Patent ID: 7886743
Filing Date: 2011-02-15
Classification: A61B

Abstract:
1. A sterile drape for covering a robotic surgical manipulator, the sterile drape comprising: a sterile sheet that covers at least a portion of the robotic surgical manipulator; a substantially rigid frame that is bonded to the sterile sheet; an instrument interface that covers a drive plate of the robotic surgical manipulator, the instrument interface transmitting motion of the drive plate to a first surface of a gimbal assembly of an attached surgical instrument; and a diaphragm that connects the instrument interface to the frame and provides a barrier between the robotic surgical manipulator and the attached surgical instrument that allows the instrument interface to move within the frame with two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly when the sterile drape is in an operative position.