Patent Publication Number: US-11039897-B2

Title: Drape management assemblies for robotic surgical systems

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a Continuation Application which claims the benefit of and priority to U.S. patent application Ser. No. 16/077,500, filed on Aug. 13, 2018, which is a U.S. National Stage Application filed under 35 U.S.C. § 371(a) of International Patent Application Serial No. PCT/US2017/019237, filed Feb. 24, 2017, which claims the benefit of and priority to U.S. Provisional Patent Application Ser. No. 62/300,147, filed Feb. 26, 2016, the entire disclosure of each of which being incorporated by reference herein. 
    
    
     BACKGROUND 
     Robotic surgical systems have been used in minimally invasive medical procedures. Some robotic surgical systems include a console supporting a robotic arm, and a robotic surgical instrument having at least one end effector such as forceps or a grasping tool that is mounted to the robotic arm via a wrist assembly. Cables extend from the console, through the robotic arm, and connect to the wrist assembly and/or end effector to provide mechanical power to the end effector for its operation and movement. 
     During a medical procedure, the end effector and the wrist assembly are inserted into a small incision (via a cannula) or a natural orifice of a patient to position the end effector at a work site within the body of the patient. In order to establish and maintain a sterile barrier between the patient, a surgical field, and/or the robotic surgical system, a drape or the like may be used to enclose a portion of the robotic surgical system. 
     However, it is often the case that excess draping material and/or cables may interfere with the medical procedure by interfering with a movement of the robotic arm or robotic surgical instrument and/or getting in the way of medical personnel. 
     Accordingly, a need exists for a way to contain excess draping material and route the cables to keep one or both out of the way during a medical procedure or to more efficiently route the same. 
     SUMMARY 
     In accordance with an aspect of the present disclosure, a drape management assembly for a robotic surgical system is provided. The drape management assembly includes a base portion and a grasping portion. The base portion is configured for connection to the robotic surgical system. The grasping portion extends from the base portion and defines a cavity therebetween. The cavity is configured to locate an excess portion of a drape which sheaths at least a robotic arm of the robotic surgical system. 
     In some embodiments, the grasping portion may include a first jaw and second jaw each rotatably coupled to the base portion. In a first configuration, the first and second jaws may be rotatably approximated and in a second configuration, the first and second jaws may be rotatably spaced apart. 
     It is contemplated that the first and second jaws may be resiliently biased to rotatably return to the first configuration. 
     It is envisioned that the base portion may include a first prong and a second prong. The first prong may operably support the first jaw and the second prong may operably support the second prong. 
     In some aspects of the present disclosure, each of the first and second jaws may include a first and second end, respectively, wherein the first end of each of the first and second jaws may be hingedly coupled to the first and second prongs, respectively. 
     In some embodiments, in the first configuration, the second ends of the first and second jaws may be spaced apart a first distance, and in the second configuration, the second ends of the first and second jaws may be spaced apart a second distance greater than the first distance. 
     It is envisioned that the cavity may include a first cavity formed by the base portion and the grasping portion in the first configuration, and a second cavity formed by the base portion and the grasping portion in the second configuration, the second cavity being larger than the first cavity. 
     It is contemplated that the first and second prongs may each include a first radius of curvature and the first and second jaws may each include a second radius of curvature. 
     In some aspects of the present disclosure, the base portion may further include a stem supporting the first and second prongs. 
     In some embodiments, in the first configuration, the first distance between the second ends of the first and second jaws may be configured to incrementally release the excess portion of the drape from within the cavity formed by the base portion and the grasping portion. 
     It is envisioned that in the second configuration, the second distance between the second ends of the first and second jaws may be configured for gathering and locating the excess portion of the drape within the cavity formed by the base portion and the grasping portion such that the excess portion of the drape is located and captured within the cavity formed by the base portion and the grasping portion when the first and second jaws are returned to the first configuration. 
     It is contemplated that the drape management assembly may further include a securing member configured to selectively fix the first and second jaws in the second configuration. 
