in the cavity.

2. The drape management assembly of claim 1, wherein each of the base and the grip defines a first axis, the first axis of the base and the first axis of the grip being at an angle with respect to each other.

3. The drape management assembly of claim 1, wherein a distal end of the gripping portion defines a lip having a second axis at an angle relative to the first axis of the gripping portion.

4. The drape management assembly of claim 3, wherein a tab extends from the lip of the gripping portion, the tab defining a third axis that is at an angle relative to the second axis of the lip.

5. The drape management assembly of claim 1, further comprising an insert configured to couple with the clip, the insert comprising:

a top surface having a plurality of protrusions extending therefrom, the plurality of protrusions including a plurality of flanges extending from a surface thereof; and

a friction bottom surface configured for contact with a surgical drape.

6. The drape management assembly of claim 5, further comprising a plurality of slots defined through the clip, the plurality of slots of the clip configured to receive the plurality of protrusions of the insert to couple the insert to the clip.

7. The drape management assembly of claim 6, wherein, when the insert is coupled to the clip, the clip is disposed between a bottom surface of the plurality of flanges and the top surface of the insert.

8. The drape treatment assembly of claim 1, wherein the clip is coated with a material selected from the group consisting of rubber and silicone.

9. The drape management assembly of claim 1, wherein the clip is formed from a material selected from the group consisting of plastic, steel, stainless steel, spring steel, and sheet metal.

10. The drape management assembly of claim 1, wherein the clip is plated with a material selected from the group consisting of electroless nickel, bright nickel, chromium, and zinc.

11. The drape management assembly of claim 5, wherein the insert is formed from a material selected from the group consisting of silicone, natural rubber, nitrile, and urethane.

12. The drape management assembly of claim 1, wherein the clip includes an elbow interconnecting the base and the grip, the elbow configured to resiliently bias the grip of the clip toward an approximated position.

13. The drape management assembly of claim 1, wherein the clip is movable between an approximated position and a non-approximated position relative to a robotic surgical instrument.

14. A robotic surgical assembly, comprising:

a robot arm;

a surgical drape;

a clip configured to couple the surgical drape with the robotic arm, the clip comprising:

a base configured for coupling with the robotic arm; and

a gripping portion extending from the base, the base and the gripping portion defining a cavity therebetween, wherein the base and the gripping portion are arranged to hold a quantity of the surgical drape in the cavity; and

an insert configured to couple with the clip, the insert comprising:

a top surface having a plurality of protrusions extending therefrom, the plurality of protrusions including a plurality of flanges extending from a surface thereof; and

a friction bottom surface configured for contact with the surgical drape.

15. The drape management assembly of claim 14, further comprising a plurality of slots defined through the clip, the plurality of slots of the clip configured to receive the plurality of protrusions of the insert to couple the insert to the clip.

16. The robotic surgical assembly of claim 14, wherein the surgical drape is configured to enclose the robotic arm, and the clip and the insert are configured to incrementally release a margin of the surgical drape such that the robotic arm maintains a full range of motion while enclosed within the surgical drape.

17. The robotic surgical assembly of claim 16, wherein a margin of the surgical drape is held between an upper portion of an instrument drive unit and the clip.

18. The robotic surgical assembly according to claim 14, wherein the clip includes an elbow interconnecting the base and the grip, the elbow being configured to resiliently bias the grip of the clip to an approximated position toward an instrument drive unit or a sled, the sled being connected with the robotic arm and the instrument drive unit being connected with the sled.

19. The robotic surgical assembly according to claim 14, wherein the clip is formed from a material selected from the group consisting of plastic, steel, stainless steel, spring steel, and sheet metal.

20. The robotic surgical assembly according to claim 14, wherein the base portion of the clip is coupled with an instrument drive unit or a sled, and the gripping portion of the clip is movable between an approximated position and a non-approximated position relative to the instrument drive unit or the sled.

