A medical instrument includes a backend and a pair of release elements. The backend includes a docking feature shaped to engage a docking structure such as a docking port of a surgical robot or a sterile adaptor for a surgical robot. Each release element is coupled to the backend and may include an activation feature on one side of the backend and a push tab extending from either an opposite side or the same side of the backend. Movement of the activation features moves the push tabs from being aligned with the docking feature to pushing on the docking structure, permitting the medical instrument to be disengaged from the docking structure. Optionally, a coupling of the release elements limits a movement of the activation features.

An instrument sterile drape includes a plastic sheet and a pouch sealed to a first opening in the plastic sheet. The pouch is shaped to fit around a carriage that includes actuators and may be shaped to provide a loose form fit around the carriage. A stiffener is coupled to the pouch around a second opening in the pouch to provide an area that is less elastic than the remainder of the pouch. An instrument sterile adapter (ISA) may be coupled to the second opening in the pouch. The ISA may include a bottom plate and a top plate located on opposite sides of the pouch and joined together. Portions of the bottom plate may project through the top plate to provide a datum plane to receive a surgical instrument. The ISA may contain loose pins that depress sensing pins in the carriage when a surgical instrument is mounted.

A surgical instrument that can include a proximal control mechanism that includes an opening through which a resilient latch arm is inserted into the proximal control mechanism and engages a locking surface of a fixed latch structure contained within the proximal control mechanism; means for receiving a release tool through an outer periphery of the proximal control mechanism and beyond the opening through which the resilient latch arm enters the proximal control mechanism, the means for receiving the release tool remaining uncovered when the resilient latch arm is attached to the fixed latch structure, and means for providing a fulcrum for the release tool on the outer periphery of the proximal control mechanism such that the release tool can release the surgical instrument by prying the resilient latch arm away from the locking surface of the fixed latch structure using the release tool as a lever.

A joining structure including a fixed seat connected to a first object, the fixed seat has a side wall, and the side wall has an open end and an accommodating end disposed opposite each other; a socket connected to a second object and having a side wall, the socket insertable into the fixed seat side wall through the open end along an insertion direction to join the second object to the first object; a hole closing part disposed inside the fixed seat side wall, between the accommodating end and the socket of the fixed seat, and movable between the open end and the accommodating end, the hole closing part has a hole closing surface at the open end, and the hole closing surface has a shape corresponding to a cross-sectional shape of the fixed seat side wall at the open end; and an elastic hole closing part.

A medical instrument includes a backend and a pair of release elements. The backend includes a docking feature shaped to engage a docking structure such as a docking port of a surgical robot or a sterile adaptor for a surgical robot. Each release element is coupled to the backend and may include an activation feature on one side of the backend and a push tab extending from either an opposite side or the same side of the backend. Movement of the activation features moves the push tabs from being aligned with the docking feature to pushing on the docking structure, permitting the medical instrument to be disengaged from the docking structure. Optionally, a coupling of the release elements limits a movement of the activation features.

A joining structure including a fixed seat connected to a first object, the fixed seat has a side wall, and the side wall has an open end and an accommodating end disposed opposite each other; a socket connected to a second object and having a side wall, the socket insertable into the fixed seat side wall through the open end along an insertion direction to join the second object to the first object; a hole closing part disposed inside the fixed seat side wall, between the accommodating end and the socket of the fixed seat, and movable between the open end and the accommodating end, the hole closing part has a hole closing surface at the open end, and the hole closing surface has a shape corresponding to a cross-sectional shape of the fixed seat side wall at the open end; and an elastic hole closing part.