# US 2021/0330351 A1 · Cannula attachment devices and methods for a surgical robotic system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0330351 A1 - Document ID: US20210330351A1 - Status: Published application - Kind: A1 - Application number: 17/368,736 - Filed: 2021-07-06 - Published: 2021-10-28 - Earliest claimed: 2017-08-21 - Assignees: Verb Surgical Inc. - Applicants: Verb Surgical Inc. - Inventors: Charles Scheib - Web page: https://patentgrep.com/patent/US20210330351A1 ## CPC - A61B 17/3421: {Cannulas} - A61B 17/3476: {Powered trocars, e.g. electrosurgical cutting, lasers, powered knives} - A61B 34/30: Surgical robots - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 90/57: Accessory clamps - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/347: {Locking means, e.g. for locking instrument in cannula} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A robotic surgical system may include a cannula attachment device or cannula mount having a locking mechanism configured to pivot between an unlocked position and a locked over-center position. The locking mechanism may actuate a clamp or other feature that is configured to move between a closed position and an open position. The clamp may include a locating structure with one or more tapered surfaces that is configured to mate with a corresponding structure disposed on a portion of a cannula when the cannula is positioned in the cannula attachment device. The locating structure may guide the cannula into the attachment device, as well as assist with orientating the cannula relative to the attachment device. ## Claims ### Claim 1 An apparatus, comprising: a body defining a region to receive a cannula; a latch rotatably coupled to the body; and a link rotatably coupled to the body, wherein the link includes a link portion slidable along the latch to rotate the latch from an open position to a closed position in which a latch portion of the latch is disposed within the region. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the latch includes a recess configured to receive a protrusion disposed on the cannula. ### Claim 3 (depends on 1) The apparatus of claim 1 further comprising a lever coupled to the link to cause the link to rotate and the latch to rotate to the open position. ### Claim 4 (depends on 3) The apparatus of claim 3 further comprising a gear system including an input gear coupled to the lever and an output gear coupled to the link, wherein the gear system includes a gear ratio greater than 1. ### Claim 5 (depends on 1) The apparatus of claim 1 further comprising a biasing element coupled to the latch to bias the latch to the closed position. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the biasing element includes a torsion spring. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the latch has a near over-center alignment in the closed position such that the latch resists rotation when a pulling force is exerted on the cannula. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the link portion slides along the latch in a first direction when the latch rotates from the open position to the closed position, and wherein the link portion slides along the latch in a second direction when the latch rotates from the closed position to the open position. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the region includes at least one tapered surface shaped to guide the cannula into the region. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the latch includes a magnet. ### Claim 11 (depends on 10) The apparatus of claim 10 further comprising a sensor to detect a location of the magnet. ### Claim 12 A surgical robotic system, comprising: an attachment device including a body defining a region, a latch rotatably coupled to the body, and a link rotatably coupled to the body, wherein the link includes a link portion slidable along the latch to rotate the latch from an open position to a closed position in which a latch portion of the latch is disposed within the region; and a cannula including a portion shaped to insert into the region. ### Claim 13 (depends on 12) The surgical robotic system of claim 12, wherein the portion of the cannula includes a protrusion, and wherein the latch includes a recess configured to receive the protrusion. ### Claim 14 (depends on 12) The surgical robotic system of claim 12 further comprising a lever coupled to the link to cause the link to rotate and the latch to rotate to the open position. ### Claim 15 (depends on 14) The surgical robotic system of claim 14 further comprising a gear system including an input gear coupled to the lever and an output gear coupled to the link, wherein the gear system includes a gear ratio greater than 1. ### Claim 16 (depends on 12) The surgical robotic system of claim 12 further comprising a biasing element coupled to the latch to bias the latch to the closed position. ### Claim 17 (depends on 12) The surgical robotic system of claim 12, wherein the link portion slides along the latch in a first direction when the latch rotates from the open position to the closed position, and wherein the link portion slides along the latch in a second direction when the latch rotates from the closed position to the open position. ### Claim 18 (depends on 12) The surgical robotic system of claim 12, wherein the region includes at least one tapered surface shaped to guide the portion of the cannula into the region. ### Claim 19 A method, comprising: inserting a portion of a cannula into a region defined by a body of an attachment device; and rotating a link coupled to the body to cause a latch coupled to the body to rotate from an open position to a closed position in which a latch portion of the latch is disposed within the region. ### Claim 20 (depends on 19) The method of claim 19, wherein a link portion slides along the latch in a first direction when the latch rotates from the open position to the closed position, and wherein the link portion slides along the latch in a second direction when the latch rotates from the closed position to the open position.