     In some aspects of the present disclosure, the second ends of the first and second jaws may each include a first and second lip, respectively, wherein the first and second lips may each include an end portion extending away from the second ends of the first and second jaws. 
     In some embodiments, the first and second lips may extend away from the cavity formed by the base portion and the grasping portion and away from one another, such that a distance between the end portions of the first and second lips is greater than a distance between the second ends of the first and second jaws. 
     It is envisioned that the first and second lips may extend towards the cavity formed by the base portion and the grasping portion and towards one another, such that a distance between the end portions of the first and second lips is less than a distance between the second ends of the first and second jaws. 
     It is contemplated that the first and second lips may be hingedly coupled to the second ends of the first and second jaws respectively, and resiliently biased to an approximated position wherein the distance between the end portions thereof is less than the distance between the second ends of the first and second jaws. 
     In another aspect of the present disclosure, a drape management assembly for a robotic surgical system is provided. The drape management assembly includes a base portion and a grasping portion. The base portion includes a first prong having a first end and a second end and a second prong having a first end and a second end, the first and second prongs coupled to one another at the respective first ends thereof. The grasping portion includes a first jaw having a first end and a second end and a second jaw having a first end and a second end, the first ends of the first and second jaws operably coupled to the second ends of the first and second prongs, respectively. The base portion and the grasping portion define a cavity therebetween, wherein the cavity is configured to locate an excess portion of a drape. 
     In some embodiments, the drape management assembly may further include a first hinge rotatably coupling the first prong and the first jaw and a second hinge rotatably coupling the second prong and the second jaw. The first and second hinges may be spring loaded such that the first and second jaws are resiliently biased to a first configuration wherein the second ends of the first and second jaws are approximated. 
     It is contemplated that the drape may be configured to enclose a robotic arm of the robotic surgical system, and the drape management assembly may be configured to incrementally release the excess drape portion such that the robotic arm maintains a full range of motion while enclosed within the drape. 
     It is envisioned that the base portion may include a stem having a threaded portion configured to threadably couple the drape management assembly to a robotic arm of the robotic surgical system. 
     Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures. 
     As used herein, the terms parallel and perpendicular are understood to include relative configurations that are substantially parallel and substantially perpendicular up to about + or −10 degrees from true parallel and true perpendicular. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein: 
         FIG. 1  is a schematic illustration of a robotic surgical system including a drape management assembly in accordance with the present disclosure; 
         FIG. 2  is a front, perspective view of the drape management assembly of  FIG. 1  positioned on a slide rail of a robotic arm and including a drape sheathing the slide rail of the robotic arm; 
         FIG. 3A  is a front view of the drape management assembly of  FIG. 1  in a first configuration; 
         FIG. 3B  is a front view of the drape management assembly of  FIG. 1  in a second configuration; 
         FIG. 4  is a front view of the drape management assembly of  FIG. 1  in accordance with an alternative embodiment of the present disclosure; 
         FIG. 5A  is a front view of the drape management assembly of  FIG. 1  in accordance with another alternative embodiment of the present disclosure; and 
         FIG. 5B  is a front view of a grasping portion of the drape management assembly of  FIG. 5A  in accordance with an alternative embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the presently disclosed drape management assembly and methods of use thereof are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the robotic surgical system, surgical assembly, or component thereof, that is closer to a patient, while the term “proximal” refers to that portion of the robotic surgical system, surgical assembly, or component thereof, that is farther from a patient. 
     As will be described in detail below, provided is a drape management assembly configured to be attached to a robotic surgical system. The drape management assembly includes a cavity configured to locate an excess portion of a drape as the drape encloses or sheaths a portion of the robotic surgical system, such as, for example, a robotic arm. 
     Referring initially to  FIG. 1 , a surgical system, such as, for example, a robotic surgical system  1 , generally includes one or more robotic arms  2 ,  3 , a control device  4 , and an operating console  5  coupled with control device  4 . Robotic arms  2 ,  3  may each have a robotic surgical assembly  100  and an electromechanical surgical instrument  200  coupled thereto. In some embodiments, robotic surgical assembly  100  may be coupled to a slide rail  20  of robotic arms  2 ,  3 . 
