Patent Publication Number: US-2023143152-A1

Title: Alignment of a connector interface

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     The present application claims priority to U.S. Provisional Patent Application No. 62/989,498, titled “ALIGNMENT OF AN OPTICAL FIBER INTERFACE,” filed Mar. 13, 2020, the disclosure of which is hereby incorporated by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     The present technology generally relates to alignment of connectors and, more specifically, to aiding alignment of connectors and/or reducing particle formation at a non-permanent connection joint. 
     BACKGROUND 
     Minimally invasive medical techniques are intended to reduce an amount of tissue that is damaged during medical procedures, thereby reducing patient recovery time, discomfort, and harmful side effects. Such minimally invasive techniques may be performed through natural orifices in a patient anatomy or through one or more surgical incisions. An operator (e.g., a physician) may insert minimally invasive medical instruments (surgical, diagnostic, therapeutic, biopsy instruments, etc.) through these natural orifices or incisions to reach a target tissue location. One such minimally invasive technique is to use a flexible and/or steerable elongate device, such as a flexible catheter, that can be inserted into anatomic passageways and navigated toward a region of interest within the patient anatomy. Control of such an elongate device by an operator involves the management of several degrees of freedom including at least the management of insertion and retraction of the elongate device with respect to the patient anatomy, as well as steering of the device. 
     Communication signals may be transmitted between components of a medical system using various cables, including optical fibers, coaxial conductors, copper conductors, twisted wire pairs, etc. The joining of communication cables can be performed using a variety of connectors. When using optical fibers for communication signals, it is desirable to form a low loss joint, by abutting faces at the cleaved ends of the fibers with precise alignment of the fiber cores. For non-permanent connectors of optical fibers, the cleaved ends of the fibers are held in alignment by a mechanical force. The signals transmitted by the optical fiber cable can be degraded by contamination between the mating faces at the joint. Forming the optical fiber connection with such contamination can cause damage to the faces over time and result in permanent performance reduction as particles are embedded in the fiber face. 
     SUMMARY 
     In accordance with an embodiment of the present technology, a floating connector interface is provided. The floating interface generally includes a retention bracket having a slot, a translating socket slidingly associated with the retention bracket, and a biasing element positioned between the retention bracket and the translating socket. The translating socket may include a tab portion extending into the slot to permit translation of the translating socket with respect to the retention bracket, and an aperture configured to receive a carriage connector. The translation of the translating socket may be confined within a floating plane, and the biasing element may be configured to resist the translation of the translating socket. 
     In accordance with another embodiment of the present technology, a carriage is provided. The carriage generally includes a retention bracket having a slot, a translating socket slidingly associated with the retention bracket, a carriage connector having a housing that may be removably couplable to an aperture in the translating socket, and a biasing element positioned between the retention bracket and the translating socket. The translating socket may include a tab portion extending into the slot to permit translation of the translating socket with respect to the carriage, where the translation may be confined within a floating plane. The biasing element may be configured to resist the translation of the translating socket, and a direction of insertion of an instrument connector into the carriage connector may be normal to the floating plane. 
     In accordance with another embodiment of the present technology, a connector alignment apparatus is provided. The connector alignment apparatus generally includes a carriage having a carriage optical fiber connector, a plate configured to removably retain an instrument interface in alignment for connection to the carriage, and a telescoping standoff coupled between the plate and the carriage. The plate may have an aperture configured to receive an instrument optical fiber connector, and the telescoping standoff may be operable to position the plate at a first position in which plate is spaced apart from the carriage and to position the plate at a second position in which the plate is adjacent to the carriage. 
     In accordance with another embodiment of the present technology, an alignment system is provided. The alignment system generally includes a carriage having a housing and a carriage optical fiber connector, an instrument interface having an outer surface and an instrument optical fiber connector configured to connect to the carriage optical fiber connector when the instrument interface is mated to the carriage, and an alignment spar protruding from the housing of the carriage. The alignment spar may have a shape corresponding to the outer surface of the instrument interface and may be configured to align the instrument interface and the carriage such that the instrument optical fiber connector is aligned with the carriage optical fiber connector. 
     In accordance with another embodiment of the present technology, an instrument is provided. The instrument generally includes an instrument interface and an instrument optical fiber connector protruding from the instrument interface. The instrument optical fiber connector may include a connector body having an outer surface configured to interface with a carriage optical fiber connector, and a conical kinematic surface positioned on a distal end portion of the connector body. The conical kinematic surface may taper down from the outer surface of the connector body to a tip of the connector body. The conical kinematic surface may be configured to align the instrument optical fiber connector and the carriage optical fiber connector during installation of the instrument interface. 
     This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
       Many aspects of the present technology can be better understood with reference to the following drawings. The components in the drawings are not necessarily drawn to scale. Instead, emphasis is placed on illustrating clearly the principles of the present technology. Furthermore, components can be shown as transparent in certain views for clarity of illustration only and not to indicate that the component is necessarily transparent. Components may also be shown schematically. 
         FIG.  1 A  is a simplified diagram of a medical system configured in accordance with an embodiment of the present technology. 
         FIG.  1 B  is a perspective view of a structural representation of the medical system of  FIG.  1 A . 
         FIGS.  2 A and  2 B  are left side views of a manipulator assembly and medical instrument of the medical system of  FIG.  1 B . 
         FIG.  3    is a perspective view of a carriage of the teleoperated medical system of  FIG.  1 B  showing a carriage optical fiber connector. 
         FIG.  4 A  is a perspective view of a carrier optical fiber connector and a floating fiber interface of the medical system of  FIG.  1 B  configured in accordance with embodiments of the present technology. 
         FIG.  4 B  is a cross sectional plan view of the floating fiber interface of  FIG.  4 A . 
         FIGS.  4 C and  4 D  are perspective views of the carrier optical fiber connector of  FIG.  4 A . 
         FIGS.  4 E and  4 F  are cross sectional side views of the carrier optical fiber connector of  FIG.  4 A , showing a friction-reducing roller positioned on at least one side of a connector well. 
         FIG.  5    is a perspective view of a carrier optical fiber connector and a floating fiber interface of the medical system of  FIG.  1 B  configured in accordance with embodiments of the present technology. 
         FIG.  6    is a perspective view of a translating alignment plate extending from the carriage of the manipulator assembly of  FIG.  1 B  configured in accordance with an embodiment of the present technology. 
         FIGS.  7 A and  7 B  are perspective and plan views, respectively, of an alignment spar of the manipulator assembly of  FIG.  1 B  configured in accordance with an embodiment of the present technology. 
         FIGS.  7 C and  7 D  are plan views of the alignment spar of  FIGS.  7 A and  7 B , showing embodiments of one or more clocking features. 
         FIG.  8    is a perspective view of an instrument optical fiber connector of a medical instrument of the medical system of  FIG.  1 B  the instrument optical fiber connector having a conical kinematic surface configured in accordance with an embodiment of the present technology. 
     
    
    
