Surgical Robot Arm And Instrument Detachment

Abstract: A surgical robot arm comprises a base connected to a terminal link (503) via a series of intermediate joints. The terminal link (503) comprises a drive assembly interface comprising drive assembly interface elements (1101a,b,c). Each drive assembly interface element is configured to: engage an instrument interface element (901a,b,c) of an instrument interface of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument; and move relative to the drive assembly interface across a range of motion so as to, when engaged with the instrument interface element, transfer drive to that instrument interface element. The drive assembly interface elements are arranged across a plane perpendicular to the longitudinal axis of the terminal link such that the robotic surgical instrument is detachable from the surgical robot arm in a detachment direction parallel to the plane when each drive assembly interface element is anywhere within its range of motion.

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