     Operating console  5  includes a display device  6 , which is set up to display three-dimensional images; and manual input devices  7 ,  8 , by means of which a clinician (not shown), is able to telemanipulate robotic arms  2 ,  3  in a first operating mode, as known in principle to a person skilled in the art. Robotic arms  2 ,  3  may be driven by electric drives (not shown) that are connected to control device  4  (e.g., a computer) which is set up to activate the drives, for example, by means of a computer program, in such a way that robotic arms  2 ,  3 , the attached robotic surgical assembly  100 , and thus electromechanical surgical instrument  200  (including the electromechanical end effector, not shown) execute a desired movement according to a movement defined by means of manual input devices  7 ,  8 . Control device  4  may also be set up in such a way that it regulates the movement of robotic arms  2 ,  3  and/or of the drives. To that end, control device  4  may control a plurality of motors, e.g., motors (Motor  1  . . . n), with each motor configured to drive movement of robotic arms  2 ,  3  in a plurality of directions. 
     Robotic surgical system  1  is configured for use on a patient “P” positioned (e.g., lying) on a surgical table “ST” to be treated in a minimally invasive manner by means of a surgical instrument, e.g., electromechanical surgical instrument  200 . The robotic surgical system  1  may also include more than two robotic arms  2 ,  3 , the additional robotic arms likewise connected to control device  4  and telemanipulatable by means of operating console  5 . A surgical instrument, for example, electromechanical surgical instrument  200  (including the electromechanical end effector thereof), may also be attached to any additional robotic arm(s). 
     For a detailed description of the construction and operation of a robotic surgical system, reference may be made to U.S. Patent Application Publication No. 2012/0116416, filed on Nov. 3, 2011 (now U.S. Pat. No. 8,828,023), entitled “Medical Workstation,” the entire contents of which are incorporated by reference herein. 
     With continued reference to  FIG. 1  and additional reference to  FIG. 2 , robotic surgical system  1  includes one or more sterile barriers or drapes  30  enclosing robotic arms  2 ,  3  and robotic surgical assemblies  100  coupled thereto. Drape  30  is configured to create an enclosed sterile environment to prevent contamination of robotic arms  2 ,  3  and robotic surgical assemblies  100  coupled thereto from, for example, electromechanical surgical instrument  200 , bodily fluids, the operating room environment, etc. It is envisioned that drape  30  includes excess draping material or portions to provide enough slack such that the enclosed robotic arms  2 ,  3  and robotic surgical assemblies  100  coupled thereto maintain operable in a full range of motion while remaining within the sterile enclosure of drape  30 . To that end, robotic surgical system  1  includes a drape management assembly  300  configured to control and manage the excess draping material, such as, for example, an excess portion  30   a  of drape  30 , as illustrated in  FIGS. 1 and 2 . 
     With reference to  FIG. 2  and additional reference to  FIGS. 3A and 3B , in some embodiments, drape management assembly  300  is operably coupled to a first end  20   a  of slide rail  20  of robotic arms  2 ,  3 . However, in certain embodiments, drape management assembly  300  may be coupled to alternative components of robotic surgical system  1 , such as, for example, robotic surgical assembly  100  (not specifically shown). 
     Drape management assembly  300  includes a first and second configuration as best illustrated in  FIGS. 3A and 3B , respectively. Generally, drape management assembly  300  has a base portion  302  and a grasping portion  304  pivotally or hingedly coupled to base portion  302 . Base portion  302  includes a stem  306 , and a first prong  308  and a second prong  310 , each extending from stem  306 . 