     Embodiments of the present technology and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures, wherein showings therein are for purposes of illustrating embodiments of the present disclosure and not for purposes of limiting the same. 
     DETAILED DESCRIPTION 
     The present technology generally relates to alignment of a connector interface, e.g., between ends of optical fibers to reduce particle formation at a non-permanent optical fiber connection joint. Various medical systems may include optical fiber connectors configured to receive an optical fiber connector positioned on one or more modular medical instruments. To aid insertion of the optical fiber connectors, the system connectors may be designed such that there is forgiveness in multiple degrees of freedom and an operator is not required to perfectly align the instrument during installation. Preventing misalignment of the connectors during installation may reduce the potential of damage to the optical fiber, generate fewer contaminants, and allow the ends of the fibers to make a proper and complete connection. 
     The present disclosure describes various instruments and portions of instruments in terms of their state in three-dimensional space. As used herein, the term position refers to the location of an object or a portion of an object in a three-dimensional space (e.g., three degrees of translational freedom along Cartesian X-, Y-, and Z-coordinates). As used herein, the term orientation refers to the rotational placement of an object or a portion of an object (e.g., three degrees of rotational freedom, such as roll, pitch, and yaw). As used herein, the term pose refers to the position of an object or a portion of an object in at least one degree of translational freedom and to the orientation of that object or portion of the object in at least one degree of rotational freedom (e.g., up to six total degrees of freedom). As used herein, the term shape refers to a set of poses, positions, or orientations measured along an object. 
       FIG.  1 A  is a simplified diagram of a medical system (“system  100 ”) and  FIG.  1 B  is a perspective view of the system  100  configured in accordance with embodiments of the present technology. The system  100  may be suitable for use in surgical, diagnostic, therapeutic, or biopsy procedures, among others. While some embodiments of the system  100  are described herein with respect to such procedures, references to specific medical or surgical instruments and medical or surgical methods is not intended to limit the scope of the present technology. The systems, instruments, and methods described herein may be used for humans, animals, human cadavers, animal cadavers, portions of human or animal anatomy, and/or non-surgical diagnosis, as well as industrial systems and general robotic or teleoperational systems. 
     As shown in  FIGS.  1 A and  1 B , the system  100  generally includes a manipulator assembly  102  having an instrument manipulator  120  (see  FIG.  1 B ) to manipulate a medical instrument  104  while performing various procedures on a patient P. The manipulator assembly  102  may be teleoperated, non-teleoperated, or a hybrid teleoperated and non-teleoperated assembly with select degrees of freedom of motion that may be motorized and/or teleoperated, and select degrees of freedom of motion that may be non-motorized and/or non-teleoperated. The manipulator assembly  102  can be mounted to an operating table T, or to a main support  114  (e.g. a movable cart, stand, second table, etc.). The system may include a master control  106  configured to allow an operator O (e.g., a surgeon, clinician, physician, etc.) to view the interventional site and to control the manipulator assembly  102 . 
     The master control  106  of the system  100  may be located near or in the same room as the operating table T. In some embodiments, for example, the master control  106  is positioned near the side of a surgical table T on which the patient P is located. However, it should be understood that the operator O can be located in a different room or any distance away from the patient P. The master control  106  generally includes one or more input and control devices (not shown) for controlling the medical instrument  104  via the instrument manipulator  120 . The input and control devices may include any number of a variety of input devices, such as joysticks, trackballs, data gloves, trigger-guns, hand-operated controllers, voice recognition devices, body motion or presence sensors, etc. The input and control devices may be provided with the same degrees of freedom as the associated medical instrument to take advantage of the familiarity of the operator O in directly controlling like instruments. In this regard, the control devices may provide the operator O with telepresence or the perception that the control devices are integral with the medical instruments. However, the input and control devices may have more or fewer degrees of freedom than the associated medical instrument  104  and still provide operator O with telepresence. In some embodiments, the control devices may optionally be manual input devices that move with six degrees of freedom, and which may also include an actuatable handle for actuating instruments (e.g., for closing grasping jaws, applying an electrical potential to an electrode, delivering a medicinal treatment, etc.). 
     The input and control devices of the master control  106  may include a scroll wheel and a trackball. In an example implementation of the system  100 , the scroll wheel may be rolled forwards or backwards in order to control the advancement or retraction of the medical instrument  104  with respect to the patient anatomy, and the trackball may be rolled in various directions by the operator O to steer the position of the distal end portion and/or distal tip of the medical instrument  104 , e.g., to control bend or articulation. Various systems and methods related to motion control consoles are described in PCT Pub. No. 2019/027922 (filed Jul. 30, 2018, titled “Systems and Methods for Safe Operation of a Device”), and U.S. Patent Pub. No. 2019/0029770 (filed Jul. 30, 2018, titled “Systems and Methods for Steerable Elongate Device”), which are incorporated by reference herein in their entireties. 
     As shown in  FIG.  1 B , the instrument manipulator  120  may be configured to support and manipulate the medical instrument  104  with a kinematic structure of one or more non-servo-controlled links (e.g., one or more links that may be manually positioned and locked in place, generally referred to as a set-up structure (SUS)), and/or one or more servo-controlled links (e.g., one or more powered links that may be controlled in response to commands). The instrument manipulator  120  may include a plurality of actuators or motors that drive inputs on the medical instrument  104  in response to commands from a control system  112 . The actuators may include drive systems that when coupled to the medical instrument  104  may advance the medical instrument  104  into a naturally or surgically created anatomic orifice in the patient P. In some embodiments, the kinematic structure may be locked in place or unlocked to be manually manipulated by the operator O interacting with switches, buttons, or other types of input devices. 
     The instrument manipulator  120  may be configured to position the medical instrument  104  at an optimal position and orientation relative to patient anatomy or other medical devices. In this regard, drive systems may be included in the instrument manipulator  120  to move the distal end of the medical instrument  104  according to any intended degree of freedom, which may include three degrees of linear motion (e.g., linear motion along the X, Y. and/or Z Cartesian axes) and three degrees of rotational motion (e.g., rotation about the X, Y, and Z Cartesian axes). Additionally, the actuators can be used to actuate an articulable end effector (not shown) of the medical instrument  104  for grasping tissue in the jaws of a biopsy device or the like. Actuator position sensors, such as resolvers, encoders, potentiometers, and other mechanisms, may provide sensor data to the system  100  describing the rotation and orientation of the motor shafts of the instrument manipulator  120 . Such position sensor data may be used to determine motion of the objects manipulated by the actuators. 
     In some embodiments, the optimal location and orientation can include alignment of the manipulator assembly  102  with respect to anatomy of the patient P, for example, to minimize friction of the medical instrument  104  positioned within the anatomy of the patient P (e.g. in anatomical openings, patient vasculature, patient endoluminal passageways, etc.), or within medical devices coupled to patient anatomy (e.g. cannulas, trocars, endotracheal tubes (ETT), laryngeal esophageal masks (LMA), etc.). Optimal location and orientation of the manipulator assembly  102  can additionally or alternatively include optimizing the ergonomics for the operator O by providing sufficient workspace and/or ergonomic access to the medical instrument  104  when utilizing various medical tools such as needles, graspers, scalpels, grippers, ablation probes, visualization probes, etc. with the medical instrument  104 . 
     Each adjustment of the manipulator assembly  102  (e.g., insertion, rotation, translation, etc.) can be actuated by either robotic control or by manual intervention by the operator O. For example, each rotational or linear adjustment may be maintained in a stationary configuration using brakes. In this regard, depression of one or more buttons and switches releases one or more corresponding brakes, allowing the operator O to manually position the medical instrument  104  through positioning of the instrument manipulator  120 . One or more adjustments may also be controlled by one or more actuators (e.g., motors) such that an operator may use a button or switch to actuate a motor to alter the manipulator assembly  102  in a desired manner to position the manipulator assembly  102  in the optimal position and orientation. In some embodiments, robotic control of the manipulator assembly  102  can be actuated by activating a button or switch. In one example, one position of the button or switch may initiate powered rotation of the manipulator assembly  102  in a first direction of rotation and another position of the button or switch may initiate powered rotation of the manipulator assembly  102  in the other direction. 
     The manipulator assembly  102  may be configured such that when a button or switch is activated, the operator O may adjust the instrument manipulator  120  along a linear path that corresponds to inserting or retracting the medical instrument  104 . For safety purposes, the manipulator assembly  102  might only be manually movable in one translation direction, such as retraction, and might not be manually movable in the direction of insertion of the medical instrument  104 , to prevent the operator O from inadvertently or undesirably advancing the medical instrument into the anatomy of the patient O. 
     As shown in  FIG.  1 A , the system  100  may include a sensor system  108  with one or more sub-systems for receiving information about the instruments coupled to the instrument manipulator  120 . Such sub-systems may include a position/location sensor system (e.g., an electromagnetic (EM) sensor system); a shape sensor system for determining the position, orientation, speed, velocity, pose, and/or shape of a distal end, and/or of one or more segments along a flexible body that may make up a portion of the medical instrument  104 ; and/or a visualization system for capturing images from the distal portion of the medical instrument  104 , among other possible sensors. 
     Referring again to  FIGS.  1 A and  1 B  together, the system  100  also may include a display system  110  for displaying an image or representation of the surgical site and the medical instrument  104  generated the sensor system  108 , recorded pre-operatively or intra-operatively. The display system  110  may use image data from imaging technology and/or a real time image, such as by computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, endoscopic images, and the like, or combinations thereof. The pre-operative or intra-operative image data may be presented as two-dimensional, three-dimensional, or four-dimensional (including e.g., time based or velocity-based information) images and/or as images from models created from the pre-operative or intra-operative image data sets. The display system  110  and the master control  106  may be oriented such that the operator O can control the medical instrument  104  and the master control  106  with the perception of telepresence. 
     The display of visual indicators, markers, and or images on the display system  110  may be altered by input devices (e.g., buttons, switches, etc.) on the manipulator assembly  102  and/or the master control  106 . For example, actuating button or switch can cause a marker to be placed in a rendered model of patient anatomy displayed on the display system  110 . The marker could correspond to an area within the patient at which a procedure (e.g., biopsy) has been performed, or otherwise indicate an actual location within the patient anatomy where the medical instrument has been positioned. Such a virtual navigational marker may be dynamically referenced with registered preoperative or concurrent images or models. Systems and methods for registration are provided in PCT Pub. No. WO 2016/191298 (published Dec. 1, 2016, titled “Systems and Methods of Registration for Image Guided Surgery”), and in U.S. Pat. No. 8,900,131 (filed May 13, 2011, titled “Medical System Providing Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery”), which are incorporated by reference herein in their entireties. 
     The control system  112  may include at least one memory and at least one computer processor (not shown) for effecting control between the medical instrument  104 , the master control  106 , the sensor system  108 , and the display system  110 . The control system  112  may also include programmed instructions, which may be stored on a non-transitory machine-readable medium, to implement some or all of the methods described in accordance with aspects of the present technology disclosed herein, including instructions for providing information to the display system  110 . The control system  112  may include two or more data processing circuits with one portion of the processing optionally being performed on or adjacent to the manipulator assembly  102 , another portion of the processing being performed at the master control  106 , etc. The processors of the control system  112  may execute instructions for the processes disclosed herein. Any of a wide variety of centralized or distributed data processing architectures may be employed. Similarly, the programmed instructions may be implemented as a number of separate programs or subroutines, or they may be integrated into a number of other aspects of the teleoperational systems described herein. In one embodiment, the control system  112  supports wireless communication protocols, such as Bluetooth, IrDA, HomeRF, IEEE 802.11, DECT, Wireless Telemetry, and the like. 