Background

Robotic surgical systems have been used in minimally invasive medical procedures. Some robotic surgical systems include: a console supporting the robot arm; and a robotic surgical instrument having at least one end effector (e.g., a forceps or a grasping tool) mounted to a robotic arm via a wrist assembly. In some systems, cables extend from the console through the robotic arm and connect to the wrist assembly and/or the end effector to provide mechanical power for operation and movement of the end effector.

In a medical procedure, the end effector and wrist assembly are inserted into a small incision (through a cannula) or natural orifice of a patient to position the end effector at a work site within the patient. To establish and maintain a sterile barrier between the patient, the surgical field, and/or the robotic surgical system, a drape may be used to enclose or cover a portion of the robotic surgical system.

However, it is often the case that excess covering material may interfere with medical procedures by interfering with movement of the robotic arm or robotic surgical instrument and/or interfering with the work of medical personnel.

Therefore, a method of accommodating excess cover material during a medical procedure is needed.

Disclosure of Invention

The present disclosure relates to robotic surgical systems, and more particularly, to drape management assemblies for robot-assisted surgery.

According to an aspect of the present disclosure, a drape management assembly for a robotic surgical system is provided that includes a clip having a base configured for selective connection with the robotic surgical system and a grip extending from the base. The base and the grip may define a cavity therebetween. The base and the grip may be arranged to hold a quantity of surgical drape in the cavity to minimize a margin of surgical drape draped over a robotic arm of the robotic surgical system.

In various embodiments, each of the base and the grip may define a first axis, the first axis of the base and the first axis of the grip being at an angle relative to each other.

In other embodiments, the distal end of the grip portion may define a lip having a second axis that may be at an angle relative to the first axis of the grip portion.

In other embodiments, a tab may extend from the lip of the grip, the tab defining a third axis, and the third axis may be at an angle relative to the second axis of the lip.

In other embodiments, the clip may include an insert configured to couple with the clip, the insert including a top surface having a plurality of protrusions extending therefrom. The plurality of protrusions may include a plurality of flanges extending from a surface thereof. The insert may include a frictional bottom surface configured for contact with the surgical drape, thereby enhancing gripping of the surgical drape by the clip.

In various embodiments, a plurality of slots may be defined through the clip, the plurality of slots of the clip being configured to receive the plurality of protrusions of the insert to couple the insert to the clip.

In other embodiments, the clip may be disposed between the bottom surface of the plurality of flanges and the top surface of the insert when the insert is coupled to the clip.

In other embodiments, the clip may be coated with a material selected from the group consisting of rubber and silicone.

In other embodiments, the clip may be formed from a material selected from the group consisting of plastic, steel, stainless steel, spring steel, and sheet metal.

In various embodiments, the clip may be plated with a material selected from the group consisting of electroless nickel, bright nickel, chromium, and zinc.

In other embodiments, the insert may be formed from a material selected from the group consisting of silicone, natural rubber, nitrile, and urethane.

In other embodiments, the clip may include an elbow interconnecting the base and the grip, and the elbow may be configured to resiliently bias the grip of the clip toward the approximated position.

In other embodiments, the clip may be movable between an approximated position and a non-approximated position relative to the robotic surgical instrument.

According to another aspect of the present disclosure, a robotic surgical assembly may be provided that includes a robotic arm, a surgical drape, and a clip configured to couple the surgical drape to the robotic arm. The clip may include a base configured for selective connection with the robotic arm and a grip extending from the base. The base and the grip may define a cavity therebetween. The base and the grip may be arranged to hold a quantity of surgical drape in the cavity, whereby the amount of surgical drape draped over the robotic arm may be minimized.

The robotic surgical assembly may include an insert configured to couple with the clip. The insert may include a top surface having a plurality of protrusions extending therefrom. The plurality of protrusions may include a plurality of flanges extending from a surface thereof. The insert may include a frictional bottom surface configured for contact with the surgical drape, thereby enhancing gripping of the surgical drape by the clip.

In various embodiments, a plurality of slots may be defined through the clip, the plurality of slots of the clip configured to receive the plurality of protrusions of the insert to couple the insert to the clip.

In other embodiments, the surgical drape may be configured to enclose a robotic arm, and the clip and insert may be configured to incrementally release the remainder of the surgical drape such that the robotic arm maintains a full range of motion while enclosed within the surgical drape.