     Stem  306  has a first end  306   a  configured to couple to robotic surgical system  1 , such as, for example, rail  20  (see.  FIG. 2 ), and a second end  306   b  configured to couple to prongs  308 ,  310 . In some embodiments, first end  306   a  includes a threaded portion  306   c  configured to be threadably located within a corresponding slot or aperture  22  (see  FIG. 2 ) on first end  20   a  of slide rail  20  of robotic arms  2 ,  3  to removably attach drape management assembly  300  to robotic arms  2 ,  3 . Alternatively, in certain embodiments, first end  306   a  of stem  306  may be fastened to first end  20   a  of slide rail  20  using adhesives, clips, fasteners or the like. In other embodiments, first end  306   a  of stem  306  may be monolithically formed with first end  20   a  of slide rail  20 . 
     Continuing with  FIGS. 3A and 3B , prongs  308 ,  310  each include a first end  308   a ,  310   a  and a second end  308   b ,  310   b , respectively, wherein first ends  308   a ,  310   a  of prongs  308 ,  310  are configured to couple to second end  306   b  of stem  306 . In some embodiments, first ends  308   a ,  310   a  of prongs  308 ,  310  are monolithically formed with second end  306   b  of stem  306 . In certain embodiments, first ends  308   a ,  310   a  of prongs  308 ,  310  may be removably attached to second end  306   b  of stem  306 . 
     Second ends  308   b ,  310   b  of prongs  308 ,  310  are spaced apart by a distance indicated by “D 1 .” In some embodiments, distance “D 1 ” between ends  308   b ,  310   b  of prongs  308 ,  310  is approximately 1.5 inches (3.81 centimeters). However, it is contemplated that distance “D 1 ” may alternatively be any suitable distance. 
     Prongs  308 ,  310  are curved such that prongs  308 ,  310  each include a radius of curvature “R 1 .” In some embodiments, prongs  308 ,  310  may each include a different radius of curvature (not specifically shown). In certain embodiments, prongs  308 ,  310  may instead be linear and define an angle (not specifically shown) therebetween. As illustrated in the figures, stem  306  and prongs  308 ,  310  together define a substantially Y-shaped base portion  302 . However, in certain embodiments, base portion  302  may assume a variety of alternative shapes as necessary for its intended purpose. 
     Grasping portion  304  of drape management assembly  300  includes a first jaw  312  and a second jaw  314 . Jaws  312 ,  314  are pivotally or hingedly coupled to prongs  308 ,  310  via a first hinge  316  and a second hinge  318 , respectively. Jaws  312 ,  314  each include a first end  312   a ,  314   a  and a second end  312   b ,  314   b , respectively, and hinges  316 ,  318  each include a first portion  316   a ,  318   a  and a second portion  316   b ,  318   b , respectively. Second ends  308   b ,  310   b  of prongs  308 ,  310  are configured to be coupled with respective hinges  316 ,  318  at first portions  316   a ,  318   a  thereof. Similarly, first ends  312   a ,  314   a  of jaws  312 ,  314  are configured to be coupled with respective hinges  316 ,  318  at second portions  316   b ,  318   b  thereof. In some embodiments, jaws  312 ,  314  and prongs  308 ,  310  are removably attached to respective hinges  316 ,  318  using fasteners (not shown) such as, for example, pins or the like. In other embodiments, jaws  312 ,  314  and prongs  308 ,  310  may be fixedly attached to respective hinges  316 ,  318  using suitable adhesives, fasteners or the like. 
     Hinges  316 ,  318  are spring loaded such that first jaw  312  is resiliently biased in a direction indicated by arrow “A 1 ” and second jaw  314  is resiliently biased in a direction indicated by arrow “A 2 .” In other words, hinges  316 ,  318  are resiliently biased to return jaws  312 ,  314  to the first configuration of drape management assembly  300 , as illustrated in  FIG. 3A , wherein jaws  312 ,  314  are approximated relative to one another. 
     In other embodiments, hinges  316 ,  318  may include shape-memory alloys configured to return jaws  312 ,  314  to the first configuration of drape management assembly  300 , wherein jaws  312 ,  314  are approximated relative to one another. 
