Patent Description:
Various robotic systems have recently been developed to assist in MIS procedures. Robotic systems can allow for more instinctive hand movements by maintaining natural eye-hand axis. Robotic systems can also allow for more degrees of freedom in movement by including an articulable "wrist" joint that creates a more natural hand-like articulation. In such systems, an end effector positioned at the distal end of the instrument can be articulated (moved) using a cable driven motion system having one or more drive cables (or other elongate members) that extend through the wrist joint. A user (e.g., a surgeon) is able to remotely operate the end effector by grasping and manipulating in space one or more controllers that communicate with a tool driver coupled to the surgical instrument. User inputs are processed by a computer system incorporated into the robotic surgical system, and the tool driver responds by actuating the cable driven motion system and thereby actively controlling the tension balance in the drive cables. Moving the drive cables articulates the end effector to desired angular positions and configurations.

Robotic surgical tools typically include a drive housing and a shaft that extends from the drive housing. The end effector is positioned at the end of the shaft and the wrist interposes the end effector and the end of the shaft to facilitate articulation of the end effector. The drive housing includes coupling features that releasably couples the surgical tool to a robotic surgical system, and houses various drive inputs and mechanisms (e.g., gears, actuators, etc.) designed to control operation of various features associated with the end effector.

After use, the drive housing and other component parts of the surgical tool must be fully cleaned and disinfected. Since proper and effective cleaning is vital for the health of patients, there is an ongoing need for improvements to the cleaning processes of robotic surgical tools.

<CIT> discloses a surgical instrument comprising a tool located at the distil end of a shaft with a fluid inlet, further comprising a drive element inside the shaft, such that the drive element may be cleaned by introducing cleaning fluid via the fluid inlet into the shaft.

<CIT> discloses an operating device for operating a medical instrument in a cleaning and disinfection machine provided with a mounting part for mounting a medical instrument, wherein the instrument is provided with an operating element with which a moveable instrument part can be moved, an activation member, during use provided near the operating element, such as on the mounting part, facing towards the instrument and adapted to engage the operating element, wherein the activation member during use is driveably connected to a drive, in such a way that the moveable instrument part is moveable by the drive.

<CIT> discloses a system for cleaning medical devices in which the device is placed in a tub and ultrasound applied to loosen dirt particles adhered to the surface.

<CIT> discloses a device for connecting openings for the passage of a fluid, which are provided in a holding body of an endoscope, with a washing, cleaning, sterilizing and possibly drying circuits with several supply tubes.

<CIT> discloses systems and methods for coupling a robotic surgical tool with a tool driver of a robotic surgical system via a sterile barrier disposed between the tool and the tool driver. The sterile barrier can have a housing configured to accommodate proximal portions of a plurality of actuation members of the tool driver when the sterile barrier is coupled to the tool driver.

The following figures are included to illustrate certain aspects of the present disclosure, and should not be viewed as exclusive embodiments. The subject matter disclosed is capable of considerable modifications, alterations, combinations, and equivalents in form and function, without departing from the scope of this disclosure.

The present disclosure is related to robotic surgical systems and, more particularly, to adapters upon which a drive housing for a robotic surgical tool can be mounted for cleaning and disinfecting.

Embodiments are given in the dependent claims. Described herein is an adapter for a robotic surgical tool autowasher system. The adapter can include a frame matable with a drive housing of the robotic surgical tool, a shoulder defined on the frame and at least partially circumscribing a basin defined in the frame, and one or more fluid apertures defined in the basin and extending through the frame from a top surface to a bottom surface. One or more alignment features may protrude from the frame and are arranged to align with and extend into a corresponding one or more apertures defined in a bottom of the drive housing. At least one of the one or more alignment features only partially plugs an associated aperture of the corresponding one or more apertures.

<FIG> is a block diagram of an example robotic surgical system <NUM> that may incorporate some or all of the principles of the present disclosure. As illustrated, the system <NUM> can include at least one set of user input controllers 102a and at least one control computer <NUM>. The control computer <NUM> may be mechanically and/or electrically coupled to a robotic manipulator and, more particularly, to one or more robotic arms <NUM> (alternately referred to as "tool drivers"). In some embodiments, the robotic manipulator may be included in or otherwise mounted to an arm cart capable of making the robotic surgical system <NUM> portable. Each robotic arm <NUM> may include and otherwise provide a location for mounting one or more surgical instruments or tools <NUM> for performing various surgical tasks on a patient <NUM>. Operation of the robotic arms <NUM> and associated tools <NUM> may be directed by a clinician 112a (e.g., a surgeon) from the user input controller 102a.

