Rotating assistant port

• US 10,470,827 B2
• Filed: 03/14/2014
• Issued: 11/12/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: McGrogan, Anthony K., Ramstad, Craig R., Lilagan, Paul E., Ikeda, Michael
• Primary Examiner(s): Plionis, Nicholas J
• Assistant Examiner(s): Cotroneo, Steven J
• Application Number:
  US14/211,433
• Publication Number:
  US 20140275796A1
• Time in Patent Office: 2,069 Days
• CPC Class Codes: A61B 17/0281 Abdominal wall lifters
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2017/3466 for simultaneous sealing of multiple instruments
• CPC Class Codes: A61B 2017/347 Locking means, e.g. for locking instrument in cannula
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

A rotating assistant port device including a circular elastomeric element, a sleeve coupled to the circular elastomeric element, a sleeve mount coupled to the sleeve opposite the circular elastomeric element, an outer hub removably attached to the sleeve mount, and an inner hub captured between the sleeve mount and the outer hub. The inner hub can include a cannula port. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.

Claims

1. A surgical system, comprising:

a computer mediated control station;

a structural arm configured to be fixed relative to a patient;

a servo actuator operably coupled to the computer mediated control station;

a first surgical instrument coupled to the servo actuator, the servo actuator manipulating the first surgical instrument in response to a signal from the computer mediated control station;

a manually operated second surgical instrument;

a cannula coupled to the structural arm;

an instrument guide including a plurality of guide channels, the instrument guide extending into the cannula to guide the first surgical instrument through the cannula via one of the plurality of guide channels;

an access port including a circular elastomeric element, a sleeve coupled to the circular elastomeric element, a sleeve mount coupled to the sleeve opposite the circular elastomeric element, an outer hub removably attached to the sleeve mount, and an inner hub coupled to the outer hub, the inner hub being rotatable relative to the outer hub, the inner hub including a cannula port and an assistant port; and

a cannula clamp, the cannula extending though the cannula port, the second surgical instrument extending through the assistant port, and the inner hub being rotatable coupled to the cannula by the cannula clamp such that the second surgical instrument rotates around the cannula fixed in position by the structural arm as the inner hub rotates with reference to the outer hub and with reference to the cannula fixed in position by the structural arm.

2. The surgical system of claim 1, wherein the inner hub includes two or more assistant ports.

3. The surgical system of claim 2, further including a seal insert in at least one of the two or more assistant ports.

4. The surgical system of claim 1, further including a seal between the inner hub and the sleeve mount, the seal maintaining an insufflation pressure during rotation of the inner hub.

5. The surgical system of claim 1, further including a seal in the cannula port.

6. The surgical system of claim 1, further including finger grips formed in the inner hub and configured for use during rotation of the assistant port around the cannula port.

7. The surgical system of claim 1, wherein the circular elastomeric element is configured to expand and form an anchor on an underside of a body wall of a patient.

8. The surgical system of claim 1, wherein the outer hub is attached to the sleeve mount and is fixed to the sleeve mount with a release mechanism.

9. The surgical system of claim 1, wherein the outer hub engages threads formed in the sleeve mount.

10. The surgical system of claim 1, further including a rotary lip seal between the inner hub and the sleeve mount, the inner hub being rotatable with respect to the sleeve mount and outer hub while an insufflation pressure is maintained by the rotary lip seal.

11. The surgical system of claim 10, the surgical system further including one or more seal inserts configured to be inserted at the assistant port, the assistant port being rotatable around the cannula port while the insufflation pressure is maintained.

12. The surgical system of claim 1, wherein the assistant port is sized and shaped to receive a second cannula through which the manually operated instrument is inserted.

13. The surgical system of claim 1, further comprising:

a second servo actuator operably coupled to the computer mediated control station; and

a third surgical instrument coupled to the second servo actuator, the second servo actuator manipulating the third surgical instrument in response to a second signal from the computer mediated control station;

the instrument guide extending into the cannula to guide the third surgical instrument through the cannula via one of the plurality of guide channels.

14. An apparatus comprising:

a computer mediated control station;

a servo actuator operably coupled to the computer mediated control station;

a first surgical instrument coupled to the servo actuator, the servo actuator manipulating the first surgical instrument in response to a signal from the computer mediated control station;

a manually operated second surgical instrument;

a support arm;

a cannula fixed in position by the support arm;

an instrument guide comprising a first guide channel, the instrument guide extending into the cannula, the first surgical instrument extending through the first guide channel and through the cannula; and

an access port coupled to the cannula, the access port comprising;

an outer hub,

an inner hub comprising a cannula port and an assistant port, and

a cannula clamp,

the inner hub being rotatably coupled to the outer hub,

the cannula extending though the cannula port,

the second surgical instrument extending through the assistant port, and

the inner hub being rotatably coupled to the cannula by the cannula clamp such that the second surgical instrument rotates around the cannula fixed in position by the support arm as the inner hub rotates with reference to the outer hub and with reference to the cannula fixed in position by the support arm.

15. The apparatus of claim 14, further comprising:

a second servo actuator operably coupled to the computer mediated control station; and

a third surgical instrument coupled to the second servo actuator, the second servo actuator manipulating the third surgical instrument in response to a second signal from the computer mediated control station;

the instrument guide comprising a second guide channel, the third surgical instrument extending through the second guide channel and through the cannula.

16. The apparatus of claim 14, further comprising:

a second cannula;

the second cannula extending through the assistant port; and

the second surgical instrument extending through the second cannula.