SURGICAL SYSTEM ENTRY GUIDE

• US 20140296872A1
• Filed: 06/16/2014
• Published: 10/02/2014
• Est. Priority Date: 06/13/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: COOPER, THOMAS G., Brown, Jeffrey D., Diolaiti, Nicola, Duval, Eugene F., Gomez, Daniel H., Holop, Robert Elliot, Lilagan, Paul E., McGrogan, Anthony K., Ramstad, Craig R.
• Granted Patent: US 9,757,149 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00135 Oversleeves mounted on the endoscope prior to insertion
• CPC Class Codes: A61B 1/00142 with means for preventing contamination, e.g. by using a sanitary sheath
• 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 17/29 Forceps for use in minimally invasive surgery
• 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 17/3474 Insufflating needles, e.g. Veress needles
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2050/3008 having multiple compartments
• CPC Class Codes: A61B 2090/5025 with a counter-balancing mechanism
• CPC Class Codes: A61B 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• 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 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 : with means to retain or hold surgical implements
• CPC Class Codes: A61B 50/00 : Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers drapes specially adapted for instruments A61B46/10
• CPC Class Codes: A61B 50/20 : Holders specially adapted for surgical or diagnostic appliances or instruments drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02
• CPC Class Codes: A61B 50/30 : Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments for wound clamps A61B17/10; for ligaturing clips A61B17/122; packages or dispensers for surgical gloves or finger-stalls A61B42/40
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: A61M 13/003 : Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing
• CPC Class Codes: B25J 15/0066 : with different types of end effectors, e.g. gripper and welding gun B25J15/0057 and B25J15/0061 take precedence
• CPC Class Codes: B25J 15/02 : servo-actuated
• CPC Class Codes: B25J 15/04 : with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B32B 3/12 : characterised by a layer of regularly- arranged cells, e.g. a honeycomb structure
• CPC Class Codes: F16F 1/121 : adjustable, e.g. to modify spring characteristics
• CPC Class Codes: G03B 2205/0015 : by displacing one or more optical elements normal to the optical axis
• CPC Class Codes: G03B 2205/0069 : using electromagnetic actuators, e.g. voice coils
• CPC Class Codes: G03B 3/00 : Focusing arrangements of general interest for cameras, projectors or printers
• CPC Class Codes: G03B 35/00 : Stereoscopic photography
• CPC Class Codes: G03B 5/02 : Lateral adjustment of lens
• CPC Class Codes: H01F 2005/027 : wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer
• CPC Class Codes: H01F 27/2823 : Wires H01F27/2866 takes precedence
• CPC Class Codes: H01F 5/02 : wound on non-magnetic supports, e.g. formers
• CPC Class Codes: H01F 5/04 : Arrangements of electric connections to coils, e.g. leads
• CPC Class Codes: H04N 23/51 : Housings
• CPC Class Codes: H04N 23/54 : Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 23/55 : Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/555 : for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
• CPC Class Codes: H04N 23/57 : Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
• CPC Class Codes: H04N 23/60 : Control of cameras or camera modules
• CPC Class Codes: H04N 23/687 : by shifting the lens or sensor position
• CPC Class Codes: H05K 1/18 : Printed circuits structurally associated with non-printed electric components H05K1/0201, H05K1/023, H05K1/0243, and H05K1/16 take precedence
• CPC Class Codes: Y10T 74/20305 : Robotic arm

Abstract

An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

Claims

1. An entry guide tube and cannula assembly, comprising:

a cannula including;

a proximal portion that operably couples to an accessory clamp of a manipulator arm, and

a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft; and

an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

2. The assembly of claim 1, wherein the longitudinal axis of the entry guide tube is common to a longitudinal axis of the cannula.

3. The assembly of claim 1, wherein the entry guide tube further includes a lip portion that movably couples to the proximal portion of the cannula.

4. The assembly of claim 1, wherein one of the plurality of channels in the entry guide tube has an opening shape selected from the group consisting of a circle, an oval, an ellipse, a square, a rectangle, a triangle, and a polygon.

5. The assembly of claim 1, wherein the cannula and the entry guide tube each include an electronic interface including part identification data.

6. A robotic surgical system, comprising:

a plurality of instrument manipulators operably coupled to a distal link of a robotic surgical system, the plurality of instrument manipulators rotatable about a roll axis;

a cannula operably coupled to the distal link;

an entry guide tube freely rotatable within the cannula; and

a plurality of surgical instruments, each instrument operably coupled to a corresponding instrument manipulator and having a shaft that passes through the entry guide tube, wherein rotation of the plurality of instrument manipulators about the roll axis rotates the entry guide tube within the cannula driven by the rotating instrument shafts.

7. The system of claim 6, wherein a distal end of the distal link includes a rotatable base plate configured to rotate about the roll axis.

8. The system of claim 6, wherein the roll axis of the plurality of instrument manipulators is aligned with a longitudinal axis of the cannula.

9. The system of claim 6, wherein the entry guide tube includes a separate channel for each instrument shaft.

10. The system of claim 6, wherein the surgical instrument is selected from the group consisting of articulated tools with end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, and clip appliers, and non-articulated tools, such as cutting blades, cautery probes, irrigators, catheters, and suction orifices.

11. The system of claim 6, wherein the surgical instrument includes a camera.

12. The system of claim 6, wherein the cannula is coupled to a cannula mount movably joined at a proximal end of the distal link.

13. The system of claim 6, wherein the cannula is coupled to a cannula mount detachably joined at the proximal end of the distal link.

14. The system of claim 6, further comprising:

a setup link for locating a remote center of motion for the robotic surgical system; and

a proximal link operably coupled to the setup link;

wherein the distal link is operably coupled to the proximal link.

15. A method comprising:

providing a robotic surgical system, comprising;

a plurality of instrument manipulators operably coupled to a distal link, the plurality of instrument manipulators rotatable about a roll axis;

a cannula operably coupled to the distal link;

an entry guide tube freely rotatable within the cannula; and

a plurality of surgical instruments, each instrument operably coupled to a corresponding instrument manipulator and having a shaft that passes through the entry guide tube;

rotating the plurality of instrument manipulators about the roll axis; and

rotatably driving the entry guide tube within the cannula by rotating at least one instrument shaft about the roll axis.

16. The method of claim 15, wherein a distal end of the distal link includes a rotatable base plate configured to rotate about the roll axis, and the method further comprises rotating the base plate about the roll axis to rotate the plurality of instrument manipulators.

17. The method of claim 15, wherein the roll axis of the plurality of instrument manipulators passes through a central longitudinal axis of the cannula.

18. The method of claim 15, wherein the entry guide tube includes a separate channel for each instrument shaft, and rotating the plurality of instrument shafts impinges an instrument shaft against an interior surface of an entry guide tube channel.

19. The method of claim 18, wherein the impinging instrument shaft is a part of a surgical instrument selected from the group consisting of articulated tools with end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, and clip appliers, and non-articulated tools, such as cutting blades, cautery probes, irrigators, catheters, and suction orifices.

20. The method of claim 15, wherein the cannula is coupled to a cannula mount movably joined at a proximal end of the distal link.