     In the first configuration, prongs  308 ,  310  and jaws  312 ,  314  together, define a cavity “C 1 ” configured to releasably locate excess portion  30   a  of drape  30 . Though jaws  312 ,  314  are approximated, second ends  312   b ,  314   b  of jaws  312 ,  314  remain spaced apart a distance indicated by “D 2 .” It is contemplated that distance “D 2 ” between second ends  312   b ,  314   b  of jaws  312 ,  314  is sized and configured to substantially retain excess portion  30   a  of drape  30  within cavity “C 1 ” while incrementally releasing excess portion  30   a  of drape  30  from within cavity “C 1 ” as necessary to maintain full range of motion for robotic arms  2 ,  3  and robotic surgical assemblies  100  coupled thereto while remaining within the sterile enclosure of drape  30 . 
     With specific reference to  FIG. 3B , in the second configuration of drape management assembly  300 , first jaw  312  is rotated about first hinge  316  relative to first prong  308  in a direction indicated by arrow “B 1 ,” and second jaw  314  is rotated about second hinge  318  relative to second prong  310  in a direction indicated by arrow “B 2 .” Jaws  312 ,  314  are both rotated to the second configuration in the directions indicated by arrows “B 1 ” and “B 2 ,” respectively, against the resilient bias of hinges  316 ,  318  in the directions indicated by arrows “A 1 ” and “A 2 ,” respectively. Once fully rotated, second ends  312   b ,  314   b  of jaws  312 ,  314  are spaced apart by a distance indicated by “D 3 ,” wherein distance “D 3 ” is greater than distance “D 2 ” between second ends  312   b ,  314   b  of jaws  312 ,  314 , when in the first configuration. In the second configuration, prongs  308 ,  310  and jaws  312 ,  314  define a cavity “C 2 ” therebetween wherein cavity “C 2 ” is larger than cavity “C 1 ” defined by prongs  308 ,  310  and jaws  312 ,  314  in the first configuration. Distance “D 3 ” between second ends  312   b ,  314   b  of jaws  312 ,  314  is sized and configured to enable a clinician to gather and locate excess portion  30   a  of drape  30  within cavity “C 2 ” such that excess portion  30   a  of drape  30  may be captured and located within cavity “C 1 ” when jaws  312 ,  314  are returned to the first configuration. 
     In some embodiments, hinges  316 ,  318  may each include a securing member or a hinge lock (not shown), wherein the hinge locks are configured to selectively fix jaws  312 ,  314  in the second configuration. 
     Though not specifically shown in the figures, in certain embodiments, it is contemplated that jaws  312 ,  314  may share a common hinge, wherein jaws  312 ,  314  are hingedly coupled to the common hinge at second ends  312   b ,  314   b  thereof. In other embodiments, it is contemplated that one of jaws  312 ,  314  may be fixed while the other is rotatable. 
     Returning briefly to  FIG. 3A , similar to prongs  308 ,  310 , jaws  312 ,  314  are curved such that jaws  312 ,  314  each include a radius of curvature “R 2 ,” wherein radius of curvature “R 2 ” is equal to radius of curvature “R 1 ” defined by prongs  308 ,  310 . As such, in some embodiments, prongs  308 ,  310  and jaws  312 ,  314  together define a substantially circular shape. Alternatively, jaws  312 ,  314  may each include a different radius of curvature (not specifically shown). In certain embodiments, radius of curvature “R 2 ” defined by jaws  312 ,  314  may be greater than or less than radius of curvature “R 1 ” defined by prongs  308 ,  310 . Accordingly, in certain embodiments, prongs  308 ,  310  and jaws  312 ,  314  together may define a substantially oblong shape. Alternatively, in other embodiments, jaws  312 ,  314  may be linear and instead include an angle (not specifically shown) therebetween. Accordingly, in other embodiments, prongs  308 ,  310  and jaws  312 ,  314  together define a substantially quadrilateral shape. 