In some embodiments, a second set of user input controllers 102b (shown in dashed lines) may be operated by a second clinician 112b to direct operation of the robotic arms <NUM> and tools <NUM> in conjunction with the first clinician 112a. In such embodiments, each clinician 112a,b may control different robotic arms <NUM> or, in some cases, complete control of the robotic arms <NUM> may be passed between the clinicians 112a,b. In some embodiments, additional robotic manipulators (not shown) having additional robotic arms (not shown) may be utilized during surgery on the patient <NUM>, and the additional robotic arms may be controlled by one or more of the user input controllers 102a,b.

The control computer <NUM> and the user input controllers 102a,b may be in communication with one another via a communications link <NUM>, which may be any type of wired or wireless telecommunications means configured to carry a variety of communication signals (e.g., electrical, optical, infrared, etc.) and according to any communications protocol.

The user input controllers 102a,b generally comprise one or more physical controllers that can be grasped or handled by the clinician 112a,b and manipulated in space while viewing the procedure via a stereo display. The physical controllers can comprise manual input devices movable in multiple degrees of freedom, and often include an actuatable handle or pedal for actuating the surgical tool(s) <NUM>. The control computer <NUM> can also include an optional feedback meter viewable by the clinician 112a,b via a display to provide a visual indication of various surgical instrument metrics, such as the amount of force being applied to the surgical instrument (i.e., a cutting instrument or dynamic clamping member).

<FIG> is an isometric side view of an example surgical tool <NUM> that may incorporate some or all of the principles of the present disclosure. The surgical tool <NUM> may be the same as or similar to the surgical tool(s) <NUM> of <FIG> and, therefore, may be used in conjunction with a robotic surgical system, such as the robotic surgical system <NUM> of <FIG>. In other embodiments, however, aspects of the surgical tool <NUM> may be adapted for use in a manual or hand-operated manner, without departing from the scope of the disclosure.

As illustrated, the surgical tool <NUM> includes an elongated shaft <NUM>, an end effector <NUM>, a wrist <NUM> (alternately referred to as a "wrist joint" or an "articulable wrist joint") that couples the end effector <NUM> to the distal end of the shaft <NUM>, and a drive housing <NUM> coupled to the proximal end of the shaft <NUM>. In robotic surgical systems, the drive housing <NUM> can include coupling features that releasably couple the surgical tool <NUM> to a robotic surgical system (e.g., the robotic arm <NUM> of <FIG>).

The terms "proximal" and "distal" are defined herein relative to a robotic surgical system having an interface configured to mechanically and electrically couple the surgical tool <NUM> (e.g., the drive housing <NUM>) to a robotic manipulator. The term "proximal" refers to the position of an element closer to the robotic manipulator and the term "distal" refers to the position of an element closer to the end effector <NUM> and thus further away from the robotic manipulator. Alternatively, in manual or hand-operated applications, the terms "proximal" and "distal" are defined herein relative to a user, such as a surgeon or clinician. The term "proximal" refers to the position of an element closer to the user and the term "distal" refers to the position of an element closer to the end effector <NUM> and thus further away from the user. Moreover, the use of directional terms such as above, below, upper, lower, upward, downward, left, right, and the like are used in relation to the illustrative embodiments as they are depicted in the figures, the upward or upper direction being toward the top of the corresponding figure and the downward or lower direction being toward the bottom of the corresponding figure.

During use of the surgical tool <NUM>, the end effector <NUM> is configured to move (pivot) relative to the shaft <NUM> at the wrist <NUM> to position the end effector <NUM> at desired orientations and locations relative to a surgical site. To accomplish this, the drive housing <NUM> includes (contains) various drive inputs and mechanisms (e.g., gears, actuators, drive members, etc.) designed to control operation of various features associated with the end effector <NUM> (e.g., clamping, firing, rotation, articulation, cutting, etc.). In at least some applications, the shaft <NUM> and the end effector <NUM> coupled thereto are configured to rotate about a longitudinal axis A<NUM> of the shaft <NUM>. In such embodiments, at least one of the drive inputs controls rotational movement of the shaft <NUM> about the longitudinal axis A<NUM>.