In other embodiments, the surgical drape may be held between the upper portion of the instrument drive unit and the clip or between the sled and the clip. The sled may be connected to the robotic arm and the instrument drive unit may be connected to the sled.

In other embodiments, the clip may include an elbow interconnecting the base and the grip, and the elbow may be configured to resiliently bias the grip of the clip into the approximated position toward the instrument drive unit.

In various embodiments, the clip may be formed from a material selected from the group consisting of plastic, steel, stainless steel, spring steel, and sheet metal.

In other embodiments, the base of the clip may be coupled to the instrument drive unit or the sled, and the grip of the clip may be movable between an approximated position and a non-approximated position relative to the instrument drive unit or the sled.

Drawings

Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:

FIG. 1 is a schematic view of a robotic surgical system including a drape management assembly according to the present disclosure;

FIG. 2 is a front perspective view of an instrument drive unit and drape management assembly coupled thereto of the robotic surgical system;

FIG. 3 is a rear perspective view of the instrument drive unit and drape management assembly of FIG. 2;

FIG. 4 is a perspective view of the drape management assembly of FIGS. 2 and 3 with parts separated and showing the coupling of the drape management assembly to the rear upper portion of the instrument drive unit;

FIG. 5 is an enlarged view of the indicated area of the detail depicted in FIG. 3;

FIG. 6 is a cross-sectional view of the insert of the drape management assembly of FIG. 4 taken along line 6-6 thereof;

FIG. 7 is a cross-sectional view of the drape management assembly taken along line 7-7 of FIG. 5;

FIG. 8 is a front perspective view of a drape management assembly positioned on a sled of a robotic arm and including a surgical drape covering the sled of the robotic arm;

FIG. 9 is a partial side view of the drape management assembly of FIG. 8;

FIG. 10 is a clip according to another embodiment of the present disclosure;

FIG. 11 is a perspective view of another embodiment of a clip shown attached to an end of a slide rail of the robotic arm of FIG. 1; and

fig. 12 is an enlarged view of the area of detail designated by "12" in fig. 11.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

Embodiments of the present disclosure will now be 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 "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. As used herein, the term "distal" refers to a portion of an instrument, device, apparatus, or component thereof that is farther from a user, while the term "proximal" refers to a portion of an instrument, device, apparatus, or component thereof that is closer to a user, as is conventional. In the following description, well-known functions or constructions are not described in detail to avoid obscuring the disclosure in unnecessary detail.

The present disclosure relates to a surgical drape management assembly. In particular, the drape management assembly may be a clip including a base configured for selective connection with the robotic surgical system and a grip extending from the base. The base and the grip may define a cavity therebetween (when secured to an instrument drive unit of the robotic surgical system), wherein the base and the grip are arranged to hold a number of surgical drapes in the cavity. The clips minimize the amount of excess surgical drape that is draped over the robotic arm of the robotic surgical system.

Referring first to fig. 1, a surgical system (e.g., robotic surgical system 1) generally includes one or more robotic arms 2, 3, a control device 4, and an operating console 5 coupled with the control device 4. Each of the robotic arms 2, 3 may have a robotic surgical assembly 100 and an electromechanical surgical instrument 200 coupled thereto. In some embodiments, the robotic surgical assembly 100 may be coupled to the end 20a of the slide rail 20 of the robotic arms 2, 3.

The operating console 5 comprises a display device 6 and manual input devices 7, 8, the display device 6 being arranged to display a three-dimensional image and, in principle, as known to the person skilled in the art, a clinician (not shown) can remotely control the robot arms 2, 3 in a first operating mode by means of the manual input devices 7, 8. The robotic arms 2, 3 may be driven by an electrical driver (not shown) connected to a control device 4 (e.g. a computer), the control device 4 being arranged to actuate the driver, e.g. by means of a computer program, in such a way that the robotic arms 2, 3, the attached robotic surgical assembly 100 and such an electromechanical surgical instrument 200 (including an electromechanical end effector, not shown) perform a desired movement according to the movement defined by the manual input devices 7, 8. The control device 4 may also be arranged such that it regulates the movement of the robot arms 2, 3 and/or the electric drive. To this end, the control device 4 may control a plurality of motors, for example motors (motors 1.. n), each configured to drive the movement of the robot arms 2, 3 in a plurality of directions.

