# US 12,758,331 B2 · Telescoping cannula arm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,758,331 B2 - Document ID: US12758331B2 - Status: Granted - Kind: B2 - Application number: 18/595,803 - Filed: 2024-03-05 - Published: 2024-08-22 - Granted: 2026-10-13 - Earliest claimed: 2016-01-07 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Allen C. Thompson; Daniel H. Gomez; Kirk Nangreaves - Web page: https://patentgrep.com/patent/US12758331B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 2017/00991: {Telescopic means} - A61B 17/3421: {Cannulas} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A system includes a manipulator arm and a cannula mount arm. The manipulator arm includes a link and a locking assembly coupled to the link. The cannula mount arm includes a latch. The cannula mount arm is configured to be extended from the link to an extended position. The locking assembly is configured to engage with the latch when the cannula mount arm is extended from the link to the extended position so as to lock the cannula mount arm in the extended position. Activation of an electrical component coupled to the locking assembly is inhibited when a cannula is docked to the cannula mount arm. ## Claims ### Claim 1 A system comprising: a manipulator arm comprising a first link and a latch link coupled to the first link and configured to engage with a latch; and a cannula mount arm comprising the latch; wherein: the cannula mount arm is configured to be manually extended from the first link to an extended position, wherein extending the cannula mount arm stores potential energy in a spring; the latch link is configured to engage with the latch when the cannula mount arm is extended from the first link to the extended position so as to lock the cannula mount arm in the extended position; and disengagement of the latch link from the latch results in the cannula mount arm being retracted into the first link using the potential energy stored in the spring. ### Claim 2 (depends on 1) The system of claim 1, wherein: a first end of the spring is attached to the cannula mount arm; and a second end of the spring is coiled around a spool assembly. ### Claim 3 (depends on 2) The system of claim 2, wherein extending the cannula mount arm unwinds the spring from the spool assembly. ### Claim 4 (depends on 2) The system of claim 2, wherein: the spool assembly is attached to a bracket; and the bracket is attached to a segment gear. ### Claim 5 (depends on 1) The system of claim 1, wherein the spring is a constant force spring. ### Claim 6 (depends on 1) The system of claim 1, wherein activation of an electrical component disengages the latch link from the latch. ### Claim 7 (depends on 6) The system of claim 6, wherein activation of the electrical component is inhibited when a cannula is docked to the cannula mount arm. ### Claim 8 (depends on 7) The system of claim 7, wherein power to the electrical component is shorted to ground when the cannula is docked to the cannula mount arm. ### Claim 9 (depends on 6) The system of claim 6, wherein the electrical component is a solenoid. ### Claim 10 (depends on 6) The system of claim 6, wherein: the cannula mount arm further comprises an interlock control system; the interlock control system comprises an actuator bus, a bus dump circuit, and the electrical component; and the bus dump circuit and the electrical component are connected between the actuator bus and a ground. ### Claim 11 (depends on 1) The system of claim 1, wherein: the cannula mount arm is curved; and the first link is curved. ### Claim 12 (depends on 1) The system of claim 1, wherein the cannula mount arm further comprises a retraction button and a cannula release button. ### Claim 13 (depends on 1) The system of claim 1, wherein: the cannula mount arm further comprises a cannula dock, a linkage assembly, a cannula release button having a first end and a second end, and a linear motion assembly; the cannula dock is coupled to the first end of the cannula release button by the linkage assembly; the second end of the cannula release button is coupled to the linear motion assembly; and the linear motion assembly is configured to constrain the cannula release button to linear motion in first and second directions. ### Claim 14 (depends on 1) The system of claim 1, further comprising a damper configured to limit a speed at which the cannula mount arm is retracted into the first link. ### Claim 15 A cannula mount system comprising: a cannula dock configured to receive a cannula; a cannula mount arm; and a latch; wherein: the cannula mount arm is configured to be manually extended from a first link of a manipulator arm to an extended position, wherein extending the cannula mount arm stores potential energy in a spring; the latch is configured to engage with a latch link of the manipulator arm when the cannula mount arm is extended from the first link to the extended position so as to lock the cannula mount arm in the extended position; and disengagement of the latch link from the latch results in the cannula mount arm being retracted into the first link using the potential energy stored in the spring. ### Claim 16 (depends on 15) The cannula mount system of claim 15, wherein: a first end of the spring is attached to the cannula mount arm; and a second end of the spring is coiled around a spool assembly. ### Claim 17 (depends on 16) The cannula mount system of claim 16, wherein extending the cannula mount arm unwinds the spring from the spool assembly. ### Claim 18 (depends on 15) The cannula mount system of claim 15, wherein the spring is a constant force spring. ### Claim 19 (depends on 15) The cannula mount system of claim 15, wherein activation of an electrical component disengages the latch link from the latch. ### Claim 20 (depends on 19) The cannula mount system of claim 19, wherein activation of the electrical component is inhibited when a cannula is docked to the cannula mount arm.