The end effector <NUM> may comprise, but is not limited to, forceps, a grasper, a needle driver, scissors, an electro cautery tool, a vessel sealer, a stapler, a clip applier, a hook, a spatula, a suction tool, an irrigation tool, an imaging device (e.g., an endoscope or ultrasonic probe), or any combination thereof. In the illustrated embodiment, the end effector <NUM> comprises a tissue grasper and vessel sealer that includes opposing jaws <NUM>, <NUM> configured to move (articulate) between open and closed positions. As will be appreciated, however, the opposing jaws <NUM>, <NUM> may alternatively form part of other types of end effectors such as, but not limited to, surgical scissors, a clip applier, a needle driver, a babcock including a pair of opposed grasping jaws, bipolar jaws (e.g., bipolar Maryland grasper, forceps, a fenestrated grasper, etc.), etc. One or both of the jaws <NUM>, <NUM> may be configured to pivot relative to the other to open and close the jaws <NUM>, <NUM>. The principles of the present disclosure, however, are equally applicable to end effectors without opposing jaws. In some embodiments, the surgical tool <NUM> may further be configured to apply energy to tissue, such as radio frequency (RF) energy.

<FIG> illustrates the potential degrees of freedom in which the wrist <NUM> may be able to articulate (pivot). The wrist <NUM> comprises a joint configured to allow pivoting movement of the end effector <NUM> relative to the shaft <NUM>. The degrees of freedom of the wrist <NUM> are represented by three translational variables (i.e., surge, heave, and sway) and three rotational variables (i.e., Euler angles or roll, pitch, and yaw). The translational and rotational variables describe the position and orientation of the end effector <NUM> with respect to a given reference Cartesian frame. "Surge" refers to forward and backward translational movement, "heave" refers to translational movement up and down, and "sway" refers to translational movement left and right. "Roll" refers to tilting side to side, "pitch" refers to tilting forward and backward, and "yaw" refers to turning left and right.

The pivoting motion can include pitch movement about a first axis of the wrist <NUM> (e.g., X-axis), yaw movement about a second axis of the wrist <NUM> (e.g., Y-axis), and combinations thereof to allow for <NUM>° rotational movement of the end effector <NUM> about the wrist <NUM>. In other applications, the pivoting motion can be limited to movement in a single plane, e.g., only pitch movement about the first axis of the wrist <NUM> or only yaw movement about the second axis of the wrist <NUM>, such that the end effector <NUM> moves only in a single plane.

Referring again to <FIG>, the surgical tool <NUM> may also include a plurality of drive cables (obscured in <FIG>) that form part of a cable driven motion system that facilitates movement and articulation of the end effector <NUM> relative to the shaft <NUM>. Moving (actuating) the drive cables moves the end effector <NUM> between an unarticulated position and an articulated position. The end effector <NUM> is depicted in <FIG> in the unarticulated position where a longitudinal axis A<NUM> of the end effector <NUM> is substantially aligned with the longitudinal axis A<NUM> of the shaft <NUM>, such that the end effector <NUM> is at a substantially zero angle relative to the shaft <NUM>. In the articulated position, the longitudinal axes A<NUM>, A<NUM> would be angularly offset from each other such that the end effector <NUM> is at a non-zero angle relative to the shaft <NUM>.

In some embodiments, the surgical tool <NUM> may be supplied with electrical power (current) via a power cable <NUM> coupled to the drive housing <NUM>. In other embodiments, the power cable <NUM> may be omitted and electrical power may be supplied to the surgical tool <NUM> via an internal power source, such as one or more batteries or fuel cells. In such embodiments, the surgical tool <NUM> may alternatively be characterized and otherwise referred to as an "electrosurgical instrument" capable of providing electrical energy to the end effector <NUM>. The power cable <NUM> may place the surgical tool <NUM> in communication with a generator <NUM> that supplies energy, such as electrical energy (e.g., radio frequency energy), ultrasonic energy, microwave energy, heat energy, or any combination thereof, to the surgical tool <NUM> and, more particularly, to the end effector <NUM>.

