Surgical robotic access system for irregularly shaped robotic actuators and associated robotic surgical instruments
First Claim
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1. A surgical robotic access system providing instrument access into a patient'"'"'s body, the surgical robotic access system comprising:
- a surgical robotic access platform having a proximal portion disposed externally to a patient'"'"'s body and a distal portion positioned within the patient'"'"'s body, wherein the proximal portion of the surgical robotic access platform includes a flexible seal; and
a robotic sheath having a proximal end and a distal end, wherein the robotic sheath is insertable through the flexible seal of the surgical robotic access platform, wherein the robotic sheath has an expandable cover disposed at the distal end of the robotic sheath, wherein the expandable cover defines a cavity of the robotic sheath having a proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough,wherein the robotic sheath further comprises a retrieval tail extending proximally from the expandable cover, and wherein the retrieval tail is elongate and planar being lengthwise longer than the expandable cover.
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Abstract
The surgical robotic access system provides access for robotic instruments and/or actuators including the introduction, operation and withdrawal of such robotic manipulators into a body cavity without permitting the escape of pressurized fluid or gas. The surgical robotic access system also provides a multi-faceted range of movement without touching or effecting pressure on the opening in the patient'"'"'s body cavity.
812 Citations
18 Claims
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1. A surgical robotic access system providing instrument access into a patient'"'"'s body, the surgical robotic access system comprising:
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a surgical robotic access platform having a proximal portion disposed externally to a patient'"'"'s body and a distal portion positioned within the patient'"'"'s body, wherein the proximal portion of the surgical robotic access platform includes a flexible seal; and a robotic sheath having a proximal end and a distal end, wherein the robotic sheath is insertable through the flexible seal of the surgical robotic access platform, wherein the robotic sheath has an expandable cover disposed at the distal end of the robotic sheath, wherein the expandable cover defines a cavity of the robotic sheath having a proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough, wherein the robotic sheath further comprises a retrieval tail extending proximally from the expandable cover, and wherein the retrieval tail is elongate and planar being lengthwise longer than the expandable cover. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A surgical robotic access system providing instrument access into a patient'"'"'s body, the surgical robotic access system comprising:
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a surgical robotic access platform having a proximal portion disposed externally to a patient'"'"'s body and a distal portion positioned within the patient'"'"'s body, wherein the proximal portion of the surgical robotic access platform includes a flexible seal; and a robotic sheath having a proximal end and a distal end, wherein the robotic sheath is insertable through the flexible seal of the surgical robotic access platform, wherein the robotic sheath has an expandable cover disposed at the distal end of the robotic sheath, wherein the expandable cover defines a cavity of the robotic sheath having a proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough, wherein the flexible seal further comprises one or more monofilament lines molded into the flexible seal and weaved through apertures in a cap ring in a pattern with the middle of the pattern being clear of the one or more monofilament lines, wherein the one or more monofilament lines are made of a material different from a flexible material of the flexible seal, and wherein each of the monofilament lines have a thickness smaller than a thickness of the flexible material. - View Dependent Claims (14, 15)
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16. A surgical robotic access system providing instrument access into a patient'"'"'s body, the surgical robotic access system comprising:
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a surgical robotic access platform having a proximal portion disposed externally to a patient'"'"'s body and a distal portion positioned within the patient'"'"'s body, wherein the proximal portion of the surgical robotic access platform includes a flexible seal; and a robotic sheath having a proximal end and a distal end, wherein the robotic sheath is insertable through the flexible seal of the surgical robotic access platform, wherein the robotic sheath has an expandable cover disposed at the distal end of the robotic sheath, wherein the expandable cover comprises curved sides separated by a slit extending from the distal opening of the expandable cover to the proximal opening of the expandable cover and a flap biased in a closed position covering the distal opening of the expandable cover, and wherein the expandable cover defines a cavity of the robotic sheath having a proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough, wherein; the expandable cover of the robotic sheath is arranged to encase and surround a distal end of the surgical robotic manipulator within the cavity of the robotic sheath, and wherein the flexible seal is arranged to encase and surround the expandable cover of the robotic sheath to compress the expandable cover of the robotic sheath against the distal end of the surgical robotic manipulator thereby maintaining an insufflation gas seal between the robotic sheath and the flexible seal, the expandable cover further comprises side flaps or walls that collectively define the cavity of the robotic sheath with the flaps, the side flaps or walls are adapted to be moved or unfolded to provide the surgical robotic manipulator unobstructed access through the distal opening of the robotic sheath once the flap covering the distal opening of the expanding cover is in an open position, and the side flaps or walls are not capable of reverting back to a closed position once in the open position. - View Dependent Claims (17, 18)
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Specification