The robotic surgical system 1 is configured for a patient "P" positioned (e.g., lying) on an operating table "ST" to be treated in a minimally invasive manner with a surgical instrument (e.g., the electromechanical surgical instrument 200). The robotic surgical system 1 may also comprise more than two robot arms 2, 3, which are likewise connected to the control device 4 and which can be remotely controlled by means of the operating console 5. The robotic surgical assembly 100 may control an instrument drive unit 150 axially movable along the track 20 of the robotic arms 2, 3 and configured to drive various operations of an end effector (not expressly shown) of the electro-mechanical surgical instrument 200 along its longitudinal axis "X".

For a detailed description of the construction and operation of the robotic surgical system, reference may be made to U.S. patent No. 8,828,023, which is incorporated herein by reference in its entirety.

With continued reference to fig. 1, the robotic surgical system 1 includes one or more sterile barriers or drapes 30 that enclose or cover the robotic arms 2, 3, instrument drive unit 150, and robotic surgical assembly 100 coupled thereto. The surgical drape 30 is configured to create a closed or protected sterile environment to prevent contamination of the surgical field by the robotic arms 2, 3, the robotic surgical assembly 100, the instrument drive unit 150, and the like. It is contemplated that the surgical drape 30 includes excess covering material or portion to provide sufficient slack such that the enclosed robotic arms 2, 3 and the robotic surgical assembly 100 coupled thereto remain operable through a full range of motion while remaining within the sterile enclosure of the surgical drape 30 and without damaging or penetrating the surgical drape 30.

Referring to fig. 2, 3 and 4, the robotic surgical system 1 includes a drape management component 300, the drape management component 300 being configured to control and manage excess draping material, such as excess amount 30a of surgical drape 30 (fig. 1, 8 and 9). In various embodiments, drape management assembly 300 is operatively coupled to upper portion 150a of instrument drive unit 150. However, it is contemplated that drape management assembly 300 may be coupled to any surface of instrument drive unit 150, or to an alternative or additional component of robotic surgical system 1 (not specifically shown).

Referring to FIG. 4, drape management assembly 300 may generally include a clip 302 having a top surface 302a, a bottom surface 302b, a base 310 configured for selective connection with instrument drive unit 150, and a grip 320 extending from base 310 for securing or stapling surgical drape 30 to instrument drive unit 150.

The base portion 310 of the clip 302 may define a hole 310a configured to align with the hole 151a of the upper portion 150a of the instrument drive unit 150. Fastener 350a of drape management assembly 300 is configured to be inserted through aperture 310a of base 310 of clip 302 and through aperture 151a of instrument drive unit 150 to secure clip 302 to upper portion 150a of instrument drive unit 150, as shown in FIG. 3. In various embodiments, drape management assembly 300 may be coupled to a surface of robotic surgical assembly 100 using any number of holes 310a or fasteners 350 a. In certain embodiments, the fastener 350a may be, but is not limited to, a screw, bolt, pin, dowel, button, rivet, and the like.

Referring to fig. 4 and 9, the base 310 of the clip 302 may define an axis "y". The grip 320 of the clip 302 may define a first axis "X₁", the first axis" X₁"may be oriented at an angle (e.g., acute angle) relative to the axis" y "of the base 310. The distal end of the grip portion 320 of the clip 302 may include a lip 320a extending therefrom. The lip 320a of the grip 320 of the clip 302 may define a second axis "X₂", second axis" X₂"can be oriented relative to a first axis" X of the grip 320₁"at an angle (e.g., obtuse). Grip 320 of clip 302 may further define a distally extending tab 320b of directional lip 320a, and may be configured for lifting or otherwise moving clip 302 when clip 302 is coupled to instrument drive unit 150 to place surgical drape 30 between instrument drive unit 150 and clip 302. Tab 320b of clip 302 may define a third axis "X₃", the third axis X₃May be oriented relative to a first axis "X" of the grip portion 320 of the clip 302₁And a second axis X₂"at an angle.