After the surgical tool <NUM> has been placed in service, it must be properly cleaned in preparation for future use. Because of the several moveable component parts contained within the drive housing <NUM>, properly cleaning the internal components of the drive housing <NUM> can be a complex and time-consuming process. According to the present disclosure, various embodiments of adapters are disclosed that mechanically interface with the surgical tool <NUM> to couple the drive housing <NUM> to an autowasher system designed to fill the drive housing <NUM> with a cleaning and disinfecting solution, while simultaneously maintaining draining and drying capabilities.

<FIG> is an isometric top view of an example adapter <NUM> for a robotic surgical tool autowasher system, according to one or more embodiments. The adapter <NUM> may be sized and otherwise configured to receive and mate with the drive housing <NUM> to facilitate cleaning and disinfecting of the internal component parts of the drive housing <NUM> using the autowasher system. More specifically, the adapter <NUM> may be engageable or otherwise matable with the bottom of the drive housing <NUM>. Once the drive housing <NUM> is properly mated to the adapter <NUM>, the autowasher system may commence operation by injecting a cleaning and disinfecting solution (hereafter "the cleaning solution") into the interior of the drive housing <NUM> via the adapter <NUM>. The cleaning solution may immerse or otherwise coat the internal components of the drive housing <NUM> and thereby help to clean and disinfect such internal parts. The cleaning solution may be flushed through the drive housing <NUM> and subsequently drained from the drive housing <NUM> via the adapter <NUM>.

The cleaning solution used by the autowasher system may comprise any aqueous fluid configured to clean and disinfect the inner component parts of the drive housing. Example cleaning solutions include detergents such as, but are not limited to, Prolystica® 2X enzymatic detergent and Neodisher MediClean Forte.

As illustrated, the adapter <NUM> can include a generally rectangular frame <NUM> designed to generally match the size and shape of the bottom of the drive housing <NUM>. In other embodiments, however, the size and shape of the frame <NUM> need not match the shape of the drive housing <NUM>, without departing from the scope of the disclosure. The frame <NUM> may be made of a variety of rigid or semi-rigid materials including, but not limited to, a metal, a plastic, rubber, a composite material, or any combination thereof.

In some embodiments, as illustrated, the frame <NUM> may provide or otherwise define a shoulder <NUM> that extends continuously or non-continuously about some or all of the outer periphery of the frame <NUM>. In the illustrated embodiment, the shoulder <NUM> provides a continuous rib feature that circumscribes portions of at least three sides of the frame <NUM>. The shoulder <NUM> could alternatively extend about the entire periphery of the frame <NUM>, or may otherwise be non-continuous about some or all of the periphery of the frame <NUM>, without departing from the scope of the disclosure.

In some embodiments, the bottom of the drive housing <NUM> may be configured to engage or rest on the shoulder <NUM> when the drive housing <NUM> is properly mounted to the adapter <NUM>. In other embodiments, or in addition thereto, the bottom of the drive housing <NUM> may be configured to mate with the shoulder <NUM> in an engagement that secures the drive housing <NUM> to the adapter <NUM>, such as via an interference or snap fit engagement, or the like. The shoulder <NUM> may also be designed to help properly align the drive housing <NUM> with the adapter <NUM> and thereby help facilitate a mating engagement between the two structures. In such embodiments, a corresponding groove or channel (not shown) may be defined on the bottom of the drive housing <NUM> and the shoulder <NUM> may align with and be received in the groove to help align the drive housing <NUM> with the adapter <NUM>.

As illustrated, the shoulder <NUM> protrudes outward a short distance from the upper surface of the adapter <NUM> and thereby helps define a basin <NUM> on the top surface of the frame <NUM>. One or more fluid apertures <NUM> are defined in the basin <NUM> and extend through the frame <NUM> from the top surface to the bottom surface. While six fluid apertures <NUM> are shown in <FIG>, more or less than six may be provided in the frame <NUM>, without departing from the scope of the disclosure.

