CURVED CANNULA

• US 20110071541A1
• Filed: 11/13/2009
• Published: 03/24/2011
• Est. Priority Date: 09/23/2009
• Status: Abandoned Application

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Steger, John Ryan, Au, Samuel, Prisco, Giuseppe Maria, Gerbi, Craig R., Swinehart, Charles E., Rogers, Theodore W.
• Application Number:
  US12/618,549
• Publication Number:
  US 20110071541A1
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00149 using articulated arms
• 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 17/3474 Insufflating needles, e.g. Veress needles
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 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 2017/2904 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 2017/3419 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 2017/3441 with distal sealing means
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments
• 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 2034/301 : 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 2090/0811 : for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• 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 34/70 : Manipulators specially adapted for use in surgery
• 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 50/13 : Trolleys, e.g. carts
• 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: Y10S 901/41 : Tool

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. 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 system comprising:

a first robotic manipulator, a first curved cannula coupled to the first robotic manipulator, and a first surgical instrument comprising a flexible shaft that extends through the first curved cannula, wherein the first robotic manipulator is configured to move the first cannula around a first center of motion;

a second robotic manipulator, a second curved cannula coupled to the second robotic manipulator, and a second surgical instrument comprising a flexible shaft that extends through the second curved cannula, wherein the second robotic manipulator is configured to move the second cannula around a second center of motion;

wherein the first and second centers of motion are positioned proximate to one another; and

wherein distal ends of the first and second curved cannulas are oriented to direct the distal ends of the first and second surgical instruments towards a surgical site.

2. The surgical system of claim 1:

wherein the first curved cannula comprises a rigid tube having a proximal straight portion and a curved section adjacent the proximal straight section; and

wherein the first robotic manipulator is coupled to the proximal straight portion of the first curved cannula.

3. The surgical system of claim 1:

wherein the flexible shaft of the first surgical instrument comprises a passively flexible shaft;

wherein the passively flexible shaft comprises a middle section and a distal section; and

wherein a stiffness of the distal second of the passively flexible shaft is larger than a stiffness of the middle section of the passively flexible shaft.

4. The surgical system of claim 1 further comprising:

a port feature;

wherein the port feature comprises a port feature body comprising a top surface and a bottom surface;

wherein the port feature comprises a first channel through which the first surgical instrument extends in a first direction towards a vertical midsection of the port feature body from the top surface to the bottom surface; and

wherein the port feature comprises a second channel through which the second surgical instrument extends in a second direction, opposite the first direction;

towards the vertical midsection of the port feature body from the top surface to the bottom surface.

5. The surgical system of claim 1 further comprising:

a port feature;

wherein the port feature comprises a funnel portion, a tongue, a waist portion between the funnel portion and the tongue, a first instrument channel defined in the waist portion through which the first surgical instrument extends, and a second instrument channel defined in the waist portion through which the second surgical instrument extends.

6. The surgical system of claim 1 further comprising:

a cannula mounting fixture;

wherein the cannula mounting fixture comprises an endoscope cannula mounting bracket and a curved cannula mounting bracket; and

wherein the endoscope cannula mounting bracket and the curved cannula mounting bracket are each oriented to hold a cannula at the same opening into a patient'"'"'s body.

7. The surgical system of claim 1 further comprising:

a pointed cap comprising an interior;

wherein the interior of the cap is configured to removably hold a distal end of an endoscope and a distal end of the first curved cannula.

8. The surgical system of claim 1 further comprising:

a master manipulator; and

a control system;

wherein a straight line instrument insertion and withdrawal axis is defined extending from a longitudinal center axis of the first curved cannula at a distal end of the first curved cannula; and

wherein in response to a movement of the master manipulator, the control system commands the first robotic manipulator to move the distal end of the first curved cannula around the first remote center of motion as if the first surgical instrument were positioned straight along the instrument insertion and withdrawal axis.