An attachment of a work machine includes first and second attachment bodies connectable to each other quickly and easily. The first attachment body includes first side plates including first projecting portions formed with notches, and the second attachment body includes second side plates including second projecting portions and a fitting pin inserted through the second projecting portions. The interval between the first side plates is larger than the interval between the second side plates. The first and second attachment bodies are interconnected while the first projecting portions are disposed outside the second projecting portions, and the parts of the fitting pin protruding outward beyond the second projecting portions are fitted with the notches.

An instrument sterile adapter couples a surgical instrument and an instrument carriage. The instrument sterile adapter includes an instrument plate that provides a first surface to receive the surgical instrument and a latch plate joined to the instrument plate. The latch plate includes a second surface to receive the instrument carriage and latch structures. Each latch structure has a carriage latch arm that extends away from the second surface of the latch plate and an instrument latch arm joined to the carriage latch arm. The instrument latch arm extends through the instrument plate and away from the first surface of the instrument plate. A connecting member flexibly connects the carriage latch arm and the instrument latch arm to a remainder of the latch plate. The connecting member may be perpendicular to the latch arms. The latch arms may engage fixed locking surfaces in the instrument carriage and the surgical instrument.

A CPR device having a base member configured to be placed underneath a patient, a chest compression mechanism configured to deliver CPR chest compressions to the patient, a support leg configured to support the chest compression mechanism at a distance from the base member, a clamp mechanism coupled to the support leg, and a release mechanism coupled to the support leg and the clamp mechanism. The clamp mechanism is configured to attach the support leg to a lock component of the base member in a latch-closed configuration and to release the support leg from the lock component in a latch-open configuration. The clamp mechanism is further configured to transition from the latch-closed configuration to the latch-open configuration when the lock component of the base member impacts an external portion of the clamp mechanism without the release mechanism being pulled away from the base member.

A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

An instrument sterile adapter (310) couples a surgical instrument (120) and an instrument carriage (130). The instrument sterile adapter (310) includes an instrument plate (430) that provides a first surface to receive the surgical instrument (120) and a latch plate (400) joined to the instrument plate (430). The latch plate (400) includes a second surface to receive the instrument carriage (130) and latch structures. Each latch structure has a carriage latch arm (410) that extends away from the second surface of the latch plate (400) and an instrument latch arm (405) joined to the carriage latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the carriage latch arm (410) and the instrument latch arm (405) to a remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arms (405). The latch arms (405) may engage fixed locking surfaces in the instrument carriage (130) and the surgical instrument (120).

An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.

In a snap-fit for attaching a second unit to a first unit, an engaging member provided on the second unit includes: a claw configured to restrict movement of the second unit relative the first unit in a removing direction; an elastic support configured to support the claw so as to be movable in a direction intersecting the removing direction and in a releasing direction in which the claw is released from the engagement with an engaged member provided on the first unit; and an operative part provided on the elastic support and configured to release an engagement of the engaging member with the engaged member. The operative part includes at least a portion that overlaps the claw with respect to the removing direction.

An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument. A shaft receiving slot is positioned in the adapter control surface to receive an elongate tube of the surgical instrument when the adapter control surface receives the instrument control surface of the surgical instrument. The elongate tube may couple a proximal control mechanism of the surgical instrument to an end effector. The instrument sterile adapter may include a convex curved surface substantially perpendicular to and facing the adapter control surface to receive a corresponding concave curved surface on the instrument control surface. A bullet portion on the convex curved surface may engage a bullet receiving feature in the corresponding concave curved surface on the instrument control surface.

A medical device includes an instrument sterile adapter (ISA) that includes a first plate and a second plate. The first plate includes a mounting surface and a plurality of landing pads. The mounting surface provides a first datum plane for mounting the ISA on a carriage that includes actuators. The plurality of landing pads extend through the second plate and provide a second datum plane for a surgical instrument coupled to the ISA such that the first datum plane and the second datum plane are parallel surfaces separated by a fixed distance. The medical device may include a plastic sheet having opposing first and second sides with the first plate located on the first side and the second plate located on the second side. The instrument sterile drape may include a pouch shaped to fit around the carriage with the ISA capturing the pouch between the top and bottom plates.

An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument. A curved surface extends from the adapter control surface. The curved surface receives a corresponding curved surface on the instrument control surface. A bullet portion on the curved surface may engage a bullet receiving feature in the corresponding curved surface on the instrument control surface. A locating pin or slot on the adapter control surface may engage a locating slot or pin on the instrument control surface. The instrument control surface may be supported by landing pads on the adapter control surface. Latch arms on the adapter control surface may engage latch receptacles on the instrument control surface.