The fluid apertures <NUM> provide conduits for conveying the cleaning solution to and from the adapter <NUM> during cleaning operations. More specifically, the cleaning solution may be introduced to the basin <NUM> via the fluid apertures <NUM>, and the adapter <NUM> may then convey the cleaning solution into the drive housing <NUM> mounted to the adapter <NUM>. The fluid apertures <NUM> also provide drainage conduits that help drain used cleaning solution from the adapter <NUM> and the drive housing <NUM> after cleaning and disinfecting. In some embodiments, the fluid apertures <NUM> may further be used to help dry the internal components of the drive housing <NUM>. In such embodiments, a gas (e.g., air or another dry gas) may be injected into the interior of the drive housing <NUM> via the fluid apertures <NUM>. Continued injection of the gas will help dry internal components of the drive housing <NUM> and further flush out any cleaning solution that might remain within the interior.

In some embodiments, as illustrated, the bottom of the basin <NUM> may be tapered or angled toward a centerline <NUM> of the basin <NUM> and the fluid apertures <NUM> may be located at or near the centerline <NUM>. Consequently, the basin <NUM> may promote fluid flow toward the centerline <NUM> and the fluid apertures <NUM> for draining used cleaning solution. In other embodiments, however, the bottom of the basin <NUM> may be flat, without departing from the scope of the disclosure.

In at least one embodiment, the frame <NUM> may further provide or define one or more fluid dams <NUM> (one shown) that transverse or extend at least partially across the basin <NUM>. The fluid dam(s) <NUM> may help retain cleaning solution within the basin <NUM> during cleaning operations, but may also be configured to mate with corresponding features on the bottom of the drive housing <NUM> and thereby help properly align the drive housing <NUM> with the adapter <NUM>.

In one or more embodiments, the frame <NUM> may further provide or define a channel <NUM> that may help facilitate additional drainage along with the fluid apertures. In at least one embodiment, as illustrated, the channel <NUM> may extend from the basin <NUM> along the centerline <NUM>, but could alternatively be placed at any other location.

The adapter <NUM> may further provide or define one or more alignment features <NUM> that protrude from the upper surface of the frame <NUM>. In some embodiments, as illustrated, one or more of the alignment features <NUM> may extend past the height of the shoulder <NUM>. The alignment features <NUM> may be arranged on the frame <NUM> to align with and extend into corresponding apertures (orifices) defined in the bottom of the drive housing <NUM>. In conjunction with the shoulder <NUM> (and the fluid dam <NUM>), the design and placement of the alignment features <NUM> may help properly align the drive housing <NUM> (<FIG>) onto the frame <NUM> for cleaning operations.

The apertures (orifices) defined in the bottom of the drive housing <NUM> may also facilitate fluid communication into the interior of the drive housing <NUM>. Consequently, as the cleaning solution is introduced into the adapter <NUM>, the cleaning solution will also migrate into and fill the interior of the drive housing <NUM> via such apertures (orifices). In some embodiments, however, one or more of the alignment features <NUM> may plug or seal the corresponding apertures (orifices) of the drive housing <NUM>, which allows the adapter <NUM> to selectively limit the flow area into the drive housing <NUM>, and thereby allow the drive housing <NUM> to properly fill with cleaning solution during cleaning operations. One or more other alignment features <NUM>, however, may only partially plug (e.g., loosely occlude) the corresponding apertures of the drive housing <NUM>, thereby allowing the cleaning solution to enter and drain from the drive housing <NUM> once the internal component parts are properly disinfected. As will be appreciated, this may yield improved cleanability, rinsing, and flushing in an autowasher as compared to a standalone tool.

The adapter <NUM> interfaces the drive housing <NUM> to the autowasher system. In operation, the drive housing <NUM> will be attached to the adapter <NUM> either before placement within the autowasher or the adapter <NUM> may otherwise be integral to the autowasher and the drive housing <NUM> would be attached when placed within the autowasher. The adapter <NUM> remains attached throughout the cleaning and disinfecting cycle. In some embodiments, the adapter <NUM> may be connected to autowasher flow supply lines. In the instances where the adapter <NUM> is integral to the autowasher, these connections may be permanent or semi-permanent. When the adapter <NUM> is a separate component, the autowasher flow supply lines would be detachable.

