SURGICAL PORT FEATURE
First Claim
1. A surgical port feature comprising:
- a port feature body comprising a top surface and a bottom surface;
a first channel that extends in a first direction straight between the top surface and the bottom surface; and
a second channel that extends in a second direction straight between the top surface and the bottom surface;
wherein the first and second directions are different from one another.
2 Assignments
0 Petitions
Accused Products
Abstract
A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient'"'"'s body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
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Citations
30 Claims
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1. A surgical port feature comprising:
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a port feature body comprising a top surface and a bottom surface; a first channel that extends in a first direction straight between the top surface and the bottom surface; and a second channel that extends in a second direction straight between the top surface and the bottom surface; wherein the first and second directions are different from one another. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of manufacturing a surgical port feature, comprising the acts of:
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defining a first channel that extends in a first in a first direction straight between a top surface and a bottom surface of a port feature body; and defining a second channel that extends in a second direction straight between the top surface and the bottom surface of the port feature body; wherein the first and second directions are different from one another. - View Dependent Claims (21)
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22. A surgical port feature comprising:
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a funnel portion; a tongue; a waist portion between the funnel portion and the tongue; and at least two surgical instrument channels that extend from the funnel portion through the waist portion. - View Dependent Claims (23, 24, 25, 26, 27, 28)
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29. A method of manufacturing a surgical port feature, comprising the acts of:
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positioning a waist portion between a funnel portion and a tongue portion; and defining at least two surgical instrument channels that extend from the funnel portion through the waist portion. - View Dependent Claims (30)
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Specification