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US 10,327,808 B2Granted
Low friction cannula seals for minimally invasive robotic surgery
AssigneeIntuitive Surgical Operations, Inc.
InventorsStephen J. Blumenkranz, Bruce M. Schena, Randal P. Goldberg
Life of this patent
Estimating the term…
Abstract
Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.
Claims14
A cannula seal, comprising:
- a base portion sized and shaped to engage with a cannula;
- and
- a seal portion coupled with the base portion,
- the seal portion including portions defining a proximal seal opening, a distal seal opening, and an internal cavity between the proximal seal opening and the distal seal opening,
- the proximal seal opening and distal seal opening defining a seal axis extending through the cavity between the proximal seal opening and the distal seal opening,
- the seal portion further including a radially compliant grooved seal surface that is sized and shaped to slidably seal against an outer surface of an instrument shaft,
- the grooved seal surface including one or more grooves and portions defining a gap that intersects the one or more grooves,
- the gap extending along a helical path through the one or more grooves.
5 more elements
A cannula. seal, comprising:
- a base portion sized and shaped to engage with a cannula, the base portion including an inner wall defining an interior space sized and shaped to receive an instrument shaft;
- and
- a seal portion coupled with the base portion, the seal portion including a grooved seal surface that is sized and shaped to slidably seal against an outer surface of an instrument shaft when the instrument shaft extends through the interior space, wherein the grooved seal surface produces uniform frictional forces resisting motion of the instrument shaft independent of the direction of transverse motion of the instrument shaft relative to the cannula seal, the grooved seal surface including one or more grooves and portions defining a gap that intersects the one or more grooves, the gap including a helical opening.
A cannula seal, comprising:
- a seal body sized and shaped to engage with a cannula;
- and
- a seal portion coupled to the seal body, the seal portion including a radially compliant grooved seal surface that is sized and shaped to slidably seal against an outer surface of an instrument shaft, and portions defining a gap that intersects the grooved seal surface, the gap extending along a helical path through the grooved seal surface.
Dependencies are inferred from the claim text.