<FIG> is an isometric view of another example adapter <NUM> for a robotic surgical tool autowasher system, according to one or more additional embodiments. The adapter <NUM> may be similar in some respects to the adapter <NUM> of <FIG> and therefore may be best understood with reference thereto, where like numerals will represent like components not described again in detail. Similar to the adapter <NUM>, for example, the adapter <NUM> includes the frame <NUM> matable with the drive housing <NUM> (<FIG>) to facilitate cleaning and disinfection of the internal component parts of the drive housing <NUM> using the autowasher system. The adapter <NUM> also includes the shoulder <NUM> that helps define the basin <NUM> and may further help align the drive housing <NUM> with the adapter <NUM> for proper mating engagement. The fluid apertures <NUM> are defined in the basin <NUM> and extend through the frame <NUM> from the top surface to the bottom surface, and may be generally aligned with the centerline <NUM> to provide conduits for draining the cleaning solution from the adapter <NUM> during cleaning operations. The adapter <NUM> further provides the alignment features <NUM> protruding from the upper surface of the frame <NUM> and arranged on the frame <NUM> to align with and extend at least partially into corresponding apertures (orifices) defined in the bottom of the drive housing <NUM>.

Unlike the adapter <NUM> of <FIG>, however, the adapter <NUM> may include one or more internal conduits <NUM> (shown in dashed lines) defined in the frame <NUM> and a fitting <NUM> connected to the frame <NUM> and configured to fluidly connect the internal conduit(s) <NUM> to the autowasher system. Moreover, the internal conduit(s) <NUM> may be in fluid communication with one or more fluid nozzles or outlets <NUM> defined or otherwise provided in a corresponding one or more of the alignment features <NUM>. In the illustrated embodiment, the internal conduit <NUM> extends from the fitting <NUM> and splits into two parallel channels that facilitate fluid communication with each fluid outlet <NUM>. The fluid outlets <NUM> provide a discharge location for the cleaning solution to enter the interior of the drive housing <NUM> (<FIG>). Moreover, while one or more of the alignment features <NUM> may plug or seal the corresponding apertures (orifices) of the drive housing <NUM>, other alignment features <NUM> only partially plug (e.g., loosely occlude) the corresponding apertures of the drive housing <NUM>, thus allowing the cleaning solution to drain from the drive housing <NUM>.

In one example cleaning operation, the drive housing <NUM> (<FIG>) may be mounted to the frame <NUM>, as generally described above. The adapter <NUM> may then be placed in fluid communication with an autowasher system (not shown) by coupling a hose or other fluid conduit extending from the autowasher system to the fitting <NUM>. A cleaning solution may then be introduced into the internal conduit(s) <NUM> from the autowasher system at the fitting <NUM>, and the internal conduit(s) <NUM> convey the cleaning solution to each outlet <NUM>. The cleaning solution is then ejected into the interior of the drive housing <NUM> via the outlets <NUM> to coat or immerse the internal components of the drive housing <NUM> with the cleaning solution and thereby clean and disinfect such parts. During and after the treatment, used cleaning solution may drain from the interior of the drive housing <NUM> via the alignment features <NUM> that only partially plug the corresponding apertures of the drive housing <NUM>.

In some embodiments, the basin <NUM> may be divided into two or more fluid compartments. More specifically, the frame <NUM> may provide or define one or more fluid dams <NUM> (three shown) that transverse or extend at least partially across the basin <NUM>. In the illustrated embodiment, the fluid dams <NUM> help form a first fluid compartment 508a, a second fluid compartment 508b, and a third fluid compartment 508c. At least one fluid aperture <NUM> is provided in each fluid compartment 508a-c to drain the used cleaning solution after draining from the interior of the drive housing <NUM> (<FIG>).

In some embodiments, the fluid conduit(s) <NUM> may further be used to help dry the internal components of the drive housing <NUM> (<FIG>). In such embodiments, a gas (e.g., air or another dry gas) may be injected into the adapter <NUM> via the fitting <NUM> and circulate through the fluid conduit(s) <NUM> and the outlets <NUM> to be discharged into the interior of the drive housing <NUM>. Continued injection of the gas will help dry internal components of the drive housing <NUM> and further flush out any cleaning solution that might remain within the interior.