     With additional reference to  FIG. 3B , second ends  312   b ,  314   b  of jaws  312 ,  314 , each include an end tip  312   c ,  314   c , respectively. End tips  312   c ,  314   c  are rounded such that drape  30  is not punctured or marred while excess portion  30   a  of drape  30  is captured, located, and released from between second ends  312   b ,  314   b  of jaws  312 ,  314 . In some embodiments, end tips  312   c ,  314   c  may each include a coating  313 ,  315  configured to prevent second ends  312   b ,  314   b  of jaws  312 ,  314  from damaging drape  30 . In certain embodiments, coatings  313 ,  315  may include polymers, such as, for example, rubber, silicone, and/or polyvinyl chloride (PVC). In other embodiments, coatings  313 ,  315  may include a variety of alternative materials as necessary for its intended purpose. It is further contemplated that the coatings  313 ,  315  may be replaced by end caps or the like. 
     With reference to  FIGS. 4, 5A, and 5B , additional embodiments of drape management assembly  300  are shown generally as drape management assembly  400  and drape management assembly  500 , respectively. Drape management assemblies  400 ,  500  are substantially similar to drape management assembly  300  detailed above. As such, only additional and alternative features of drape management assemblies  400 ,  500  will be described below. 
     With specific reference to  FIG. 4 , drape management assembly  400  generally includes a base portion  402  and a grasping portion  404  pivotally or hingedly coupled to base portion  402 . Similar to base portion  302 , base portion  402  includes a stem  406  and a first and second prong  408 ,  410  extending therefrom. Grasping portion  404  of drape management assembly  400  includes a first jaw  412  and a second jaw  414 , wherein in a first configuration, prongs  408 ,  410  and jaws  412 ,  414  define a cavity “E” therebetween. Similar to cavity “C 1 ” (see  FIG. 3A ) described above with reference to the first configuration of drape management assembly  300 , cavity “E” is also configured to capture and locate excess portion  30   a  of drape  30  (see  FIG. 2 ). 
     Jaws  412 ,  414  of drape management assembly  400  each include a first end  412   a ,  414   a  and a second end  412   b ,  414   b , respectively, wherein first ends  412   a ,  414   a  of jaws  412 ,  414  are coupled to prongs  408 ,  410  in a manner similar to which was described above with reference to jaws  312 ,  314  of drape management assembly  300 . Second ends  412   b ,  414   b  of jaws  412 ,  414  are spaced apart a distance indicated by “D 4 ,” and each include a lip  413 ,  415 , respectively. Lips  413 ,  415  extend away from cavity “E” and are spaced apart a distance indicated by “D 5 ” between an end portion  413 ,  415 , respectively thereof, wherein distance “D 5 ” between end portions  413 ,  415  is greater than distance “D 4 ” between second ends  412   b ,  414   b  of jaws  412 ,  414 . It is contemplated that distance “D 5 ” between end portions  413   a ,  415   a  of lips  413 ,  415  enables a clinician to feed excess portion  30   a  of drape  30  into cavity “E” while drape management assembly  400  is still in the first configuration, as illustrated in  FIG. 4 . 
     Lip  413  of drape management assembly  400  extends angularly away from cavity “E” in a manner in which lip  413  and second end  412   b  of first jaw  412  define an angle “α 1 ” therebetween. Similarly, lip  415  of drape management assembly  400  extends angularly away from cavity “E” in a manner in which lip  415  and second end  414   b  of second jaw  414  define an angle “α 2 ” therebetween. In some embodiments, angles “α 1 ,” “α 2 ” between lips  413 ,  415  and second ends  412   b ,  414   b , respectively, is less than 90 degrees. In certain embodiments, angles “α 1 ,” “α 2 ” between lips  413 ,  415  and second ends  412   b ,  414   b , respectively, may be approximately 90 degrees (not specifically shown) such that lips  413 ,  415  are parallel to a longitudinal axis “X” of drape management assembly  400 . 