     The control system  112  may receive force and/or torque feedback from the medical instrument  104 . In response, the control system  112  may transmit signals to the master control  106 . In some embodiments, the control system  112  may transmit signals instructing one or more actuators of the manipulator assembly  102  to move the medical instrument  104 . The medical instrument  104  may extend into an internal surgical site within the body of patient P via openings in the body of patient P. Any suitable conventional and/or specialized actuators may be used with the manipulator assembly  102 . The one or more actuators may be separate from, or integrated with, the manipulator assembly  102 . In some embodiments, the one or more actuators and the manipulator assembly  102  are provided as part of the main support  114 , which can be positioned adjacent to the patient P and the operating table T. In some embodiments, the manipulator assembly  102 , control system  112 , sensor system  108 , and display system  110  may be supported by the main support  114 , or some or all of these components may be integrated into the main support  114 . Alternatively, one or more of these components may be mounted to the operating table T or integrated into the master control  106 . 
     The control system  112  may further include a virtual visualization system to provide navigation assistance to the operator O when controlling the medical instrument  104  during an image-guided surgical procedure. Virtual navigation using the virtual visualization system may be based upon reference to an acquired preoperative or intraoperative dataset of anatomic passageways. During a virtual navigation procedure, the sensor system  108  may be used to compute an approximate location of the medical instrument  104  with respect to the anatomy of the patient P. The location can be used to produce both macro-level tracking images (external to the anatomy of patient P) and virtual images (internal to the anatomy of patient P). The control system  112  may implement one or more EM sensor, fiber optic sensors, and/or other sensors to register and display a medical implement together with preoperatively recorded surgical images, such as those from a virtual visualization system. For example, PCT Pub. No. WO 2016/191298 (published Dec. 1, 2016, titled “Systems and Methods of Registration for Image Guided Surgery”), which is incorporated by reference herein in its entirety, discloses one such system. Various systems and methods for monitoring the shape and relative position of an optical fiber in three dimensions are described in U.S. Pat. No. 7,781,724 (tiled Sep. 26, 2006, titled “Fiber Optic Position and Shape Sensing Device and Method Relating Thereto”); U.S. Pat. No. 7,772,541 (filed on Mar. 12, 2008, titled “Fiber Optic Position and/or Shape Sensing Based on Rayleigh Scatter”); and U.S. Pat. No. 6,389,187 (filed on Jun. 17, 1998, titled “Optical Fiber Bend Sensor”), which are all incorporated by reference herein in their entireties. 
     The system  100  may further include optional operations and support systems (not shown) such as illumination systems, steering control systems, irrigation systems, and/or suction systems. In some embodiments, the system  100  may include more than one manipulator assembly and/or more than one master control. The exact number of teleoperational manipulator assemblies can be tailored for the surgical procedure to be performed and/or the space constraints within the operating room, among other factors. Multiple master controls may be collocated or positioned in separate locations. Multiple master controls allow more than one operator to control one or more teleoperational manipulator assemblies in various combinations. 
     The instrument manipulator  120  can be configured to support and position an elongate device  126  of the medical instrument  104 . Various elongate devices are described in PCT Pub. No. WO 2019/018736 (filed Jul. 20, 2018, titled “Flexible Elongate Device Systems and Methods”), which is incorporated by reference herein in its entirety. 
       FIGS.  2 A and  2 B  are left side views of the manipulator assembly  102  of the system  100  configured in accordance with embodiments of the present technology. The manipulator assembly  102  generally includes the instrument manipulator  120 , which has a carriage  122  for mounting one or more instruments. The carriage  122 , for example, may be configured to receive an instrument interface  124  of the medical instrument  104  such that the medical instrument  104  is selectively coupled to the instrument manipulator  120  before conducting a medical operation.  FIG.  2 A  shows the medical instrument  104  having an instrument optical fiber connector  128  protruding from the instrument interface  124 , uninstalled from the carriage  122 ; and  FIG.  2 B  shows the medical instrument  104  installed with the carriage  122 . When the medical instrument  104  is installed with the carriage  122 , at least a portion of the elongate device  126  extends beyond the carriage  122  to interface with the patient P (not shown) and may be manipulated by the instrument manipulator  120  during use of the system  100  ( FIGS.  1 A and  1 B ). In this regard, the instrument manipulator  120  may be configured for insertion and retraction of the elongate device  126  with respect to the patient anatomy by moving in a telescoping manner relative to the patient, and may affect other movements within the degrees of freedom of the elongate device  126 . Various manipulation configurations related to a manipulator assembly are described in PCT Application No. PCT/US19/54718 (filed Oct. 4, 2019, titled “Systems and Methods for Positioning Medical Instruments”), which is incorporated by reference herein in its entirety. 
       FIG.  3    is a perspective view of a portion of the carriage  122  of the instrument manipulator  120  prior to installation of the instrument interface  124  (e.g., as shown in  FIG.  2 A ). As noted above, the carriage  122  of the instrument manipulator  120  may be configured to receive the instrument interface  124  ( FIGS.  2 A and  2 B ) and may include a plurality of actuators or motors that drive corresponding inputs on the instrument interface  124  in response to commands from the control system  112  ( FIG.  1 A ). As shown, the carriage  122  further includes a shuttered carriage optical fiber connector (“carriage optical fiber connector  130 ”) configured to receive the instrument optical fiber connector  128 . The carriage optical fiber connector  130  may be configured to be engaged with a floating fiber interface to enable easy connection of an optical fiber with forgiveness in multiple degrees of freedom, as will be explained in greater detail below with reference to  FIGS.  4 A- 5   . Thus, referring to  FIGS.  2 A,  2 B, and  3    together, when the instrument optical fiber connector  128  is inserted into and connected to the carriage optical fiber connector  130  of the instrument interface  124 , the operator O might not be required to perfectly align the end of the instrument optical fiber connector  128  during insertion, thereby providing flexibility to the operator O. The floating interface may also prevent misalignment of the connectors, thereby reducing the potential of damage to the optical fiber(s), and allowing the cleaved ends of the optical fiber(s) to make a proper and complete connection. 
       FIGS.  4 A- 5    show aspects of the system  100  configured to reduce friction at the optical fiber connection between the medical instrument  104  and the instrument manipulator  120  (not shown here-see  FIG.  2 B ). Referring first to  FIG.  4 A , for example, the carriage optical fiber connector  130  is shown removed from a housing or protective cover of the carriage  122  for purposes of illustration. The illustrated embodiment includes a floating fiber interface assembly (“floating fiber interface  160 ”) retaining the carriage optical fiber connector  130 , and together providing a friction-reducing assembly. The floating fiber interface  160  may provide various degrees of freedom to the carriage optical fiber connector  130  to move relative to the carriage  122  and reduce contact friction between the optical fiber connector  128  and the walls of the carriage optical fiber connector  130  during installation of the medical instrument  104 . As noted above, the reduction of friction between the connectors may reduce particle generation and lower the risk of damage to the cleaved ends of the optical fibers. 
     The carriage optical fiber connector  130  may be positioned with respect to the carriage  122  such that only a connector well  136  of the carriage optical fiber connector  130  is visible (see  FIG.  3   ). In this regard, as shown in  FIGS.  4 A and  4 C , the housing or protective cover of the carriage  122  may interface with a connector lip  134  positioned on the carriage optical fiber connector  130  near the connector well  136 . The connector lip  134  may be sized and configured to fill any gap forming around the connector well  136  to prevent debris and contaminants from entering internal areas of the carriage  122 . In these embodiments, the degree of freedom of the floating fiber interface  160  can influence the size of the connector lip  134  such that the connector lip  134  prevents ingress of debris and contaminants as the floating fiber interface  160  reaches the limits of travel of the carriage optical fiber connector  130 . 
     The floating fiber interface  160  may be configured to allow the carriage optical fiber connector  130  to translate in a floating plane (e.g., an X-Y plane, see  FIG.  4 B ) with respect to the carriage  122 . In the orientation shown in  FIG.  4 A , the floating fiber interface  160  generally only allows substantial movement of the carriage optical fiber connector  130  laterally, in the floating plane, with the normal of the floating plane being the direction of insertion of the instrument optical fiber connector  128  (e.g., the Z-direction), thereby providing sufficient support for the carriage optical fiber connector  130  during installation of the medical instrument  104 . In some embodiments, the components of the floating fiber interface  160  have tolerances allowing a relatively small amount of movement in the directions other than the lateral translation (i.e., movement in the Z-direction, and rotation about the X, Y, and Z axes and combinations thereof). 
     The floating fiber interface  160  may include a pair of retention brackets  162  positioned in an opposing configuration lateral to the carriage optical fiber connector  130 . The retention brackets  162  may be configured to support a translating socket  164  in the direction of insertion of the instrument optical fiber connector  128  (e.g., the Z-direction), and allow sliding translation in the floating plane (e.g., the X-Y plane). The retention brackets  162  may include slots  182  configured to constrain the translating socket  164  in the direction normal to the floating plane, and allow translation of the translating socket  164  confined within the floating plane. To enable such movement, the translating socket  164  may include tabs  184  extending into the slots  182  that are sized and configured to restrict movement in the direction normal to the floating plane, while allowing translation in the floating plane. In the illustrated embodiment, each of the retention brackets  162  includes two slots  182 , and the translating socket  164  correspondingly has four tabs  184 ; however, in other embodiments, the floating fiber interface  160  includes any number of retention brackets  162 , slots  182 , and tabs  184  suitable for the desired degrees of freedom of the carriage optical fiber connector  130 . The retention brackets  162  may further include various fasteners or other mounting features, such as screws  168 , to couple the floating fiber interface  160  to the carriage  122 . In this regard, the retention brackets  162  can be rigidly connected to the carriage  122 , allowing translation of the carriage optical fiber connector  130  through movement of the translating socket  164  with respect to the retention brackets  162 . 
     The translating socket  164  can further include a stabilizing extension  166  to resist substantial rotation of the carriage optical fiber connector  130  with respect to the floating plane (e.g., tipping of the carriage optical fiber connector  130 ). As shown in  FIGS.  4 C and  4 D , for example, the carriage optical fiber connector  130  may have a ledge  138  that interfaces with the translating socket  164  to control the insertion depth of the carriage optical fiber connector  130  into the floating fiber interface  160 . The configuration of the ledge  138  provides support for the carriage optical fiber connector  130  during installation of the medical instrument  104 , while a locking feature, such as a set screw  180 , may be included to prevent decoupling of the carriage optical fiber connector  130  and the floating fiber interface  160  during removal of the medical instrument  104 . In the installed position, as shown in  FIG.  4 A , the ledge  138  interfaces with an upper surface of the translating socket  164  to set the insertion depth. 
       FIG.  4 B  is a cross-sectional view of the floating fiber interface  160 , generally shown from a viewpoint normal to the plane of translation of the translating socket  164  (and with the carriage optical fiber connector  130  hidden for purposes of clarity). The translating socket  164  includes a connector opening  190  in which the carriage optical fiber connector  130  is inserted during assembly to the floating fiber interface  160 . The retention brackets  162  generally capture the translating socket  164  in both directions normal to the plane of translation of the floating fiber interface  160 ; however, biased movement is allowed within the plane to lower the friction of the connectors during installation of the medical instrument  104 . To provide the biased movement, the retention brackets  162  may each include biasing elements (e.g., coil springs  170  retained by spring retainers  172 ), which impart an opposing biasing force on the translating socket  164  through arms  174  protruding from the retention brackets  162 . The distal end of the arms  174  include heads  176  configured to interface with the springs  170  on a first side, and cam sockets  178  of the translating socket  164  on a second side. 
