Rotating assistant port
First Claim
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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.
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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.
31 Citations
16 Claims
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1. A surgical system, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An apparatus comprising:
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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. - View Dependent Claims (15, 16)
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Specification