<FIG> is an isometric view of another example adapter <NUM> for a robotic surgical tool autowasher system, and <FIG> depicts a portion of the drive housing <NUM> mounted to the adapter <NUM>, according to one or more additional embodiments. The upper portion of the drive housing <NUM> and its internal parts are removed in <FIG> for simplicity. Similar to the adapters <NUM> and <NUM> of <FIG> and <FIG>, respectively, the adapter <NUM> may be matable with the drive housing <NUM> to facilitate cleaning and disinfection of the internal component parts of the drive housing <NUM> using the autowasher system. As illustrated, the adapter <NUM> includes a generally rectangular or pill-shaped frame <NUM>. In some embodiments, the size and shape of the frame <NUM> may generally match that of the bottom of the drive housing <NUM>. In other embodiments, however, the size and shape of the frame <NUM> need not match the shape of the drive housing <NUM>, without departing from the scope of the disclosure. The frame <NUM> may be made of any of the materials mentioned above for the frame <NUM> of <FIG>.

The frame <NUM> provides a shoulder <NUM> that extends continuously or non-continuously about all or a portion of the outer periphery of the frame <NUM>. In the illustrated embodiment, the shoulder <NUM> provides a continuous rib that circumscribes the entire frame <NUM>. The shape of the shoulder <NUM> may generally match the shape of the outer perimeter of the drive housing <NUM>, and mounting the drive housing <NUM> to the adapter <NUM> may entail receiving the bottom of the drive housing <NUM> at the shoulder <NUM>. In one or more embodiments, a channel or groove <NUM> may be defined within the frame <NUM> and, more particularly, within the shoulder <NUM> to accommodate one or more structural features of the drive housing <NUM>. In the illustrated embodiment, the groove <NUM> is defined in the shoulder <NUM> and configured to accommodate a coupling feature <NUM> (<FIG>) forming part of the drive housing <NUM>.

As best seen in <FIG>, the shoulder <NUM> helps define a basin <NUM> on the top surface of the frame <NUM>, and one or more fluid apertures <NUM> are defined in the basin <NUM>. While four fluid apertures <NUM> are shown in <FIG>, more or less than four may be provided in the frame <NUM>, without departing from the scope of the disclosure. The fluid apertures <NUM> extend through the frame <NUM> from the top surface to the bottom surface, and provide conduits for conveying the cleaning solution to and from the adapter <NUM> during cleaning operations. More specifically, the cleaning solution may be introduced to the basin <NUM> via the fluid apertures <NUM>, and the fluid apertures <NUM> may subsequently be used to drain used cleaning solution from the basin <NUM> after cleaning and disinfecting the drive housing <NUM>.

In some embodiments, the adapter <NUM> may further include a gasket <NUM> positioned to engage and seal against the outer surface of the drive housing <NUM> when the drive housing <NUM> is mounted to the frame <NUM>. The gasket <NUM> may provide a sealed interface against the outer surface of the drive housing <NUM> when the drive housing <NUM> is received within the basin <NUM> and thereby transform the basin <NUM> into a sealed region below the drive housing <NUM>. In the illustrated embodiment, the gasket <NUM> extends inward from the shoulder <NUM> and into the basin <NUM> a short distance. In some embodiments, the gasket <NUM> may be coupled to or form an integral extension of the shoulder <NUM>. In other embodiments, the shoulder <NUM> may comprise an upper portion 616a (<FIG>) matable with a lower portion 616b (<FIG>), and the gasket <NUM> may be secured to the frame <NUM> between the upper and lower portions 616a,b. In at least one embodiment, the upper and lower portions 616a,b may be secured together using one or more mechanical fasteners <NUM>, but may alternatively be secured together by other means including, but not limited to, an adhesive, an interference fit, a snap fit engagement, or any combination thereof.