     During translation of the translating socket  164  in the positive X-direction, the movement of the translating socket  164  toward one of the retention brackets  162  is transferred to the corresponding head  176  by the cam socket  178 , deflecting one of the arms  174 , and compressing the spring  170  against the spring retainer  172 . The compression of the spring  170  in the direction of translation biases the translating socket  164  back to a neutral position where the spring forces equalize. In embodiments where both springs  170  are of equal spring force, the neutral position will be centered between the springs  170 . The above movement in the positive X-direction also causes the translating socket  164  to move away from the other of the retention brackets  162 , relieving pressure on the corresponding spring  170 , which may cause the spring  170  to extend and deflect the arm  174  such that the head  176  stays in contact with the cam socket  178  during translation. In this regard, the arms  174  and the heads  176  both move mutually (e.g., in the same direction) with the movement of the translating socket  164 , while one of the springs  170  is compressed and the other of the springs  170  is extended. 
     During translation of the translating socket  164  in the positive Y-direction, the nonlinear profile of the surface of the cam sockets  178  in the Y-direction causes each of the heads  176  to move away from the translating socket  164  in opposite directions from each other, deflecting the arms  174  away from each other. Thus arms  174  may act as cantilever springs. Deflection of the arms  174  away from each other may compress both of the springs  170  simultaneously, biasing the translating socket  164  back to the neutral position, generally in the valley of the illustrated profile of the cam sockets  178 . In the illustrated configuration, translation of the translating socket  164  in the opposite, negative Y-direction has a similar effect on the heads  176 , springs  170 , and arms  174 , again biasing the translating socket  164  back to the neutral position. In other embodiments, the profile the surface of the cam sockets  178  may have any suitable profile (e.g., linear, arcuate, etc.) configured to bias the translating socket  164  in the desired manner, and might not have equal biasing in the positive and negative Y-directions. 
     The floating fiber interface  160  may further include one or more features to limit the travel of the translating socket  164  in any of the degrees of freedom. As illustrated, for example, the floating fiber interface  160  may include stop pins  186  extending through one or both of the retention brackets  162 . The stop pin  186  may extend through a travel limiting aperture  188  in the translating socket  164  sized and configured to set the limits of the translation of the translating socket  164 . As shown, the stop pin  186  may be stationary as the translating socket  164  translates. At the desired limit of translation, the edge of the travel limiting aperture  188  contacts the stop pin  186  to stop translation of the translating socket  164 . The aperture  188  is shown as a square to accordingly limit the travel in each of the X- and Y-directions, with a longer limit for combinations of translation in the X- and Y-directions; however, any travel limiting shape is within the scope of the present technology. 
     Turning to  FIGS.  4 C- 4 F , a friction-reducing embodiment of the carriage optical fiber connector  130  will now be explained in greater detail. The internal surfaces of the carriage optical fiber connector  130  and the cleaved end of an optical fiber  148  therein can be further protected from debris and contamination with a pair of opposing shutters  132  configured to substantially seal the internal well of the carriage optical fiber connector  130  when the instrument optical fiber connector  128  is not inserted. The optical fiber  148  can be constructed at least partially from silica or other similar materials. In some embodiments, the optical fiber  148  comprises a plurality of individual fibers. The shutters  132  may be biased toward the closed position. The shutters  132  can be pivotable to rotate toward the internal walls of the connector well  136  either by manual manipulation, e.g., upon insertion of the instrument optical fiber connector  128 , or by an automated system, e.g., with actuators, motors, electromagnetic forces, etc. In embodiments having automated shutters  132 , one or more sensors may be positioned and configured to send a signal to retract the shutters  132  when the instrument optical fiber connector  128  is in proximity, when the medical instrument  104  is being installed on the carriage  122 , etc. 
     The shutters  132  can be constructed from a polymer, metal, composite, ceramic, and/or some other material or combination of materials. For example, the shutters  132  can be at least partially constructed from a metal (e.g., aluminum) plated with another metal (e.g., nickel). Contact between the instrument optical fiber connector  128  and the shutters  132 , as well as subsequent rubbing/sliding between the instrument optical fiber connector  128  and the shutters  132 , can create loose particles of the material of the instrument optical fiber connector  128  and/or of the shutters  132 . Such particles can settle on the cleaved end of the optical fiber  148 . The presence of particles on the cleaved end the optical fiber  148  can damage the optical fiber  148  when the instrument optical fiber connector  128  is fully connected to the carriage optical fiber connector  130 . More specifically, the particles can be trapped between the optical fiber  148  of the carriage optical fiber connector  130  and an optical fiber of the instrument optical fiber connector  128 . These particles can scratch, chip, and/or otherwise damage the exposed portions of the optical fiber  148 . Damage to the optical fiber  148  can damage and/or destroy the quality and reliability of information passed through the optical fiber  148  from various components of the system  100 . 
     Conventional remedies or solutions for avoiding the above-described particle damage include wiping the optical fiber  148  and/or a ferrule of the carriage optical fiber connector  130  with a cloth, swab, or other cleaning material. Other solutions include, for example, inserting a cleaning instrument into the carriage optical fiber connector  130  before connecting the instrument optical fiber connector  128  to the carriage optical fiber connector  130 . While the solutions can be useful for removing pre-existing particles from the optical fibers, the solutions do not address or resolve generation of particles occurring during connection between the instrument optical fiber connector  128  and the carriage optical fiber connector  130 . 
     As shown in  FIGS.  4 D- 4 F , the carriage optical fiber connector  130  configured in accordance with the present technology may further include a friction-reducing roller  146  positioned on at least one side of the connector well  136  of the carriage optical fiber connector  130 . The roller  146  may be positioned to interface with and bias the instrument optical fiber connector  128  toward one side of the connector well  136  opposite the roller  146 . In this regard, the roller may be biased by a cantilever spring  140  pinned at one end to the carriage optical fiber connector  130 , e.g., with a fastener  142 . The end of the cantilever spring  140  having the roller  146  may include a standoff feature  144  to provide clearance between the roller  146  and the cantilever spring  140  so the roller  146  can rotate freely during insertion of the instrument optical fiber connector  128 . As shown in  FIG.  4 B , the connector opening  190  may include a relief cutout  192  to provide clearance for deflection of the cantilever spring  140  during insertion of the instrument optical fiber connector  128 . 
     As the instrument optical fiber connector  128  is inserted into the carriage optical fiber connector  130 , a portion of the instrument optical fiber connector  128  contacts the roller  146 , progressively deflecting the cantilever spring  140  away from the connector well  136  (see  FIG.  4 F ). The biasing force of the cantilever spring  140  urges the instrument optical fiber connector  128  toward the surface opposite the roller  146  during insertion, thereby reducing surface contact area between the instrument optical fiber connector  128  and the carriage optical fiber connector  130 , which can reduce the opportunity for particle generation. In some embodiments, a plurality of rollers may be used to reduce friction between the instrument optical fiber connector  128  and the carriage optical fiber connector  130 . Additional rollers  146  may be positioned on the same side, opposing sides, and/or adjacent sides of the connector well  136  from the roller  146 . In these embodiments, the carriage optical fiber connector  130  may include two rollers on opposing sides of the connector well  136 , two rollers on the same side of the connector well  136 , one or more rollers on each of the four sides of the connector well  136 , etc., or any combination thereof. The floating fiber interface  160  and the rollers  146  can be used independently or in conjunction with each other to reduce friction during installation of the medical instrument  104 . In embodiments where the floating fiber interface  160  is used in conjunction with one or more rollers  146 , aspects of each component may further reduce overall friction between the instrument optical fiber connector  128  and the carriage optical fiber connector  130 . 
       FIG.  5    shows a perspective view of another embodiment of a floating fiber interface assembly (“floating fiber interface  160 ′”) retaining the carriage optical fiber connector  130 , and together providing a friction-reducing assembly. The floating fiber interface  160 ′ has similarities to the floating fiber interface  160  of  FIG.  4 A , described above. As such, some features of the floating fiber interface  160 ′ are denoted with a prime (′) with like numbers corresponding to similar features of the floating fiber interface  160  of  FIG.  4 A , unless otherwise stated. The floating fiber interface  160 ′ may provide various degrees of freedom to the carriage optical fiber connector  130  to move relative to the carriage  122  ( FIG.  1 B ) and reduce contact friction between the optical fiber connector  128  and the walls of the carriage optical fiber connector  130  during installation of the medical instrument  104 . 
     The floating fiber interface  160 ′ may be configured to allow the carriage optical fiber connector  130  to translate in a floating plane (e.g., an X-Y plane, see  FIG.  4 B ) and translate in the direction of insertion of the instrument optical fiber connector  128  (e.g., the Z-direction) with respect to the carriage  122 . 
     The floating fiber interface  160 ′ includes a pair of retention brackets  162 ′ positioned in an opposing configuration lateral to the carriage optical fiber connector  130 . The retention brackets  162 ′ may be configured to support a translating socket  164 ′ during sliding translation in the floating plane (e.g., the X-Y plane). The retention brackets  162 ′ may include slots  182 ′ configured to constrain the translating socket  164 ′ in the direction normal to the floating plane, and allow translation of the translating socket  164 ′ confined within the floating plane. To enable such movement, the translating socket  164 ′ may include tabs  184 ′ extending into the slots  182 ′ that are sized and configured to restrict movement of the translating socket  164 ′ with respect to the retention brackets  162 ′ in the direction normal to the floating plane, while allowing translation in the floating plane (the translating socket  164 ′ can also translate in the direction normal to the floating plane with respect to the carriage  122 , as will be explained below). 
     In the illustrated embodiment, each of the retention brackets  162 ′ includes two slots  182 ′, and the translating socket  164 ′ correspondingly has four tabs  184 ′; however, in other embodiments, the floating fiber interface  160 ′ includes any number of retention brackets  162 ′, slots  182 ′, and tabs  184 ′ suitable for the desired degrees of freedom of the carriage optical fiber connector  130 . The retention brackets  162 ′ may further include various fasteners or other mounting features, such as screws  168 ′, to movably couple the floating fiber interface  160 ′ to the carriage  122 . The retention brackets  162 ′ can be slidably connected to the carriage  122  by configuring the retention brackets  162 ′ with apertures  175  sized and shaped to translate axially along a shaft portion  173  of the screws  168 ′ (e.g., a threadless shoulder  173  of a shoulder screw  168 ′ or other suitable fastener), which allows translation of the carriage optical fiber connector  130  in the insertion direction with respect to the carriage  122 . 
     From the position of the floating fiber interface  160 ′ shown in  FIG.  5   , biased movement of the carriage optical fiber connector  130  is allowed by movement of the floating fiber interface  160 ′ in the direction of insertion of the instrument optical fiber connector  128  (e.g., the negative Z-direction). During such movement, the screws  168 ′ are static with respect to the carriage  122  and the retention brackets  162 ′ of the floating fiber interface  160 ′ travel along the shaft portions  173  of the screws  168 ′ until heads  169  of the screws  168 ′ abut a lower surface of the retention brackets  162 ′ to stop the translation. Insertion biasing elements (e.g., coil springs  171  retained by the heads  169 ) provide a connection force during insertion of the optical fiber connector  128  into the carriage optical fiber connector  130  (e.g., bias force in the positive Z-direction), thereby providing sufficient support for the carriage optical fiber connector  130  during installation of the medical instrument  104 . In this regard, the coil springs  171  are configured to bias the heads  169  away from the retention brackets  162 ′. At the end of travel in the insertion direction, the heads  169  can optionally abut the retention brackets  162 ′ to further ensure the fiber connection is made. 
