Surgical system entry guide

Patent metadata

Field	Value
Publication number	US-9757149-B2
Application number	US-201414305338-A
Country	US
Kind code	B2
Filing date	Jun 16, 2014
Priority date	Jun 13, 2006
Publication date	Sep 12, 2017
Grant date	Sep 12, 2017

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.

First claim

We claim:

1. A method comprising:
rotating a plurality of instrument manipulators of a surgical system as a group around a roll axis, the surgical system including
a cannula,
an entry guide positioned within the cannula, and
a surgical instrument coupled to a corresponding instrument manipulator of the plurality of instrument manipulators, the surgical instrument including an instrument shaft positioned in the entry guide; and

rotatably driving, by the surgical system, the entry guide within the cannula by moving the instrument shaft around the roll axis.

2. The method of claim 1 , wherein a distal end of a distal link of the surgical system includes a rotatable base configured to rotate about the roll axis, and the method further comprises rotating, by the surgical system, the base about the roll axis to rotate the plurality of instrument manipulators around the roll axis.

3. The method of claim 1 , wherein the roll axis of the plurality of instrument manipulators passes through a central longitudinal axis of the cannula.

4. The method of claim 1 , wherein the entry guide includes a channel for the instrument shaft, and the moving the instrument shaft impinges the instrument shaft against an interior surface of the entry guide tube channel.

5. The method of claim 1 , wherein the cannula is coupled to a cannula mount movably joined at a proximal end of a distal link of the surgical system.

Assignees

• Intuitive Surgical Operations

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

Classifications

• A61B2017/3445

  used as instrument channel for multiple instruments · CPC title

• A61B17/3421 Primary

  Cannulas · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• H05K1/18

  structurally associated with non-printed electric components (H05K1/16 takes precedence) · CPC title

• H01F5/02

  wound on non-magnetic supports, e.g. formers · CPC title