As best seen in <FIG>, the adapter <NUM> may further provide or define one or more alignment features <NUM> (one shown) that protrude from the upper surface of the frame <NUM>. The alignment features <NUM> may be similar in some respects to the alignment features <NUM> of <FIG>. Similar to the alignment features <NUM> of <FIG>, for example, the alignment features <NUM> may be arranged on the frame <NUM> to align with and extend at least partially into corresponding apertures (orifices) defined in the bottom of the drive housing <NUM>. In conjunction with the shoulder <NUM>, the design and placement of the alignment features <NUM> may help properly align the drive housing <NUM> (<FIG>) onto the frame <NUM> for cleaning operations. In some embodiments, one or more of the alignment features <NUM> may plug or seal corresponding apertures (orifices) of the drive housing <NUM>, which allows the adapter <NUM> to selectively limit the flow area into the drive housing <NUM>, and thereby allow the drive housing <NUM> to properly fill with cleaning solution during cleaning operations. One or more other alignment features <NUM>, however, only partially plug (e.g., loosely occlude) the corresponding apertures of the drive housing <NUM>, thereby allowing the cleaning solution to enter and drain from the drive housing <NUM> once the internal component parts are properly cleaned and disinfected.

<FIG> is a cross-sectional side view of the adapter <NUM> with the drive housing <NUM> mounted thereto, according to one or more embodiments. As illustrated, the gasket <NUM> is positioned to engage and seal against the outer surface of the drive housing <NUM> when the drive housing <NUM> is mounted to the frame <NUM> and received within the basin <NUM>. As the cleaning solution is introduced into the basin <NUM> via the fluid apertures <NUM>, the gasket <NUM> forms a sealed interface that forces the cleaning solution to enter the drive housing <NUM> via the apertures (orifices) defined in the bottom of the drive housing <NUM>. Accordingly, the gasket <NUM> forms a single seal around the outer perimeter of the drive housing <NUM> such that drainage out of the bottom of the adapter <NUM> is minimized, which allows the interior of the drive housing <NUM> to fill with the cleaning solution.

In some embodiments, as illustrated, the bottom of the basin <NUM> may be tapered or angled toward a centerline <NUM> of the basin <NUM> and the fluid apertures <NUM> may be located at or near the centerline <NUM>. Consequently, the basin <NUM> may promote fluid flow toward the fluid apertures <NUM> for draining used cleaning solution. In other embodiments, however, the bottom of the basin <NUM> may be flat, without departing from the scope of the disclosure.

Referring now to <FIG>, in example cleaning operation the drive housing <NUM> (<FIG>) may be mounted to the frame <NUM> and the gasket <NUM> may form a seal about the outer perimeter of the drive housing <NUM>, as generally described above. The adapter <NUM> may then be placed in fluid communication with an autowasher system (not shown) by coupling a hose or other conduit extending from the autowasher system to the fluid apertures <NUM>. A cleaning solution may then be introduced into the basin <NUM> via the fluid apertures <NUM>. Because of the sealed engagement facilitated by the gasket <NUM> between the drive housing <NUM> and the adapter <NUM>, the cleaning solution may fill the sealed region and then proceed to enter the drive housing <NUM> via the one or more apertures (orifices) defined in the bottom of the drive housing <NUM>. The cleaning solution may fill the drive housing <NUM> and thereby cover all internal surfaces and parts of the drive housing <NUM> with the cleaning solution. Used cleaning solution may then drain from the drive housing <NUM> and the adapter <NUM> through the fluid apertures <NUM>. In some embodiments, the size of the fluid apertures <NUM> may allow the used cleaning solution to drain from the adapter <NUM> in a metered flow rate.

Claim 1:
A system comprising an adapter for a robotic surgical tool autowasher device (<NUM>) and a drive housing (<NUM>) of said tool (<NUM>), comprising:
a frame (<NUM>) matable with the drive housing (<NUM>) of the robotic surgical tool; a shoulder (<NUM>) defined on the frame (<NUM>) and at least partially circumscribing a basin (<NUM>) defined in the frame (<NUM>);
one or more fluid apertures (<NUM>) defined in the basin ( <NUM>) and extending through the frame (<NUM>) from a top surface to a bottom surface; and
one or more alignment features (<NUM>) protruding from the frame (<NUM>) and arranged to align with and extend into a corresponding one or more apertures defined in a bottom of the drive housing (<NUM>), wherein the apertures are configured to allow the cleaning solution to enter and drain from the drive housing (<NUM>),
wherein at least one of the one or more alignment features ( <NUM>) only partially plugs an associated aperture of the corresponding one or more apertures.