SURGICAL PORT FEATURE

• US 20110071473A1
• Filed: 11/13/2009
• Published: 03/24/2011
• Est. Priority Date: 09/23/2009
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: ROGERS, THEODORE W., Gerbi, Craig R., Steger, John Ryan, Swinehart, Charles E.
• Granted Patent: US 8,623,028 B2
• Time in Patent Office: Days
• US Class Current: 604/167.01
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• 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 17/3431 being collapsible, e.g. made of thin flexible material A61B17/3423 takes precedence
• CPC Class Codes: A61B 17/3439 with means for changing the inner diameter of the cannula, e.g. expandable A61B17/3423, A61B17/3431 take precedence; catheters A61M25/0662
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 17/3474 Insufflating needles, e.g. Veress needles
• CPC Class Codes: A61B 17/3498 Valves therefor, e.g. flapper valves, slide valves haemostasis valves A61M39/06; check valves A61M39/24
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2017/00845 of moving parts with respect to each other
• CPC Class Codes: A61B 2017/0419 H-fasteners
• CPC Class Codes: A61B 2017/2904 curved, but rigid
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2017/2948 Sealing means, e.g. for sealing the interior from fluid entry
• CPC Class Codes: A61B 2017/3419 : Sealing means between cannula and body
• CPC Class Codes: A61B 2017/3429 : having a unitary compressible body, e.g. made of silicone or foam
• CPC Class Codes: A61B 2017/3445 : used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 2017/3447 : Linked multiple cannulas
• CPC Class Codes: A61B 2017/3454 : Details of tips
• CPC Class Codes: A61B 2017/3466 : for simultaneous sealing of multiple instruments
• CPC Class Codes: A61B 2034/2061 : using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 : for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/73 : Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/92 : coded with colour
• CPC Class Codes: A61M 25/0041 : pre-formed, e.g. specially adapted to fit with the anatomy of body channels urethral catheters A61F2/04
• CPC Class Codes: A61M 25/0105 : Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: A61M 39/02 : Access sites
• CPC Class Codes: Y10T 29/49826 : Assembling or joining

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.

Claims

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. The surgical port feature of claim 1:

wherein the first channel extends at an acute angle between the top surface and the bottom surface; and

wherein the second channel extends vertically between the top surface and the bottom surface.

3. The surgical port feature of claim 2:

wherein the first channel extends in the first direction across a vertical midsection of the port feature body.

4. The surgical port feature of claim 2:

wherein the first channel intersects the bottom surface at about a vertical midline of the port feature body.

5. The surgical port feature of claim 2:

wherein the second channel is configured to receive an endoscope or a manually operated surgical instrument.

6. The surgical port feature of claim 1:

wherein the first channel extends at a first acute angle between the top surface and the bottom surface; and

wherein the second channel extends at a second acute angle between the top surface and the bottom surface.

7. The surgical port feature of claim 6:

wherein the first and second acute angles are substantially equal; and

wherein the first and second directions are substantially opposite to one another.

8. The surgical port feature of claim 6:

wherein the first channel extends in the first direction across a vertical midsection of the port feature body; and

wherein the second channel extends in the second direction across the vertical midsection of the port feature body.

9. The surgical port feature of claim 6:

wherein the first channel and the second channel each intersect the bottom surface at about a vertical midline of the port feature body

10. The surgical port feature of claim 6:

wherein the second channel is configured to receive an endoscope or a manually operated surgical instrument.

11. The surgical port feature of claim 1 further comprising:

an endoscope channel that extends vertically straight between the top surface and the bottom surface; and

an auxiliary channel that extends vertically straight between the top surface and the bottom surface;

wherein the endoscope channel and the auxiliary channel are each offset from the vertical centerline of the port feature.

12. The surgical port feature of claim 1 further comprising:

a seal positioned in the first channel;

wherein the seal is integrally molded with the port feature body.

13. The surgical port feature of claim 12:

wherein the seal comprises an annular projection from a sidewall of the first channel inwards towards the center of the of the first channel; and

wherein the annular projection comprises a generally triangular cross section with a rounded tip oriented towards the center of the first channel.

14. The surgical port feature of claim 12:

wherein the seal comprises a membrane that covers a center opening in the seal; and

wherein the membrane prevents gas from passing through the first channel.

15. The surgical port feature of claim 1 further comprising:

an outer sidewall that extends between the top surface and the bottom surface;

wherein the sidewall comprises a waisted shape such that a top circumferential lip is defined between the top surface and the sidewall and a bottom circumferential lip is defined between the bottom surface and the sidewall.

16. The surgical port feature of claim 1 further comprising:

an outer sidewall that extends between the top and bottom surfaces; and

an electrically conductive layer underlying the top surface, wherein the electrically conductive layer extends between the first channel and the sidewall.

17. The surgical port feature of claim 1:

wherein the port feature is a molded single piece.

18. The surgical port feature of claim 1:

wherein the port feature body comprises a material comprising a durometer value in the range from about 40 Shore 00 to about 15 Shore A.

19. The surgical port feature of claim 1 further comprising:

a port orientation feature that indicates a proper orientation of the port feature body within an opening into a patient'"'"'s body with reference to a surgical site within the patient'"'"'s body.

20. A method of manufacturing a surgical port feature, comprising the acts of:

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.

21. The method of claim 20:

wherein the first channel extends at a first acute angle between the top surface and the bottom surface; and

wherein the second channel extends at a second acute angle between the top surface and the bottom surface.

22. A surgical port feature comprising:

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.

23. The surgical port feature of claim 22:

wherein the funnel portion comprises an oblique cone shape having a long side and a short side opposite the long side; and

wherein the tongue extends in a direction opposite the long side.

24. The method of claim 22:

wherein the oblique cone comprises an oblique circular cone.

25. The surgical port feature of claim 22 further comprising:

a second tongue;

wherein the waist portion is between the funnel portion, the tongue, and the second tongue; and

wherein the second tongue extends in a direction substantially away from the tongue.

26. The surgical port feature of claim 22 further comprising:

a rotating portion positioned within the waist portion;

wherein the rotating portion comprises a second tongue;

wherein in a first position of the rotating portion the second tongue is substantially aligned with the tongue; and

wherein in a second position of the rotating portion the second tongue extends in a direction substantially away from the tongue.

27. The surgical port feature of claim 22:

wherein at least one of the surgical instrument channels comprises a socket that receives a ball joint.

28. The surgical port feature of claim 22 further comprising:

a ball joint positioned in each of the surgical instrument channels;

wherein each ball joint comprises a channel through which a surgical instrument extends.

29. A method of manufacturing a surgical port feature, comprising the acts of:

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.

30. The method of claim 29 further comprising:

shaping the funnel portion as an oblique cone; and

positioning the tongue portion to extend away from a long side of the oblique cone.