# US 2019/0290389 A1 · Cannula assemblies for use with robotic surgical systems

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- Number: US 2019/0290389 A1
- Document ID: US20190290389A1
- Status: Published application
- Kind: A1
- Application number: 16/304,553
- Filed: 2017-05-24
- Published: 2019-09-26
- Earliest claimed: 2016-05-26
- Assignees: Covidien LP
- Applicants: Covidien LP
- Inventors: Brock Kopp
- Web page: https://patentgrep.com/patent/US20190290389A1

## CPC

- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- A61B 17/3421: {Cannulas}
- A61B 17/3462: {with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals (expandable cannulas A61B17/3417)}
- A61B 34/30: Surgical robots
- A61B 2017/3419: {Sealing means between cannula and body}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

The present disclosure relates to cannula assemblies for use with robotic surgical systems. According to an aspect of the present disclosure, a surgical cannula assembly for use with a mounting structure of a robotic arm, is provided. The surgical cannula assembly includes a cannula configured for reception of a surgical instrument at least partially therethrough; an attachment mechanism configured to releasably engage the cannula; and a barrier configured to extend through a channel of the mounting structure. The barrier includes a proximal ring for positioning adjacent a proximal face of the mounting structure, a distal ring for positioning adjacent a distal face of the mounting structure, and a cylindrical section defining a lumen therein and extending between the proximal ring and the distal ring, the cannula configured for insertion within the lumen in a distal-to-proximal direction.

## Claims

### Claim 1

A surgical cannula assembly for use with a mounting structure of a robotic arm, the surgical cannula assembly comprising:
a cannula configured for reception of a surgical instrument at least partially therethrough;
an attachment mechanism configured to releasably engage the cannula; and
a barrier configured to extend through a channel of the mounting structure, the barrier including a proximal ring for positioning adjacent a proximal face of the mounting structure, a distal ring for positioning adjacent a distal face of the mounting structure, and a cylindrical section defining a lumen therein and extending between the proximal ring and the distal ring, the cannula configured for insertion within the lumen in a distal-to-proximal direction.

### Claim 2 (depends on 1)

The surgical cannula assembly according to claim 1, wherein the barrier is configured to provide a sterile barrier between the cannula and the mounting structure during use.

### Claim 3 (depends on 1)

The surgical cannula assembly according to claim 1, further comprising a first seal disposed within the lumen of the barrier and being configured to provide an air-tight seal about a surgical instrument that is inserted through a hole defined by the first seal.

### Claim 4 (depends on 3)

The surgical cannula assembly according to claim 3, further comprising a second seal disposed within the lumen of the barrier and being configured to provide an air-tight seal within the lumen of the barrier in the absence of a surgical instrument within the lumen of the barrier.

### Claim 5 (depends on 4)

The surgical cannula assembly according to claim 4, wherein the first seal and the second seal are made from the same material as the barrier.

### Claim 6 (depends on 1)

The surgical cannula assembly according to claim 1, wherein the cannula is configured for removal from the lumen of the barrier in a proximal-to-distal direction.

### Claim 7 (depends on 6)

The surgical cannula assembly according to claim 6, wherein the cannula is configured for removal from the lumen in a distal-to-proximal direction.

### Claim 8

A method of engaging a cannula with a mounting structure of a robotic arm, comprising:
inserting a portion of a cannula within a channel of the mounting structure in a distal-to-proximal direction, the cannula providing a path through which a surgical instrument can be inserted in a proximal-to-distal direction at least partially therethrough to access a patient.

### Claim 9 (depends on 8)

The method according to claim 8, further comprising removing the cannula from engagement with the mounting structure in a proximal-to-distal direction.

### Claim 10 (depends on 8)

The method according to claim 8, further comprising inserting a barrier at least partially within the channel of the mounting structure.

### Claim 11 (depends on 10)

The method according to claim 10, further comprising engaging an attachment member with the barrier, and removably securing the attachment member to the cannula.

### Claim 12 (depends on 11)

The method according to claim 11, further comprising removing the cannula from engagement with the mounting structure in a distal-to-proximal direction.