     The translating socket  164 ′ can include a lower flange portion  165  having extensions  185  in the direction of the screws  168 ′. The extensions  185  can include cavities  187  configured to receive at least a portion of the heads  169  of the screws  168 ′ therein and retain the screws  168 ′ with the floating fiber interface  160 ′ until the screws  168 ′ are threaded into the carriage  122 . The retention of the screws  168 ′ by the cavities  187  can also oppose the force of the coil springs  170  to retain the retention brackets  162 ′ with the translating socket  164 ′ until installation. The cavities  187  may have lower openings (not shown) that allow a tool (e.g., a hex wrench, not shown) to access the heads  169  for installation and removal of the screws  168 ′. The translating socket  164 ′ can further include a stabilizing extension  166 ′ to resist substantial rotation of the carriage optical fiber connector  130  with respect to the floating plane (e.g., tipping of the carriage optical fiber connector  130 ). 
       FIG.  6    shows another embodiment of a friction-reducing interface between a medical instrument  204  and an instrument manipulator  220  configured for use with the system  100 . The instrument manipulator  220  may include a translating alignment plate  282  coupled to an upper surface of the carriage  222 . Certain features of the medical instrument  204  and the instrument manipulator  220  shown in  FIG.  6    are similar to features of the medical instrument  104  and the instrument manipulator  120  of  FIGS.  1 A- 3    described above. As such, the features of the medical instrument  204  and the instrument manipulator  220  are denoted in the 200-series with like numbers corresponding to similar features of the medical instrument  104  and the instrument manipulator  120  denoted in the 100-series, unless otherwise stated. 
     The translating alignment plate  282  may be configured to linearly translate from a first position above the upper surface of the carriage  222  where the instrument optical fiber connector  228  is not inserted into the carriage optical fiber connector  230 , to a second position adjacent the carriage  222 , where the instrument optical fiber connector  228  is inserted in the carriage optical fiber connector  230 . The translating alignment plate  282  may include one or more telescoping standoffs  232  that constrain the translating alignment plate  282  to the linear translation. The standoffs  232  may be further configured to dampen translation of the translating alignment plate  282  for control of the rate of connection between the instrument optical fiber connector  228  and the carriage optical fiber connector  230 , as high impulse connections can damage the cleaved ends of the fibers. 
     As illustrated in  FIG.  6   , the translating alignment plate  282  further includes an optical fiber connector pass-through  284  to receive the instrument optical fiber connector  228  as the medical instrument  204  is initially mated to the translating alignment plate  282  in the first position. The translating alignment plate  282  may also include one or more alignment indices  294  configured to position the medical instrument  204  with respect to the translating alignment plate  282  such that the instrument optical fiber connector  228  is generally aligned with the carriage optical fiber connector  230  as the translating alignment plate  282  moves from the first position to the second position. To form the connection between the instrument optical fiber connector  228  and the carriage optical fiber connector  230 , the medical instrument  204  is first aligned and coupled to the translating alignment plate  282 , and then the medical instrument  204  and the translating alignment plate  282  are simultaneously lowered from the first position to the second position, inserting the instrument optical fiber connector  228  into the carriage optical fiber connector  230 . Lowering of the translating alignment plate  282  may be manual or automated, e.g., with one or more motors and sensors (not shown). In other embodiments, lowering of the translating alignment plate  282  may not be allowed until a cleaning of one or more system components is verified, either by a sensor (not shown) or manually. In some embodiments, shutters of the carriage optical fiber connector  230  may be configured to open (either automatically with a sensor/motor combination, or manually via a mechanical linkage) when the medical instrument  204  is coupled to the translating alignment plate  282 . 
     The translating alignment plate  282  can be used independently or in conjunction with the floating fiber interface  160  and/or the rollers  146  of  FIGS.  4 A- 4 F  to reduce friction during installation of the medical instrument  104 . In embodiments where the translating alignment plate  282  is used in conjunction with the floating fiber interface  160  and/or one or more rollers  146 , aspects of each component may further reduce overall friction between the instrument optical fiber connector  128  and the carriage optical fiber connector  130 . 
     As the translating alignment plate  282  is lowered from the first position to the second position, various other mechanical and/or electrical connections are formed between the carriage  222  and the medical instrument  204 . To facilitate the mechanical connections, the translating alignment plate  282  may include various openings for passing through movements of the controls of the instrument manipulator  220  such that the movements are relayed to the various receiving components of the medical instrument  204 . Similarly, the translating alignment plate  282  may include electrical connectors to form connections between the instrument manipulator  220  and the medical instrument  204 . In some embodiments, the translating alignment plate  282  has one or more intermediate components to transfer movement and/or signals of the instrument manipulator  220  to the medical instrument  204 . In embodiments with intermediate components, the translating alignment plate  282  may serve as a clean connection for sterile environments, e.g., a drape coupled to a perimeter of the translating alignment plate  282 . 
       FIGS.  7 A and  7 B  show another embodiment of a friction-reducing interface between a medical instrument  304  and an instrument manipulator  320  configured for use with the system  100 . The instrument manipulator  320  may include an alignment spar  394  positioned on the instrument manipulator  320  adjacent the carriage  322 . Certain features of the medical instrument  304  and the instrument manipulator  320  shown in  FIGS.  7 A and  7 B  are similar to features of the medical instrument  104  and the instrument manipulator  120  of  FIGS.  1 A- 3    described above, and as such, the features of the medical instrument  304  and the instrument manipulator  320  are denoted in the 300-series with like numbers corresponding to similar features of the medical instrument  104  and the instrument manipulator  120  denoted in the 100-series, unless otherwise stated. 
     The alignment spar  394  can protrude from a housing or protective cover of the instrument manipulator  320 . As shown in  FIG.  7 B , the alignment spar  394  may have an engaging surface  396  that generally corresponds to the size, shape, and contour of an external surface of the instrument interface  324  of the medical instrument  304 . Referring again to  FIGS.  7 A and  7 B  together, for example, the engaging surface  396  may be arcuate and configured to closely interface with the instrument interface  324  to guide the medical instrument  304  into alignment with the carriage  322  during insertion of the instrument optical fiber connector  328  into the carriage optical fiber connector  330 . In this regard, as the operator O (not shown) installs the medical instrument  304  with the carriage  322 , the operator O first engages the engaging surface  396  with the instrument interface  324  while the instrument optical fiber connector  328  is still disengaged from the carriage optical fiber connector  330 . As the operator O lowers the medical instrument  304  (moving the medical instrument  304  toward the carriage  322 ), the instrument interface  324  maintains contact with the engaging surface  396  to provide course alignment of the instrument optical fiber connector  328  with the carriage optical fiber connector  330 . As the medical instrument  304  is further moved toward the carriage  322  (and the instrument interface  324  maintains contact with the engaging surface  396 ), friction between the instrument optical fiber connector  328  and the carriage optical fiber connector  330  may be reduced when they contact each other during insertion, because they may be coarsely aligned before contact. 
       FIG.  7 C  shows another embodiment of a friction-reducing interface between the medical instrument  304  and the instrument manipulator  320  configured for use with the system  100 . In some embodiments, the engaging surface  396  may include a clocking feature, e.g., a keyed slot  325  extending through in the instrument interface  324  and configured to interface with a keyed protrusion  397  extending from the engaging surface  396  of the instrument manipulator  320 . The interface of the keyed slot  325  and the keyed protrusion  397  is configured to orient the medical instrument  304  with respect to the carriage  322 . Although the keyed protrusion  397  is shown extending from the engaging surface  396  in  FIG.  7 C , in other embodiments, the keyed protrusion  397  may be used to orient the medical instrument  304  without the alignment spar  394 , in which the keyed protrusion  397  may extend from the instrument manipulator  320 . 
       FIG.  7 D  shows another embodiment of a friction-reducing interface between the medical instrument  304  and the instrument manipulator  320  configured for use with the system  100 . In some embodiments, the carriage  322  may include a clocking feature, e.g., a pin  398  extending from the carriage  322  and configured to interface with an indentation  327  in the instrument interface  324 . The interface of the indentation  327  and the pin  398  is configured to orient the medical instrument  304  with respect to the carriage  322 . As shown, a plurality of pins  398  and corresponding indentations  327  may be used to orient the medical instrument  304  with respect to the carriage  322 . In other embodiments, the pins  398  are tapered to gradually orient the medical instrument  304  as the medical instrument  304  is lowered toward the carriage  322 . Although the pin  398  is shown extending from the instrument manipulator  320  having the alignment spar  394 , in other embodiments, the pin  398  may be used to orient the medical instrument  304  without the alignment spar  394 . 
     The alignment spar  394  can be used independently or in conjunction with the floating fiber interface  160 , the rollers  146 , and/or the translating alignment plate  282  of  FIGS.  4 A- 5   , and/or with the clocking features of  FIGS.  7 C and  7 D , to reduce friction during installation of the medical instrument  104 . In embodiments where the alignment spar  394  is used in conjunction with the floating fiber interface  160 , one or more rollers  146 , and/or the translating alignment plate  282 , aspects of each component may further reduce overall friction between the instrument optical fiber connector  128  and the carriage optical fiber connector  130 . 
       FIG.  8    shows another embodiment of a friction-reducing interface between a medical instrument  404  configured for use with the system  100 . The instrument optical fiber connector  428  may include a conical kinematic surface  440  positioned on a distal end portion of the instrument optical fiber connector  428 . Certain features of the medical instrument  404  shown in  FIG.  8    are similar to features of the medical instrument  104  of  FIGS.  1 A- 3    described above. As such, the features of the medical instrument  404  are denoted in the 400-series with like numbers corresponding to similar features of the medical instrument  104  denoted in the 100-series, unless otherwise stated. 
     As shown, the conical kinematic surface  440  can be frustoconical, tapering from an outer surface of the instrument optical fiber connector  428  to a tip  442  at the distal end of the instrument optical fiber connector  428  near the optical fiber  448 . During installation of the medical instrument  404  to the carriage of the instrument manipulator (not shown), the smaller size of the tip  442  compared to body of the instrument optical fiber connector  428 , allows a greater initial range of alignment with the carriage optical fiber connector. As the instrument optical fiber connector  428  is further inserted into the carriage optical fiber connector, the conical kinematic surface  440  brings the instrument optical fiber connector  428  into alignment, thereby allowing insertion into the carriage optical fiber connector. The conical kinematic surface  440  can provide an alignment constraint of the medical instrument  404  to the carriage  422 . As such, an alignment constraint feature of the instrument interface  424  may be excluded such that the connection of the medical instrument  404  to the carriage  422  is not over-constrained. In other embodiments, the kinematic surface  440  may be any suitable shape to guide the instrument optical fiber connector  428  into the carriage optical fiber connector, including a tapering square, oval, triangle, etc. 
     The conical kinematic surface  440  can be used independently or in conjunction with the floating fiber interface  160 , the rollers  146 , the translating alignment plate  282 , and/or alignment spar  394  of  FIGS.  4 A- 7 B  to reduce friction during installation of the medical instrument  104 . In embodiments where the conical kinematic surface  440  is used in conjunction with the floating fiber interface  160 , one or more rollers  146 , the translating alignment plate  282 , and/or the alignment spar  394 , aspects of each component may further reduce overall friction between the instrument optical fiber connector  128  and the carriage optical fiber connector  130 . 
     EXAMPLES 
     Several aspects of the present technology are set forth in the following examples: 
     1. A floating connector interface, comprising:
         a retention bracket having a slot;   a translating socket slidingly associated with the retention bracket, the translating socket comprising:
           a tab portion extending into the slot to permit translation of the translating socket with respect to the retention bracket, wherein the translation is confined within a floating plane; and   an aperture configured to receive a carriage connector; and   
           a biasing element positioned between the retention bracket and the translating socket, wherein the biasing element is configured to resist translation of the translating socket.       

