Described here are systems, devices, and methods useful for minimally invasive surgical procedures performed by a single operator. Methods of performing magnetic laparoscopic robotic surgery may comprise coupling an end effector to a support arm within a sterile field using an end effector connector, controlling the end effector within a body cavity of a patient, and decoupling the end effector from the support arm within the sterile field using the end effector connector. Coupling, controlling, and decoupling may all be capable of being performed by a single operator.

A surgical method for operating a trocar defining an access port for a surgical instrument, using a holding arm and a number of drives. The method includes: inserting the trocar through an abdominal wall of the patient body; operating at least one drive to move the surgical instrument in the patient body; operating at least one drives to actuate an effector; and moving the holding arm to generate a pivoting movement of the trocar and surgical instrument about a pivot point defined by the abdominal wall of the patient body. The trocar is freely pivotable relative to the holding device, and the pivoting movement is caused by contact between the trocar and the abdominal wall of the patient body or an elastic membrane located on the abdominal wall of the patient body.

A driver interface according to an embodiment may include an engagement member, an actuator, a detection member, and a sensor. The engagement member includes an engagement protrusion protruding from a surface of the engagement member and provided corresponding to an engagement recess provided at a drive transmission member rotatably provided in an adaptor. The actuator is configured to rotate the engagement member. The detection member is movable in a direction parallel to the rotation axis of the engagement member. The sensor detects the detection member that has moved as a result of contact with a part of the drive transmission member.

A driver interface provided to a robot arm of a robotic surgical system according to an embodiment may include: a drive member provided corresponding to a drive transmission member provided on an adaptor; an actuator to drive the drive member to rotate; and a housing accommodating the actuator therein and including a drive member opening at a location corresponding to the drive member and a drape detection opening. The driver interface may further include a detection member movable between a protrusion position at which a part of the detection member is protruded from the drape detection opening of the housing, and a withdrawal position at which the detection member is withdrawn into the drape detection opening of the housing. The driver interface may further include a sensor configured to detect the detection member is moved to the withdrawal position as a drape is brought into contact with the detection member.

A driver interface provided to a robot arm of a robotic surgical system according to an embodiment may include: a drive member provided corresponding to a drive transmission member provided on an adaptor; an actuator to drive the drive member to rotate; and a housing accommodating the actuator therein and including a drive member opening at a location corresponding to the drive member and a drape detection opening. The driver interface may further include a detection member movable between a protrusion position at which a part of the detection member is protruded from the drape detection opening of the housing, and a withdrawal position at which the detection member is withdrawn into the drape detection opening of the housing. The driver interface may further include a sensor configured to detect the detection member is moved to the withdrawal position as a drape is brought into contact with the detection member.

A method of fixing a surgical instrument to a robot arm according to one or more embodiment may include: attaching the surgical instrument to a drive part of the robot arm via an adaptor in a state where a first engagement portion of a drive transmission member of the adaptor is set at a second initial orientation; and rotating the first engagement portion from the second initial orientation so as to engage the first engagement portion of the drive transmission member with an engagement portion of an driven member.

A microscope drape with a structure in which a distance between an objective lens and a surgical field is appropriately set includes: a lens cap attached to or detached from a housing of an objective lens of a surgical microscope; a protective lens attached to a distal end of the lens cap in a state of being inclined with respect to an optical axis of the objective lens to protect the objective lens; a drape body attached to an outer periphery of the protective lens to cover, together with the lens cap, the surgical microscope; and a joint that supports the protective lens with respect to the lens cap so as to change an inclination angle of the protective lens with respect to the optical axis.

A mounting system includes a first mounting portion associated with an arm of a surgical robot and a second mounting portion associated with an end effector for the surgical robot. The first mounting portion includes a body, a cover plate fixed to the body, and receptacles defined in the cover plate and each receptacle defining a contact surface. The second mounting portion is releasably coupled to the first mounting portion and supports an interface with kinematic couplers to engage the contact surfaces of the receptacles of the first mounting portion and to provide a kinematic coupling between the first and second mounting portions to constrain six degrees of freedom between the arm and the end effector. The mounting system includes a preloading mechanism with a tensioner rotatable between a tensioned position and an untensioned position to clamp the first and second mounting portions together.

A mounting system includes a first mounting portion associated with an arm of a surgical robot and a second mounting portion associated with an end effector for the surgical robot. The first mounting portion includes a body, a cover plate fixed to the body, and receptacles defined in the cover plate and each receptacle defining a contact surface. The second mounting portion is releasably coupled to the first mounting portion and supports an interface with kinematic couplers to engage the contact surfaces of the receptacles of the first mounting portion and to provide a kinematic coupling between the first and second mounting portions to constrain six degrees of freedom between the arm and the end effector. The mounting system includes a preloading mechanism with a tensioner rotatable between a tensioned position and an untensioned position to clamp the first and second mounting portions together.

A sterile interface for a surgical platform is provided, optionally to be used with a mechanical telemanipulator. The sterile interface is configured to allow for transmission of motion without dimensional inconsistencies between a non-sterile surgical platform and a sterile surgical instrument that are related to one another in a master-slave configuration. The sterile interface is configured to allow for multiple changes of sterile surgical instruments during a surgical procedure without contaminating the sterile field. The sterile interface allows for interchangeable sterile articulated surgical instruments to be attached to the surgical platform without coming into contact with non-sterile portions of the surgical platform.