Surgical cannulas, and related systems and methods
AssigneeIntuitive Surgical Operations, Inc.
InventorJason Hemphill
Life of this patent
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Abstract
A surgical system, comprises a manipulator arm comprising a manipulator interface engageable with a surgical instrument; a cannula mount supported by the manipulator arm; a cannula comprising a tube portion, an attachment portion engageable with the cannula mount so as to mount the cannula to the manipulator arm in a position to permit a surgical instrument to be removably inserted into and advanced through the tube portion, and a state change mechanism transitionable between differing states based on a state of the cannula mounted to the cannula mount; and a controller configured to: receive information regarding a state of the state change mechanism, determine the state of the cannula based on the information received, and output feedback regarding the state of the cannula.
Claims21
(canceled)
A surgical system, comprising:
- a manipulator arm comprising a manipulator interface engageable with a surgical instrument;
- a cannula mount supported by the manipulator arm;
- a cannula comprising:
- a tube portion,
- an attachment portion engageable with the cannula mount so as to mount the cannula to the manipulator arm in a position to permit a surgical instrument to be removably inserted into and advanced through the tube portion, and
- a state change mechanism transitionable between differing states based on a state of the cannula mounted to the cannula mount;
- and
- a controller, the controller configured to:
- receive information regarding a state of the state change mechanism,
- determine the state of the cannula based on the information received, and
- output feedback regarding the state of the cannula.
Dependencies are inferred from the claim text.