     2. The floating connector interface of example 1, wherein the retention bracket comprises a first retention bracket, the slot comprises a first slot, and the tab portion of the translating socket comprises a first tab portion, and wherein the floating connector interface further comprises:
         a second retention bracket positioned on an opposite edge of the translating socket from the first retention bracket, the second retention bracket having a second slot configured to receive a second tab portion of the translating socket and permit translation of the translating socket with respect to the first and second retention brackets.       

     3. The floating connector interface of example 2, wherein the biasing element comprises a first biasing element, and wherein the floating connector interface further comprises a second biasing element positioned between the second retention bracket and the translating socket, wherein the second biasing element is positioned to oppose the first biasing element. 
     4. The floating connector interface of example 3, wherein the first and second biasing elements have opposing biasing forces to urge the translating socket to a neutral position in a direction aligned with the biasing forces. 
     5. The floating connector interface of example 3 or example 4, wherein the first and second biasing elements comprise coil springs. 
     6. The floating connector interface of any of examples 2-5, wherein the first retention bracket further comprises a first arm and the second retention bracket further comprises a second arm, and wherein the first and second arms are configured to mutually deflect with movement of the translating socket in a direction aligned with the biasing forces. 
     7. The floating connector interface of example 6, wherein:
         the first arm further comprises a first head on a distal end of the first arm,   the second arm further comprises a second head on a distal end of the second arm,   the translating socket further comprises a first cam socket configured to interface with the first head and a second cam socket configured to interface with the second head, and   the first and second cam sockets have cam profiles configured to deflect the first and second arms away from one another during movement of the translating socket in a direction perpendicular to the biasing forces.       

