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.

A multi-layer pre-drape apparatus is applied to a patient before the patient is moved into the operating room. The multi-layer pre-drape apparatus includes a lower layer with a center aperture and an upper layer that covers the aperture. The multi-layer pre-drape apparatus can be placed on a sterilized area of the patient to maintain the cleanliness of the incision area. Alternatively, the multi-layer pre-drape apparatus can be placed on the patient and sterilization fluid can be applied to the skin of the patient through the aperture. The patient can then be moved into the operating room and the upper layer of the multi-layer pre-drape can be removed to expose the sterilized area of the patient in the aperture. Additional drapes can be added to the pre-drape apparatus.

A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.

A method of preparing a robotic surgery apparatus for a medical procedure can include covering a manipulator unit of the robotic surgery apparatus with a first sterile barrier by coupling a drape coupler of the first sterile barrier to a bottom surface of the manipulator unit and wrapping a drape of the first sterile barrier around side and top surfaces of the manipulator unit. The drape can be coupled to the drape coupler. The drape can be made of material that is more flexible than material of the drape coupler. The method can include covering an arm of the robotic surgery apparatus supporting the manipulator unit with a second sterile barrier that is distinct from the first sterile barrier by coupling the second sterile barrier to the arm and wrapping the second sterile barrier around the arm.

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.

Disclosed is a surgical drape configured to selectively allow or block a patient's view of the surgical field, as is desired in Caesarean section operations. Generally, the drape includes a main sheet, a substantially transparent sheet attached to the main sheet proximal the patient's head, and a substantially opaque screen attached to the patient-facing side of the substantially transparent sheet. This substantially opaque screen occludes the patient's visual access through the substantially transparent sheet but may be at least partially removed to permit the patient viewing access through the substantially transparent sheet towards the area of the surgery, without compromising the sterility of the surgical field. Desirably, the drape is provided with an adhesive strip disposed on the sheet or screen to permit reconnection to thereby again occlude the patient's view through the sheet.

An OCT (Optical Coherence Tomography) handheld device is provided comprising: a housing configured for handheld OCT scanning during a surgical procedure, the housing comprising an OCT scanning end and a proximal end opposite the OCT scanning end; an OCT scanning device inside the housing, the OCT scanning device configured for one or more of OCT polarized scanning and Doppler OCT scanning from the OCT scanning end, the OCT scanning device further configured to receive and convey OCT light between the proximal end and an OCT analysing system; and a tip extending from the OCT scanning end, the tip being removably attached to the OCT scanning end, the tip configured to receive and collect the OCT light therethrough. The OCT handheld device is configured to be removably draped around the tip, for use in the surgical procedure.

Certain aspects relate to systems and techniques for a drape for covering an adjustable arm support of a robotic surgical system. In one aspect, the drape includes a drape portion configured to extend over the adjustable arm support. The drape may include at least two tubular sleeves configured to surround the at least two robotic arms. The at least two robotic arms can be slidable relative to each other along the adjustable arm support. The drape portion can cover an area between the at least two tubular sleeves.

An assembly including a suctioning device suitable for being placed on an incision and/or a wound of a patient to disinfect and/or dry the incision or wound, the device including a drape. The drape includes an outer layer with an upper face and a lower face, the upper face being impermeable, an inner layer, made of non-woven sterile material, including an upper face and a lower face, the lower face to come into contact with the wound and/or the incision. The drape is wound around a limb or around the body of the patient. The assembly also includes a suctioning zone having cavities, a discharge tube connected to the suctioning zone, and a suctioning member is a system for recovering portable or mobile autologous blood.

Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.