Curved cannula surgical system

A surgical system comprising:

• a first robotic manipulator;
• a first cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the first cannula is coupled to the first robotic manipulator;
• a first surgical instrument comprising a flexible shaft that extends through and beyond the distal end of the first cannula;
• a second robotic manipulator;
• a second cannula comprising a proximal end and a distal end, wherein the second cannula is rigid and straight between the proximal and distal ends, and wherein the proximal end of the second cannula is coupled to the second robotic manipulator;
• and
• a second surgical instrument comprising a shaft that extends through and beyond the distal end of the second cannula;
• wherein the first cannula extends through a single opening in a patient's body in a direction away from a line that extends between the opening in the patient's body and a surgical site within the patient's body, and wherein the curved section of the first cannula arcs within the patient's body towards the surgical site and directs the distal end of the first surgical instrument towards the surgical site;
• wherein the second cannula extends through the single opening in the patient's body directly towards the surgical sight to direct the distal end of the second surgical instrument towards the surgical site;
• and
• wherein the first robotic manipulator is configured to move the first cannula around a first center of motion, wherein the second robotic manipulator is configured to move the second cannula around a second center of motion, wherein the first and second centers of motion are positioned proximate to one another at the opening in the patient's body, and wherein movement of the first and second cannulas by their respective associated first and second robotic manipulators around their respective first and second centers of motion is independent of one another.

A method of enabling a robotic surgical system to access a surgical site within a patient's body via a single opening in the patient's body, comprising the acts of:

• providing a first cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the first cannula is configured to be coupled to a first robotic manipulator;
• providing a first surgical instrument comprising a flexible shaft that extends through and beyond the distal end of the first cannula;
• providing a second cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the second cannula is configured to be coupled to a second robotic manipulator;
• and
• providing a second surgical instrument comprising a flexible shaft that extends through and beyond the distal end of the second cannula;
• wherein the first and second cannulas each extend through the single opening in the patient's body in a direction away from a line that extends between the opening in the patient's body and the surgical site, and wherein the curved sections of the first and second cannulas each arc within the patient's body towards the surgical site and direct distal ends of their respective associated first and second surgical instruments towards the surgical site;
• and
• wherein the first robotic manipulator is configured to move the first cannula around a first center of motion, wherein the second robotic manipulator is configured to move the second cannula around a second center of motion, wherein the first and second centers of motion are positioned proximate to one another at the opening in the patient's body, and wherein movement of the first and second cannulas by their respective associated first and second robotic manipulators around their respective first and second centers of motion is independent of one another.