     With specific reference to  FIG. 5A , drape management assembly  500  generally includes a base portion  502  and a grasping portion  504  pivotally or hingedly coupled to base portion  502 . Similar to base portions  302 ,  402 , base portion  502  includes a stem  506  and a first and second prong  508 ,  510  extending therefrom. Grasping portion  504  of drape management assembly  500  includes a first jaw  512  and a second jaw  514 , wherein in a first configuration, prongs  508 ,  510  and jaws  512 ,  514  define a cavity “F” therebetween. Similar to cavities “C 1 ,” “E” (see  FIGS. 3A and 4 ) described above with reference to the first configuration of respective drape management assembly  300 ,  400 , cavity “F” is also configured to capture and locate excess portion  30   a  of drape  30 . 
     Jaws  512 ,  514  each include a first end  512   a ,  514   a  and a second end  512   b ,  514   b , respectively, wherein first ends  512   a ,  514   a  of jaws  512 ,  514  are pivotally or hingedly coupled to prongs  508 ,  510  in a manner similar to which was described above with reference to jaws  312 ,  314 ,  412 ,  414 . Second ends  512   b ,  514   b  of jaws  512 ,  514  are spaced apart a distance indicated by “D 6 ,” and each include a lip  513 ,  515 , respectively. Lips  513 ,  515  extend angularly towards cavity “F” and are spaced apart a distance indicated by “D 7 ” between a first end portion  513   a ,  515   a , respectively thereof, wherein distance “D 6 ” between second ends  512   b ,  514   b  of jaws  512 ,  514  is greater than distance “D 7 ” between first end portions  513   a ,  515   a  of lips  513 ,  515 . 
     It is contemplated that distance “D 6 ” between second ends  512   b ,  514   b  of jaws  512 ,  514  is sized and configured to enable a clinician to feed excess portion  30   a  of drape  30  into cavity “F” while drape management assembly  500  is still in the first configuration, as illustrated in  FIG. 5A . Similar to distance “D 4 ” between second ends  412   b ,  414   b  of jaws  412 ,  414 , distance “D 7 ” between first end portions  513   a ,  515   a  of lips  513 ,  515  is configured to enable excess portion  30   a  of drape  30  to be incrementally released from within cavity “F” as necessary to maintain full range of motion for robotic arms  2 ,  3  and robotic surgical assemblies  100  coupled thereto while remaining within the sterile enclosure of drape  30 . 
     Specifically, lip  513  of drape management assembly  500  extends angularly toward cavity “F” in a manner in which lip  513  and second end  512   b  of first jaw  512  define an angle “β 1 ” therebetween. Similarly, lip  515  extends angularly toward cavity “F” in a manner in which lip  515  and second end  514   b  of second jaw  514  define an angle “β 2 ” therebetween. In some embodiments, angle “β 1 ,” “β 2 ” between lip  513 ,  515  and end  512   b ,  514   b , respectively, is greater than 90 degrees. In certain embodiments, angle “β 1 ,” “β 2 ” between lip  513 ,  515  and end  512   b ,  514   b , respectively, is approximately 90 degrees (not specifically shown) such that lip  513 ,  515  is parallel to a longitudinal axis “Y” of drape management assembly  500 . It is envisioned that angle “β 1 ,” “β 2 ” between lip  513 ,  515  and end  512   b ,  514   b , respectively, is inversely proportional to distance “D 7 ” between first end portions  513   a ,  515   a  of lips  513 ,  515 . Due to the angular extension of lips  513 ,  515  towards cavity “F,” first end portions  513   a ,  515   a  of lips  513 ,  515  engage excess portion  30   a  of drape  30  located within cavity “F” such that the entire excess slack or excess portion  30   a  of drape  30  is unable to be released at once or is inhibited from being released. 
