# US 11,026,757 B2 · Surgical cannulas, and related systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,026,757 B2 - Document ID: US11026757B2 - Status: Granted - Kind: B2 - Application number: 15/624,148 - Filed: 2017-06-15 - Published: 2018-01-25 - Granted: 2021-06-08 - Earliest claimed: 2016-07-20 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Jason Hemphill - Web page: https://patentgrep.com/patent/US11026757B2 ## CPC - A61B 34/35: for telesurgery - A61B 17/3421: {Cannulas} - A61B 18/14: Probes or electrodes therefor - A61B 18/18: by applying electromagnetic radiation, e.g. microwaves - A61B 34/25: {User interfaces for surgical systems} - A61B 34/30: Surgical robots - A61B 34/70: {Manipulators specially adapted for use in surgery} - C01B 32/168: After-treatment - C01B 32/176: Cutting - G01N 27/12: of a solid body in dependence upon absorption of a fluid; of a solid body in dependence upon reaction with a fluid {, for detecting components in the fluid} - G01N 33/0036: {specially adapted to detect a particular component (physical analysis of gaseous biological material G01N33/497)} - A61B 18/16: Indifferent or passive electrodes for grounding - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/00876: {magnetic} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - C01B: NON-METALLIC ELEMENTS; COMPOUNDS THEREOF; {METALLOIDS OR COMPOUNDS THEREOF NOT COVERED BY SUBCLASS C01C} - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) ## Abstract A surgical cannula includes an electrically conductive portion, an electrical connector interface configured to removably engage with an electrical connector electrically coupled to a patient return electrode, and an electrical connector sensing device configured to sense whether the electrical connector interface is engaged or disengaged with the electrical connector. Surgical systems include surgical cannulas. Methods relate to surgical cannulas. ## Claims ### Claim 1 A surgical cannula, comprising: a bowl portion comprising an opening to permit removable insertion of a medical instrument into the bowl portion; a tube portion extending distally from the bowl portion and configured to removably receive and permit advancement of a medical instrument inserted through the bowl portion; an electrical connector interface at the bowl portion and configured to removably engage with an electrical connector electrically coupled to a patient return electrode, a state of engagement of the electrical connector interface being either an engaged state, in which the electrical connector interface is engaged with the electrical connector, or a disengaged state, in which the electrical connector interface is removed from engagement with the electrical connector; and an electrical connector sensing device configured to sense whether the electrical connector interface is in the engaged state or in the disengaged state, wherein the electrical connector sensing device is coupled to the bowl portion and is movable relative to the bowl portion between a first physical configuration and a second physical configuration; the electrical connector sensing device is in the first physical configuration in the engaged state of the electrical connector interface; and the electrical connector sensing device is in the second physical configuration in the disengaged state of the electrical connector interface. ### Claim 2 (depends on 1) The surgical cannula of claim 1, wherein the electrical connector sensing device comprises at least one magnet. ### Claim 3 (depends on 2) The surgical cannula of claim 2, wherein: the at least one magnet is coupled to the bowl portion of the surgical cannula and is movable relative to the bowl portion between a first position and a second position; the at least one magnet is in the first position in the first physical configuration of the electrical connector sensing device; and the at least one magnet is in the second position in the second physical configuration of the electrical connector sensing device. ### Claim 4 (depends on 2) The surgical cannula of claim 2, wherein: the at least one magnet is coupled to the bowl portion of the surgical cannula and is movable relative to the bowl portion between a first rotational orientation and a second rotational orientation; the at least one magnet is in the first rotational orientation in the first physical configuration of the electrical connector sensing device; and the at least one magnet is in the second rotational orientation in the second physical configuration of the electrical connector sensing device. ### Claim 5 (depends on 1) The surgical cannula of claim 1, wherein the electrical connector sensing device comprises a pushrod coupled to the bowl portion of the surgical cannula and configured to move relative to the bowl portion from a first position corresponding to the first physical configuration of the electrical connector sensing device to a second position corresponding to the second physical configuration of the electrical connector sensing device. ### Claim 6 (depends on 5) The surgical cannula of claim 5, wherein the pushrod is in mechanical contact with the electrical connector in the engaged state of the electrical connector interface. ### Claim 7 (depends on 6) The surgical cannula of claim 6, wherein: the electrical connector interface comprises a receptacle; and a portion of the pushrod is disposed within the receptacle such that the electrical connector contacts the pushrod as the electrical connector is inserted into the receptacle, and the