US Patent 12127895 Attachment mechanism for docking cannulas to surgical robotic arms

A cannula sterile adapter for attachment of a cannula to a robotic surgical system, the adapter comprising: a rigid barrier portion having a cannula interface defining an opening dimensioned to receive a cannula lug, a first cannula interface structure extending from the cannula interface, and a second cannula interface structure, the first cannula interface structure and the second cannula interface structure are dimensioned to interface with alignment structures of a cannula lug; and a flexible barrier portion molded to the rigid barrier portion, the flexible barrier portion defining a cavity around the opening of the rigid barrier portion that is dimensioned to receive a cannula lug inserted therein, the cavity having a first side defined by the first cannula interface structure and a second side along which the second cannula interface structure is positioned, and wherein the second cannula interface structure is entirely surrounded by the flexible barrier portion.