     8. The floating connector interface of example 7, wherein the cam profiles are shaped such that the biasing forces urge the translating socket to a neutral position in the direction perpendicular to the biasing forces. 
     9. The floating connector interface of any of examples 1-8, wherein:
         the retention bracket has an aperture configured to slidingly receive a fastener therein such that the retention bracket can translate axially along the fastener;   the floating connector interface further comprises an insertion biasing element positioned between the retention bracket and a head of the fastener, and   the insertion biasing element is configured to bias the head of the fastener away from the retention bracket.       

     10. The floating connector interface of any of examples 1-9, wherein the floating connector interface comprises a floating optical fiber connector interface, and wherein the carriage connector comprises a carriage optical fiber connector. 
     11. A carriage, comprising:
         a retention bracket having a slot;   a translating socket slidingly associated with the retention bracket, the translating socket comprising a tab portion extending into the slot to permit translation of the translating socket with respect to the carriage, wherein the translation is confined within a floating plane;   a carriage connector having a housing removably couplable to an aperture in the translating socket; and   a biasing element positioned between the retention bracket and the translating socket, wherein the biasing element is configured to resist translation of the translating socket, and wherein a direction of insertion of an instrument connector into the carriage connector is normal to the floating plane.       

     12. The carriage of example 11, wherein the retention bracket comprises a first retention bracket, the slot comprises a first slot, and the tab portion of the translating socket comprises a first tab portion, and wherein the carriage further comprises:
         a second retention bracket positioned on an opposite edge of the translating socket from the first retention bracket, the second retention bracket having a second slot configured to receive a second tab portion of the translating socket and permit translation of the translating socket with respect to the first and second retention brackets.       

     13. The carriage of example 12, wherein the biasing element comprises a first biasing element, and wherein the carriage further comprises a second biasing element positioned between the second retention bracket and the translating socket, the second biasing element positioned to oppose the first biasing element. 
     14. The carriage of example 13, wherein the first and second biasing elements have opposing biasing forces to urge the translating socket to a neutral position in a direction aligned with the biasing forces. 
     15. The carriage of example 13 or example 14, wherein the first and second biasing elements comprise coil springs. 
     16. The carriage of any of examples 12-15, wherein the first retention bracket further comprises a first arm and the second retention bracket further comprises a second arm, and wherein the first and second arms are configured to mutually deflect with movement of the translating socket in a direction aligned with the biasing forces. 
     17. The carriage of example 16, wherein:
         the first arm has a first head on a distal end of the first arm and the second arm has a second head on a distal end of the second arm,   the translating socket further comprises a first cam socket configured to interface with the first head and a second cam socket configured to interface with the second head, and   the first and second cam sockets have cam profiles configured to deflect the first and second arms away from one another during movement of the translating socket in a direction perpendicular to the biasing forces.       

