Patent ID: 8776800

Claim:
A sterile drape configured for isolating a portion of a surgical device within a sterile environment, said sterile drape comprising: a plurality of drape interface mechanisms comprising: at least one drape/handle interface mechanism comprising a first ring defining a first opening through a sterile drape, said at least one drape/handle interface mechanism configured for coupling with a control mechanism, said control mechanism comprising a handle for controlling a surgical instrument; and at least one drape/shaft interface mechanism comprising a second ring defining a second opening through said sterile drape, said at least one drape/shaft interface mechanism configured for sealingly receiving a shaft there through as said shaft moves with a piston and is detachably coupled with said piston, wherein said piston is configured for responding to a first set of control signals sent by a first mechanical manipulation mechanism of a surgical device via a first connector by moving between a proximal end and a distal end of a first mechanical slave cylinder, and wherein said surgical device comprises: a second mechanical manipulation mechanism configured for receiving motion inputs in a plurality of degrees of freedom and translating said motion inputs into a second set of control signals for controlling motion of said surgical instrument, said second mechanical manipulation mechanism comprising a mechanical manipulator and a control cylinder, said mechanical manipulator comprising: a user moveable bi-directional trigger configured for receiving a motion input of said motion inputs; a finger loop disposed within said trigger and configured for facilitating a user input of squeezing said trigger in a first direction; and a flange coupled to said trigger and configured for facilitating a user input of pushing said trigger in a second direction, said second direction being opposite of said first direction; a second mechanical slave cylinder coupled between said control cylinder and said surgical instrument, said second mechanical slave cylinder configured for moving said surgical instrument in response to said first set of control signals; and a second connector operatively coupled with said control mechanism and said second mechanical slave cylinder, wherein said control cylinder is configured for causing said second mechanical slave cylinder to move said instrument by transmitting force applied to said control mechanism through said second connector, wherein said first connector and said second connector comprise a hydraulic system and said hydraulic system comprises a closed-loop hydraulic system, wherein said first connector operatively couples said first mechanical manipulation mechanism with said first mechanical slave cylinder through said at least one drape/shaft interface mechanism and said second connector operatively couples said second mechanical manipulation mechanism and said second mechanical slave cylinder through said at least one drape/handle interface mechanism.