Can be thought of as lying in each axis "y", "X₁”、“X₂"and" X₃"any suitable angle therebetween. For example, axis "y" of base 310 and axis "X" of grip 320₁"may be from about 60 degrees to about 90 degrees, while the axis" X "of the grip 320 is₁"and axis" X of lip 320a₂The angle between "may be from about 80 degrees to about 120 degrees. In various embodiments, axis "y" of base 310 and axis "X" of grip 320₁"may be from about 65 degrees to about 75 degrees (e.g., about 71 degrees), while axis" X "of grip 320 is₁"with axis of lip 320 a" X₂"can be from about 90 degrees to about 110 degrees (e.g., about 105 degrees).

The base 310 and grip 320 of the clip 302, along with the outer surface of the instrument drive unit 150, may define a cavity or gap 330 therebetween, wherein the base 310 and grip 320 are arranged to hold a quantity of surgical drapes 30 in the cavity or gap 330 of the drape management assembly 300. In this way, the drape management assembly 300 minimizes, reduces, or otherwise eliminates the excess amount 30a of surgical drape 30 draped over the robotic arms 2, 3 of the robotic surgical system 1 (FIGS. 8 and 9). In various embodiments, drape management assembly 300 may be configured to incrementally release excess amount 30a as needed to maintain a full range of robotic arms 2, 3 and robotic surgical assembly 100 coupled thereto, while also remaining within the enclosure of surgical drape 30. For example, movement of the robotic arms 2, 3 and robotic surgical assembly 100 may cause the excess amount 30a of surgical drape 30 to be gradually or incrementally released from the cavity or gap 330 of clip 302. When the robotic arms 2, 3 and robotic surgical assembly 100 are moved or otherwise actuated, only an excess amount 30a sufficient to encompass or cover the robotic arms 2, 3 and robotic surgical assembly 100 is released from the drape management assembly 300 while allowing the robotic arms 2, 3 and robotic surgical assembly 100 to maintain a full range of motion.

The grip portion 320 of the clip 302 may further define a plurality of slots 325a-325d extending therethrough. In various embodiments, the longitudinal axes of the slots 325a, 325b may be disposed at 90 degrees relative to the longitudinal axes of the slots 325c, 325 d.

Drape management assembly 300 may also include an insert 340, insert 340 being configured to selectively couple with clip 302. The insert 340 may be used, for example, to enhance the ability of the clip 302 to grip the surgical drape 30 and/or the excess 30a of the surgical drape 30. Insert 340 of drape management assembly 300 includes a top surface 340a and a bottom surface 340 b. The insert 340 includes a plurality of protrusions 342a-342d extending therefrom that are configured to selectively engage the corresponding slots 325a-325d of the clip 302. The plurality of protrusions 342a-342d of insert 340 may further define respective flanges 344a-344d extending outwardly from surfaces of protrusions 342a-342d of insert 340 of drape management assembly 300. In various embodiments, the protrusions 342a, 342b of the insert 340 may have longitudinal axes that are disposed at 90 degrees relative to the longitudinal axes of the slots 325a, 325b of the clip 302.

Referring to FIGS. 4-7, insert 340 of drape management assembly 300 may be sized such that insert 340 substantially conforms to grip 320 of clip 302 (e.g., the bottom surface of lip 320a of grip 320). In use, to secure the insert 340 to the clip 302, the top surface 340a of the insert 340 is "pressed" into the bottom surface 302b of the clip 302 such that the flanges 344a-344d of the protrusions 342a-342d of the insert 340 are guided or pressed into the corresponding grooves 325a-325d of the clip 302. The projections 342a-342d of the insert 340 are guided or pressed into the grooves 325a-325d of the clip 302 such that the flanges 344a-344d (not expressly shown) of the projections 342a-342d are resiliently biased inwardly until the flanges 344a-344d clear or otherwise overcome the grooves 325a-325d of the clip 302 and "snap" into contact with the top surface 302a of the clip 302. Specifically, upon passing over the grooves 325a-325d of the clip 302, as shown in FIG. 7, the clip 302 is coupled between the bottom surfaces of the flanges 344a-342d of the protrusions 342a-342d of the insert 340 and the top surface 340a of the insert 340. In use, the insert 340 may be removed from the clip 302 by compressing or biasing the flanges 344a-344d of the projections 342a-342d of the insert 340 inwardly to clear the grooves 325a-325d of the clip 302 (not expressly shown).

