# US 2013/0152657 A1 · Curved cannula

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- Number: US 2013/0152657 A1
- Document ID: US20130152657A1
- Status: Published application
- Kind: A1
- Application number: 13/692,339
- Filed: 2012-12-03
- Published: 2013-06-20
- Earliest claimed: 2010-04-05
- Assignees: Intuitive Surgical Operations, Inc.
- Inventors: Charles E. SWINEHART; Theodore W. ROGERS
- Web page: https://patentgrep.com/patent/US20130152657A1

## CPC

- B21D 21/00: Combined processes according to methods covered by groups B21D1/00 - B21D19/00
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/3421: {Cannulas}
- A61B 2017/2904: {curved, but rigid}
- A61B 2090/062: {penetration depth}
- Y10T 29/49: Method of mechanical manufacture
- B21D: WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL (working or processing of wire B21F)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

The cross section of a curved portion of a curved cannula is oval shaped. The oval is oriented such that a major axis of the oval is generally aligned with the curved portion's bend radius. In one aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall approaches the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this first aspect, a wider contact patch area between the instrument component and the cannula results, which reduces friction and stick-slip during insertion. In another aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall is less than the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this second aspect, two contact patches are established between the instrument component and cannula, which also reduces friction and stick-slip during instrument insertion. Also disclosed is a cannula orientation marking that changes circumferential orientation along a length the curved cannula to help a person who is inserting the cannula to properly twist the cannula during insertion.

## Claims

### Claim at position 1

1-16. (canceled)

### Claim 17

A method of manufacturing a curved cannula, comprising the acts of:
forming at least a portion of a rigid cannula tube into a curved portion, wherein the curved portion curves at a bend radius at a particular location; and
shaping a cross-section of the curved portion at the particular location into an oval shape having at least two spaced apart contact regions arranged to contact a surgical instrument received within the tube and along the curved portion, wherein the major axis of the oval shape is generally aligned with the bend radius at the particular location.

### Claim 18 (depends on 17)

The method of claim 17:
wherein shaping the cross section of the curved portion at the particular location into an oval shape comprises pressing the curved portion between two surfaces.

### Claim 19

(canceled)

### Claim 20 (depends on 17)

The method of claim 17:
wherein shaping the cross section of the curved portion at the particular location into an oval shape comprises shaping an inner wall of the cannula at a location where the major axis of the oval shape intersects the inner wall to have a radius of curvature that is smaller than or substantially equal to an outer circumference radius of curvature of a surgical instrument component that contacts the curved portion during insertion of the surgical instrument.

### Claim 21 (depends on 17)

The method of claim 17:
wherein forming the curved portion comprises forming a portion of an interior wall of the curved portion of the cannula tube to intersect the major axis distal to an origin of the bend radius of the curved portion of the cannula tube.

### Claim 22 (depends on 17)

The method of claim 17:
wherein forming the curved portion comprises forming a portion of an interior wall of the curved portion of the cannula tube to intersect the major axis proximal to an origin of the bend radius of the curved portion of the cannula tube.

### Claim 23 (depends on 17)

The method of claim 17:
wherein shaping the cross section at the particular location into an oval shape comprises shaping the at least two spaced apart contact regions so that a surgical instrument received within the cannula tube and extending along the curved portion contacts an inner wall of the curved portion of the cannula tube at the two contact regions, but does not contact the inner wall of the curved portion of the cannula tube between the two contact regions.

### Claim 24 (depends on 17)

The method of claim 17:
wherein at the cross section of an interior wall of the curved portion of the cannula tube, a length of a minor axis of the cross section is slightly larger than twice a radius of curvature of an outer circumference of a shaft of the surgical instrument.