# US 11,992,184 B2 · Surgical robotic access system for irregularly shaped robotic actuators and associated robotic surgical instruments > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,184 B2 - Document ID: US11992184B2 - Status: Granted - Kind: B2 - Application number: 18/136,218 - Filed: 2023-04-18 - Published: 2023-08-10 - Granted: 2024-05-28 - Earliest claimed: 2016-09-12 - Assignees: Applied Medical Resources Corporation - Applicants: Applied Medical Resources Corporation - Inventors: Matthew Becerra; Jeremy Albrecht; Timothy Hopkins; Brian Pugh; Brian Hong; Bruno Vu - Web page: https://patentgrep.com/patent/US11992184B2 ## CPC - A61B 1/00154: {using guiding arrangements for insertion} - A61B 1/0055: {Constructional details of insertion parts, e.g. vertebral elements} - A61B 17/3423: {Access ports, e.g. toroid shape introducers for instruments or hands (access sites for liquids A61M39/0247)} - A61B 17/3496: {Protecting sleeves or inner probes; Retractable tips (for protecting body piercing guide needles A61M25/0612)} - A61B 17/3498: {Valves therefor, e.g. flapper valves, slide valves (haemostasis valves A61M39/06; check valves A61M39/24)} - A61B 34/30: Surgical robots - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/3419: {Sealing means between cannula and body} - A61B 2017/346: {with wings} - A61B 2090/0801: {Prevention of accidental cutting or pricking} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract The surgical robotic access system provides access for robotic instruments and/or actuators including the introduction, operation and withdrawal of such robotic manipulators into a body cavity without permitting the escape of pressurized fluid or gas. The surgical robotic access system also provides a multi-faceted range of movement without touching or effecting pressure on the opening in the patient's body cavity. ## Claims ### Claim 1 A surgical robotic access system providing instrument access into a patient's body, the surgical robotic access system comprising: a surgical robotic access platform having a proximal portion and a distal portion, the proximal portion of the surgical robotic access platform including a flexible seal; and a robotic sheath having a proximal end and a distal end insertable through the flexible seal of the surgical robotic access platform, the robotic sheath having an expandable cover disposed at the distal end of the robotic sheath and defining a cavity having proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough, wherein the expandable cover comprises at least two curved side walls and a center wall removably connected to each other via a plurality of cutouts and a plurality of tabs, wherein the center wall comprises a first set of tabs of the plurality of tabs, wherein the at least two curved side walls comprises a first set of cutouts of the plurality of cutouts, wherein each of the first set of tabs are configured to be insertable into corresponding cutouts of the first set of cutouts to removably connect the center wall with the at least two curved side walls. ### Claim 2 (depends on 1) The surgical robotic access system of claim 1, wherein one or more of the plurality of tabs are foldable. ### Claim 3 (depends on 2) The surgical robotic access system of claim 2, wherein one or more of the plurality of tabs are deformable. ### Claim 4 (depends on 2) The surgical robotic access system of claim 2, wherein one of the at least two curved side walls comprises a second set of tabs of the plurality of tabs, wherein another curved side wall of the at last two curved side walls comprises a second set of cutouts corresponding to the second set of tabs, and wherein each of the second set of tabs are configured to be insertable into corresponding cutouts of the second set of cutouts to removably connect adjacent curved side walls of the at least two curved sidewalls. ### Claim 5 (depends on 2) The surgical robotic access system of claim 2, wherein the expandable cover comprises spacing between adjacent curved sidewalls or one of the at least two curved sidewalls and the center wall configured to facilitate expansion of the expandable cover. ### Claim 6 (depends on 2) The surgical robotic access system of claim 2, wherein the expandable cover comprises spacing between the plurality of tabs and corresponding plurality of cutouts configured to facilitate expansion of the expandable cover. ### Claim 7 (depends on 2) The surgical robotic access system of claim 2, wherein one or more of the at least two curved side walls and the center wall comprise flexible material to facilitate expansion of the expandable cover. ### Claim 8 (depends on 2) The surgical robotic access system of claim 2, wherein the center wall is configured to unfold away distally to allow the surgical robotic manipulator to extend through the distal end unobstructed. ### Claim 9 (depends on 8) The surgical robotic access system of claim 8, wherein the center wall is biased in a closed position. ### Claim 10 (depends on 8) The surgical robotic access system of claim 8, wherein the center wall is incapable of folding back or reattaching with the at least curved two side walls. ### Claim 11 (depends on 2) The surgical robotic access system of claim 2, wherein one or more of the plurality of tabs are configured to be torn or detached. ### Claim 12 (depends on 2) The surgical robotic access system of claim 2, wherein the plurality of tabs are configured to be reconnectable with corresponding plurality of cutouts to reattach the at least two curved side walls and the center wall. ### Claim 13 (depends on 2) The surgical robotic access system of claim 2, wherein the surgical robotic manipulator is attached to the robotic sheath even after one or more of the at least two curved side walls and the center wall are detached. ### Claim 14 (depends on 2) The surgical robotic access system of claim 2 further comprising a tail extending proximally from the expandable cover and configured to facilitate removal or insertion of the robotic sheath. ### Claim 15 A surgical robotic access system providing instrument access into a patient's body, the surgical robotic access system comprising: a robotic sheath having a proximal end and a distal end insertable through a surgical robotic access platform, the robotic sheath having an expandable cover disposed at the distal end of the robotic sheath and defining a cavity having proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough, wherein the expandable cover comprises walls or flaps collectively defining the cavity of the robotic sheath, at least one of the walls or flaps being arranged to be moved to an open position to provide the surgical robotic manipulator unobstructed access through the distal opening of the robotic sheath, the at least one of the walls or flaps not being capable of reverting back to a closed position once in the open position. ### Claim 16 (depends on 15) The surgical robotic access system of claim 15, wherein the walls or flaps of the expandable cover comprises curved side walls and a center wall, wherein the center wall is removably connected to each of the curved side walls through interfacing cutouts and tabs while each of the curved side walls are fixedly connected to each other. ### Claim 17 (depends on 15) The surgical robotic access system of claim 15, wherein the walls or flaps of the expandable cover comprises curved sides separated by a slit extending from the distal opening of the expandable cover to the proximal opening of the expandable cover; and a flap covering the distal opening of the expandable cover. ### Claim 18 (depends on 17) The surgical robotic access system of claim 17, wherein the flap is planar and is movable to be disposed flushed against the distal opening of the expandable cover, and wherein the proximal opening of the expandable cover is larger in diameter than the distal opening of the expandable cover. ### Claim 19 (depends on 15) The surgical robotic access system of claim 15, wherein the expandable cover includes an exterior surface and an interior surface, wherein both the exterior and interior surfaces are uniform and smooth, wherein the interior surface of the expandable cover is lined with a protective material, and wherein the protective material is a material different from a material of the expandable cover and having a lower durometer than the material of the expandable cover. ### Claim 20 (depends on 15) The surgical robotic access system of claim 15, wherein the robotic sheath is removable from the surgical robotic manipulator.