US 10,869,692 B2 · Tools and methods for vaginal access

Abstract

Trocar components and methods of use are described, wherein the trocar components are configured to provide access to intraperitoneal space via the rectouterine pouch to surgical tools, which optionally include one or more surgical robot members. The surgical tools are optionally 5 mm or more in diameter. In some embodiments, a cannula part has a lumen sized to provide to a plurality of the surgical tools simultaneous transvaginal access to the intraperitoneal space via the rectouterine pouch. In some embodiments, an incision sized to receive a distal aperture of the cannula is created, optionally using one or two dilators. The dilators are sized to create (optionally starting from a puncture by a needle 2 mm in diameter or less) an oblong aperture. In some embodiments, the oblong aperture is at least twice as wide across a long diameter as across a short diameter.

Claims23

Dependent claims

A kit for setting a position of a robotic arm system along a longitudinal axis of a cannula inserted to a body orifice, wherein the robotic arm system comprises a motor unit and at least one robotic arm extending, when positioned, distally from the motor unit along the longitudinal axis, the motor unit and the at least one robotic arm extending distally from the motor unit to a predetermined distance from a stopper-receiving portion of the motor unit;

the kit comprising:
the cannula, including a cannula body configured for insertion to the body orifice;
a mounting block, configured for attachment to the cannula;
and
an assembly attached to the mounting block and comprising a spacing arm and an aligning arm, and movable between a stowed position and a deployed position;
wherein the deployed position of the assembly places elements of the aligning arm where they indicate a predetermined position along the longitudinal axis;
wherein a distal end of the at least one robotic arm aligns with a distal end of the cannula when the at least one robotic arm is inserted to the cannula, and a stopper portion of the aligning arm contacts the stopper-receiving portion of the motor unit to prevent longitudinal advance of the motor unit.

4 more elements

the cannula, including a cannula body configured for insertion to the body orifice;
a mounting block, configured for attachment to the cannula;
and
an assembly attached to the mounting block and comprising a spacing arm and an aligning arm, and movable between a stowed position and a deployed position;
wherein the deployed position of the assembly places elements of the aligning arm where they indicate a predetermined position along the longitudinal axis;
wherein the spacing arm and the aligning arm deploy by hinging around a plurality of stopped hinges, each stopped hinge defining at least a stopped deployed position, and a stopped stowed position;
wherein each stopped hinge comprises a plurality of projections and respective notches;
wherein moving said projections out of said respective notches allows said spacing arm to rotate freely.

5 more elements

Dependencies are inferred from the claim text.

Tools and methods for vaginal access

Life of this patent

Tools and methods for vaginal access

Life of this patent

Abstract

Claims23