Referring to FIGS. 4, 8 and 9, drape management assembly 300 includes an elbow 350 interconnecting base 310 and grip 320 of clip 302. The elbow 350 acts as a spring that resiliently biases the grip portion 320 of the clip 302 in the direction "D" (fig. 9) toward the upper portion 150a of the instrument drive unit 150 of the robotic surgical assembly 100. In this manner, the bottom surface 302b of the grip portion 320 of the clip 302 (or the bottom surface 340b of the insert 340, if attached to the clip 302) is in contact with the instrument drive unit 150. The resilient bias of elbow 350 urges grip 320 in direction "D" such that grip 320 (or insert 340) of clip 302 substantially secures, clamps, or staples surgical drape 30 against or against a surface in contact therewith (e.g., upper portion 150a of instrument drive unit 150). In this configuration, the drape management assembly 300 is in a closed, clamped position.

To deflect or open grip portion 320 of clip 302 from its default position (fig. 2, 3, 5, 8, and 9), a force in direction "U" (fig. 9) may be applied to tab 320b of grip portion 320 of clip 302 to bend or bias elbow 350 of clip 302 such that grip portion 320 is moved away from surgical drape 30 and upper portion 150a of instrument drive unit 150 of robotic surgical assembly 100 to a non-approximated position (not expressly shown). In the non-approximated position, the surgical drape 30 or an excess amount 30a of the surgical drape 30 may be removed from between the cavity or gap 330 of the clip 302 and the instrument drive unit 150. Upon removal of the surgical drape 30, the clinician may release the grip 320 of the clip 302, at which time the spring bias of the elbow 350 of the clip 302 will return the drape management assembly 300 to its initial approximated position (FIGS. 2, 3, 5, 8, and 9).

In various embodiments, clip 302 of drape management assembly 300 may be formed from plastic, steel, stainless steel, sheet metal, or any other suitable material such that clip 302 is capable of withstanding repeated movement or deflection from an approximated position to a non-approximated position without breaking or deforming. In some embodiments, the clip 302 is plated with electroless nickel, bright nickel, chromium, zinc, or the like, such as by an electroplating process. In other embodiments, the clips 302 of drape management assembly 300 may be, for example, polished, electropolished, barrel polished, deburred, etc., to smooth the edges of the clips 302 for improved appearance or surface finish, and corrosion protection, or to inhibit cutting or tearing of the surgical drape 30.

In various embodiments, the insert 340 of the drape management assembly 300 may be formed of a flexible material configured to conform to the bottom surface 302b of the clip 302 while still providing sufficient grip to engage the surgical drape 30. For example, the insert 340 may be formed of silicone, natural rubber, nitrile, urethane, or the like. The insert 340 is more flexible than the clip 302 and may have a durometer of about shore a45 to about shore a 55. In some embodiments, the insert 340 may have a hardness of about shore a 50.

Referring to fig. 10, a clip 400 according to another embodiment of the present disclosure is provided. The clip 400 may be substantially similar to the embodiment of the clip 302 described above, except that the clip 400 is not configured to receive an insert. Thus, clip 400 may also serve as a means for clipping, stapling, or otherwise securing surgical drape 30 (not expressly shown) to instrument drive unit 150.