     With reference to  FIG. 5B , in another embodiment of drape management assembly  500 , each lip  513 ,  515  includes a second end portion  513   b ,  515   b , respectively. Second end portions  513   b ,  515   b  are each pivotally or hingedly coupled to second ends  512   b ,  514   b  of jaws  512 ,  514  via a hinge  517 ,  519 , respectively. In some embodiments, hinges  517 ,  519  are resiliently biased in a direction indicated by arrows “G 1 ,” “G 2 ,” respectively, such that lips  513 ,  515  rotate about hinges  517 ,  519  relative to jaws  512 ,  514  to an approximated position. In certain embodiments, hinges  517 ,  519  each include a stop member  517   a ,  519   a , respectively. Stop members  517   a ,  519   a  are configured to prevent rotation of lips  513 ,  515  beyond a threshold such that first end portions  513   a ,  515   a  of lips  513 ,  515  always maintain a minimum spaced apart distance “D 7 .” 
     In this embodiment, when a clinician feeds excess portion  30   a  of drape  30  into cavity “F,” lips  513 ,  515  of drape management assembly  500  are configured to rotate about hinges  517 ,  519 , towards jaws  512 ,  514  (or away from one another), respectively, against the bias of hinges  517 ,  519 . Such a rotation of lips  513 ,  515  enlarges distance “D 7 ” between first end portions  513   a ,  515   a  of lips  513 ,  515  such that excess portion  30   a  of drape  30  may more easily be fed into cavity “F” of drape management assembly  500 . Similar to the embodiment of drape management assembly  500  described with reference to  FIG. 5A , the minimum distance “D 7 ” between first end portions  513   a ,  515   a  of lips  513 ,  515  is configured to enable excess portion  30   a  of drape  30  to be incrementally released from within cavity “F” as necessary to maintain full range of motion for robotic arms  2 ,  3  and robotic surgical assemblies  100  coupled thereto while remaining within the sterile enclosure of drape  30 . 
     In operation, turning back to  FIGS. 1-3B , with drape management assembly  300  in a first configuration (see  FIG. 3A ), a clinician rotates jaws  312 ,  314  about hinges  316 ,  318  in the directions indicated by arrows “B 1 ,” “B 2 ” until hinge locks (not shown) selectively fix jaws  312 ,  314  into the second configuration (see  FIG. 3B ). Robotic arms  2 ,  3  and robotic surgical assemblies  100  coupled thereto are then enclosed within drape  30  (see  FIGS. 1 and 2 ) and excess portion  30   a  of drape  30  is gathered and fed into cavity “C 2 ” between prongs  308 ,  310  and jaws  312 ,  214  of drape management assembly  300 . The clinician then disengages the hinge locks such that jaws  312 ,  314  are resiliently biased by hinges  316 ,  318  in the direction indicated by arrows “A 1 ,” “A 2 ” to the first configuration shown in  FIG. 3A . After excess portion  30   a  of drape  30  is located and captured within cavity “C 1 ” between prongs  308 ,  310  and jaws  312 ,  214 , the clinician proceeds with the medical procedure. During the medical procedure, excess portion  30   a  of drape  30  is incrementally released from within cavity “C 1 ” through distance “D 2 ” between second ends  312   b ,  314   b  as necessary to enable full range of motion for robotic arms  2 ,  3  and robotic surgical assemblies  100  coupled thereto. If excess portion  30   a  of drape  30  reaccumulates, the clinician repeats the process of gathering excess portion  30   a  of drape  30  and locating it within cavity “C 1 ” until the medical procedure is completed. 
     The operation of drape management assemblies  400 ,  500  are substantially similar to the operation of drape management assembly  300 . However, as noted above, in the operation of drape management assemblies  400 ,  500 , the clinician may more easily feed excess portion  30   a  of drape  30  directly into cavities “E,” “F,” respectively, while drape management assemblies  400 ,  500  are in the first configuration, as illustrated in  FIGS. 4 and 5A . 
     It will be understood that various modifications may be made to the embodiments disclosed herein. For example, in certain embodiments, drape management assemblies  300 ,  400 ,  500  may also be configured to route cables and wires (not specifically shown) through cavities “C 1 ,” “E,” and “F,” respectively, such that the cables and wires do not interfere with the medical procedure. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.