     18. The carriage of example 17, wherein the cam profiles are shaped such that the biasing forces urge the translating socket to a neutral position in the direction perpendicular to the biasing forces. 
     19. The carriage of any of examples 11-18, wherein:
         the retention bracket further comprises an aperture configured to slidingly receive a fastener therein such that the retention bracket can translate axially along the fastener;   the carriage further comprises an insertion biasing element positioned between the retention bracket and a head of the fastener; and   the insertion biasing element is configured to bias the head of the fastener away from the retention bracket.       

     20. The carriage of any of examples 11-19, further comprising a roller positioned on a first side of a well of the housing, wherein the roller is biased toward the well with a cantilever spring. 
     21. The carriage of example 20, wherein the aperture comprises a cutout for clearance of the cantilever spring. 
     22. The carriage of example 20 or example 21, further comprising a second roller positioned on a second side of the well opposite the first side of the well, wherein the second roller is biased toward the first roller with a second cantilever spring. 
     23. The carriage of example 22, further comprising a third roller positioned on a third side of the well adjacent to either of the first or second sides of the well, wherein the third roller is biased toward the well with a third cantilever spring. 
     24. The carriage of example 23, further comprising a fourth roller positioned on a fourth side of the well opposite the third side of the well, wherein the fourth roller is biased toward the third roller with a fourth cantilever spring. 
     25. The carriage of any of examples 22-24, wherein the carriage connector further comprises shutters positioned in the well. 
     26. The carriage of any of examples 11-25, wherein the housing has a ledge configured to interface with the translating socket to control an insertion depth of the carriage connector within the aperture. 
     27. The carriage of any of examples 11-26, wherein the translating socket has a locking feature to retain the housing within the aperture. 
     28. The carriage of any of claims  11 - 27 , wherein the floating connector interface comprises a floating optical fiber connector interface, and wherein the carriage connector comprises a carriage optical fiber connector. 
     29. A connector alignment apparatus, comprising:
         a carriage having a carriage optical fiber connector,   a plate configured to removably retain an instrument interface in alignment for connection to the carriage, the plate having an aperture configured to receive an instrument optical fiber connector; and   a telescoping standoff coupled between the plate and the carriage,   wherein the telescoping standoff is operable to position the plate at a first position in which the plate is spaced apart from the carriage and to position the plate at a second position in which the plate is adjacent to the carriage.       

     30. The connector alignment apparatus of example 29, wherein the aperture is configured to position the instrument optical fiber connector in alignment with the carriage optical fiber connector when the plate is in the first position. 
     31. The connector alignment apparatus of example 29 or example 30, wherein the telescoping standoff is operable to linearly translate the plate between the first position and the second position. 
     32. The connector alignment apparatus of any of examples 29-31, wherein the instrument optical fiber connector is connected to the carriage optical fiber connector when the plate is in the second position. 
     33. The connector alignment apparatus of any of examples 29-32, wherein movement of the telescoping standoff is damped. 
     34. The connector alignment apparatus of any of examples 29-32, wherein the telescoping standoff further includes one or more springs to apply a biasing force to the plate toward the first position. 
     35. The connector alignment apparatus of example 29, wherein movement of the plate is automated. 
     36. The connector alignment apparatus of any of examples 29-35, wherein the plate further comprises connectors configured to pass one or more of mechanical movement or electrical signals between the instrument interface and the carriage. 
     37. The connector alignment apparatus of any of examples 29-36, wherein the plate is adjustable to align the instrument interface to the carriage. 
     38. The connector alignment apparatus of any of examples 29-37, wherein the plate further comprises one or more intermediate components configured to transfer mechanical movement from the carriage to the instrument interface. 
     39. The connector alignment apparatus of any of examples 29-38, wherein the plate has clean connection features. 
     40. The connector alignment apparatus of any of examples 29-39, further comprising a drape connected to a perimeter of the plate. 
     41. An alignment system, comprising:
         a carriage having a housing and a carriage optical fiber connector;   an instrument interface having an outer surface and an instrument optical fiber connector configured to connect to the carriage optical fiber connector when the instrument interface is mated to the carriage; and   an alignment spar protruding from the housing of the carriage, the alignment spar having a shape corresponding to the outer surface of the instrument interface and configured to align the instrument interface and the carriage such that the instrument optical fiber connector is aligned with the carriage optical fiber connector.       

     42. The alignment system of example 41, wherein the alignment spar is integrated into the housing. 
     43. The alignment system of example 41 or example 42, wherein the alignment spar is arcuate. 
     44. The alignment system of example 41, wherein the housing further comprises a keyed protrusion extending from the housing and the instrument interface further comprises a keyed slot configured to interface with the keyed protrusion, wherein the interface of the keyed slot and keyed protrusion is configured to orient the instrument interface to the carriage during connection of the instrument optical fiber connector and the carriage optical fiber connector. 
     45. The alignment system of example 43, wherein the keyed protrusion extends from the alignment spar. 
     46. The alignment system of example 41, wherein the carriage further comprises a pin and the instrument interface further comprises an indentation configured to interface with the pin, wherein the interface of the indentation and the pin is configured to orient the instrument interface to the carriage during connection of the instrument optical fiber connector and the carriage optical fiber connector. 
     47. The alignment system of example 45, wherein the carriage comprises a plurality of the pins and the housing comprises a plurality of the indentations corresponding to the plurality of pins. 
     48. The alignment system of example 46 or example 47, wherein the pin is tapered. 
     49. The alignment system of example 41, wherein the carriage optical fiber connector is coupled to a floating optical fiber connector interface of example 1. 
     50. An instrument, comprising:
         an instrument interface; and   an instrument optical fiber connector protruding from the instrument interface, the instrument optical fiber connector comprising:
           a connector body having an outer surface configured to interface with a carriage optical fiber connector; and   a conical kinematic surface positioned on a distal end portion of the connector body, the conical kinematic surface tapering down from the outer surface of the connector body to a tip of the connector body, wherein the conical kinematic surface is configured to align the instrument optical fiber connector and the carriage optical fiber connector during installation of the instrument interface.   
               

     51. The instrument of example 50, wherein the conical kinematic surface comprises a frustoconical kinematic surface. 
     52. The instrument of example 50 or example 51, wherein a shape of the conical kinematic surface comprises one or more of a tapering square, a tapering oval, or a tapering triangle. 
     53. The instrument of any of examples 50-52, wherein the carriage optical fiber connector is coupled to a floating optical fiber connector interface of example 1. 
     CONCLUSION 
     The above detailed descriptions of embodiments of the technology are not intended to be exhaustive or to limit the technology to the precise form disclosed above. Although specific embodiments of, and examples for, the technology are described above for illustrative purposes, various equivalent modifications are possible within the scope of the technology, as those skilled in the relevant art will recognize. For example, while steps are presented in a given order, alternative embodiments may perform steps in a different order. Moreover, the various embodiments described herein may also be combined to provide further embodiments. Reference herein to “one embodiment,” “an embodiment,” or similar formulations means that a particular feature, structure, operation, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present technology. Thus, the appearances of such phrases or formulations herein are not necessarily all referring to the same embodiment. 
     For ease of reference, identical reference numbers are used to identify similar or analogous components or features throughout this disclosure, but the use of the same reference number does not imply that the features should be construed to be identical. Indeed, in many examples described herein, identically numbered features have a plurality of embodiments that are distinct in structure and/or function from each other. Furthermore, the same shading may be used to indicate materials in cross section that can be compositionally similar, but the use of the same shading does not imply that the materials should be construed to be identical unless specifically noted herein. 
     Moreover, unless the word “or” is expressly limited to mean only a single item exclusive from the other items in reference to a list of two or more items, then the use of “or” in such a list is to be interpreted as including (a) any single item in the list, (b) all of the items in the list, or (c) any combination of the items in the list. Where the context permits, singular or plural terms may also include the plural or singular term, respectively. Additionally, the term “comprising” is used throughout to mean including at least the recited feature(s) such that any greater number of the same feature and/or additional types of other features are not precluded. Directional terms, such as “upper,” “lower,” “front,” “back,” “vertical,” and “horizontal,” may be used herein to express and clarify the relationship between various elements. It should be understood that such terms do not denote absolute orientation. Further, while advantages associated with certain embodiments of the technology have been described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments need necessarily exhibit such advantages to fall within the scope of the technology. Accordingly, the disclosure and associated technology can encompass other embodiments not expressly shown or described herein.