Referring to fig. 11 and 12, a clip 500 according to another embodiment of the present disclosure is provided. Clip 500 is substantially similar to the embodiment of clip 302 described above, except that clip 500 is specifically configured to be coupled to slide rail 20 of robotic arm 2 of robotic surgical assembly 100 (fig. 1) rather than instrument drive unit 150. However, it is contemplated that clip 500 may be attached to (e.g., an upper portion of) instrument drive unit 150 (fig. 2). Due to the substantial similarity between the clips 302, 500, only the details of the clip 500 that are considered necessary to clarify the differences from the clip 302 will be described in detail.

The clip 500 includes a base 510 configured for selective connection with the end 20a of the sled 20, and a grip 520 extending from the base 510 for securing or stapling the surgical drape 30 (fig. 9) to the sled 20. The base 510 of the clip 500 is planar and has a curled or curved elbow 550 extending therefrom. Elbow 550 interconnects base 510 and grip 520. The base 510 may be oriented at any suitable angle (e.g., between about 85 and 115 degrees, or between about 90 and 110 degrees) relative to the elbow 550. As such, the base portion 510 of the clip 500 is substantially perpendicular with respect to the base portion 310 of the clip 302 (FIGS. 2-9).

The base portion 510 of the clip 500 defines a pair of apertures (not expressly shown) therethrough sized for receiving a pair of fasteners 501, 503 for fastening or securing the clip 500 to the outer surface 21 of the slide rail 20. In other embodiments, the bottom surface (not explicitly shown) of the base 510 may have an adhesive for securing the clip 500 to the slide rail 20. When assembling the clip 500 to the slide rail 20, the clip 500 extends longitudinally along a longitudinal axis defined by the slide rail 20, with the grip 520 oriented toward the end 20a of the slide rail 20.

Clip 500 may also have an insert 540 similar to insert 340 of fig. 2-9, attached to grip 520, for enhancing the ability of grip 520 to hold excess drape 30 between grip 520 and outer surface 21 of slide rail 20.

In use, the grip 520 may be moved outwardly relative to the base 510 about the elbow 550 to space the grip 520 from the outer surface 21 of the slide rail 20. With the grip 520 spaced from the exterior surface 21 of the slide 20, the excess drape 30 may be positioned within a cavity 530 collectively defined by the clip 500 and the exterior surface 21 of the slide 20. When cavity 530 receives the excess drape 30, grip 520 is resiliently biased toward outer surface 21 of the slide rail via elbow 550. When the grip 520 is moved toward the outer surface 21 of the slide rail 20, the insert 540 engages the drape 30 to hold the drape 30 against the outer surface 21 of the slide rail 20, thereby preventing excess drape 30 from exiting the cavity 530. It is further contemplated in accordance with the present disclosure that any of the clips provided herein may include features that enhance the gripping of the surgical drape 30 against/to the robotic surgical system, and the like. Such features may include, but are not limited to, ribs, nodules, coatings, overmolding, surface texturing, decals, and the like.

In various embodiments, any of the clips and/or instrument drive units 150 provided herein may include one or more sensors configured to detect the presence of surgical drape 30 between the clip and instrument drive unit 150. The sensor may alert the clinician when a surgical drape 30 is initially inserted between the clip and instrument drive unit 150 and/or removed from between the clip and instrument drive unit 150. Such sensors may include, for example, contact sensors, optical sensors, RFID sensors, ferromagnetic or magnetic tape sensors, strain gauges, and the like.

In some embodiments, any surface of any clip and/or instrument drive unit 150 provided herein may include an elastomeric material or coating (e.g., a rubber band and/or paint) to, for example, increase adhesion with surgical drape 30.

In certain embodiments, any of the clips provided herein can be a multi-tooth clip having a generally forked shape, such that, for example, a surgical drape 30 can be placed between the tines of the clip to prevent the surgical drape 30 from bunching, or the tines of the clip can be deflected by different amounts to accommodate different amounts of surgical drape 30 at different positions along the width of the clip.

It should be understood that the foregoing description is only illustrative of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the disclosure. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications and variances. The embodiments described with reference to the drawings are presented merely to illustrate certain examples of the disclosure. Other elements, steps, methods and techniques that do not differ substantially from the elements, steps, methods and techniques described above and/or in the claims below are also intended to be within the scope of the present disclosure.