electrical connector is configured to exert a force via the contact with the pushrod sufficient to move the pushrod from the first position to the second position. ### Claim 8 (depends on 5) The surgical cannula of claim 5, wherein: the electrical connector sensing device comprises a magnet coupled to the bowl portion and movable relative to the bowl portion between a first position and a second position; and movement of the pushrod between the first and second positions of the pushrod causes the magnet to move between the first and second positions of the magnet. ### Claim 9 (depends on 1) The surgical cannula of claim 1, wherein: the electrical connector sensing device is not electrically powered. ### Claim 10 (depends on 1) The surgical cannula of claim 1, wherein: the electrical connector sensing device comprises a shutter configured to move between a first position and a second position; the shutter is in the first position in the first physical configuration of the electrical connector sensing device; and the shutter is in the second position in the second physical configuration of the electrical connector sensing device. ### Claim 11 (depends on 1) The surgical cannula of claim 1, wherein the electrical connector sensing device comprises a radio-frequency identification device. ### Claim 12 (depends on 1) The surgical cannula of claim 1, further comprising an attachment portion protruding laterally from a sidewall of the bowl portion and configured to be removably coupled with a portion of a manipulator arm of a surgical system. ### Claim 13 (depends on 12) The surgical cannula of claim 12, wherein: the attachment portion includes an array of magnets configured to communicate identification information regarding the surgical cannula to a sensor at the manipulator arm; and the electrical connector sensing device is further configured to use a magnet of the array of magnets to output a signal indicative of the state of the electrical connector interface. ### Claim 14 (depends on 1) The surgical cannula of claim 1, wherein the electrical connector sensing device is further configured to output a signal containing information regarding the engaged or disengaged state of the electrical connector interface. ### Claim 15 A surgical system, comprising: a surgical manipulator; a cannula configured to be removably mounted to the surgical manipulator, the cannula comprising: a bowl portion comprising an opening to permit removable insertion of a medical instrument into the bowl portion while the cannula is in a mounted state, a tube portion extending distally from the bowl portion and configured to removably receive and permit advancement of a medical instrument inserted through the bowl portion, and an electrical connector interface at the bowl portion and configured to removably engage with an electrical connector electrically coupled with a patient return electrode, a state of engagement of the electrical connector interface being either an engaged state, in which the electrical connector interface is engaged with the electrical connector, or a disengaged state, in which the electrical connector interface is removed from engagement with the electrical connector; an electrical connector sensing device arranged to sense the state of engagement of the electrical connector interface; and a controller operably coupled to the electrical connector sensing device, the controller receiving information from the electrical connector sensing device regarding the state of engagement of the electrical connector interface with the electrical connector, wherein the electrical connector sensing device is coupled to the bowl portion and is movable relative to the bowl portion between a first physical configuration and a second physical configuration; the electrical connector sensing device is in the first physical configuration in the engaged state of the electrical connector interface; and the electrical connector sensing device is in the second physical configuration in the disengaged state of the electrical connector interface. ### Claim 16 (depends on 15) The surgical system of claim 15, further comprising a user interface configured to display a visible notification of the disengaged state of the electrical connector interface. ### Claim 17 (depends on 15) The surgical system of claim 15, wherein the surgical system is configured to provide an audible notification of the disengaged state of the electrical connector interface. ### Claim 18 (depends on 15) The surgical system of claim 15, wherein at least one function of the surgical system is configured to be disabled based on the patient return electrode being electrically decoupled from the electrical connector interface. ### Claim 19 (depends on 15) The surgical system of claim 15, wherein: the electrical connector sensing device comprises a magnet coupled to the bowl portion of the cannula and movable relative to the bowl portion between a first position and a second position; the magnet is in the first position in the first physical configuration of the electrical connector sensing device; the magnet is in the second position in the first physical configuration of the electrical connector sensing device; the electrical connector sensing device further comprises a magnetic reader at the surgical manipulator; and the magnetic reader is configured to sense the magnet and generate a signal indicating the engaged state of the electrical connector interface with the electrical connector based on sensing the magnet in the first position.