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1. (WO2011060054) CURVED CANNULA, ROBOTIC MANIPULATOR AND SURGICAL PORT
Latest bibliographic data on file with the International Bureau   

Pub. No.: WO/2011/060054 International Application No.: PCT/US2010/056203
Publication Date: 19.05.2011 International Filing Date: 10.11.2010
IPC:
A61B 17/34 (2006.01) ,A61B 19/00 (2006.01) ,A61B 17/29 (2006.01) ,A61B 17/00 (2006.01)
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
B
DIAGNOSIS; SURGERY; IDENTIFICATION
17
Surgical instruments, devices or methods, e.g. tourniquets
34
Trocars; Puncturing needles
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
B
DIAGNOSIS; SURGERY; IDENTIFICATION
19
Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B1/-A61B18/149
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
B
DIAGNOSIS; SURGERY; IDENTIFICATION
17
Surgical instruments, devices or methods, e.g. tourniquets
28
Surgical forceps
29
Forceps for use in minimally invasive surgery
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
B
DIAGNOSIS; SURGERY; IDENTIFICATION
17
Surgical instruments, devices or methods, e.g. tourniquets
Applicants:
INTUITIVE SURGICAL OPERATIONS, INC. [US/US]; 1266 Kifer Road, Bldg. 101 Sunnyvale, California 94086, US (AllExceptUS)
Inventors:
ROGERS, Theodore W.; US
GERBI, Craig R.; US
STEGER, John Ryan; US
SWINEHART, Charles E.; US
Agent:
NGUYEN, Frank; Intuitive Surgical Operations, Inc. 1266 Kifer Road Bldg. 101 Sunnyvale, California 94086, US
Priority Data:
12/618,54913.11.2009US
12/618,62113.11.2009US
Title (EN) CURVED CANNULA, ROBOTIC MANIPULATOR AND SURGICAL PORT
(FR) ELÉMENT D'ORIFICE CHIRURGICAL
Abstract:
(EN) A robotic surgical system is configured with rigid, curved cannulas (416a) that extend through the same opening into a patient's body. Surgical instruments (500) with passively flexible shafts (506) extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features (1402) that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures (1902) that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
(FR) La présente invention a pour objet un système chirurgical robotisé pourvu de canules incurvées rigides qui s'étendent dans la même ouverture dans le corps d'un patient. Des instruments chirurgicaux possédant des tiges passivement flexibles s'étendent dans les canules incurvées. Les canules sont orientées pour diriger les instruments vers un site chirurgical. La présente invention concerne différents éléments d'orifice qui supportent les canules incurvées dans l'ouverture unique. Selon un aspect, des canaux d'instrument chirurgical s'étendent selon des angles différents entre les surfaces supérieure et inférieure d'un élément d'orifice. Selon un autre aspect, une partie entonnoir et une partie languette sont séparées par une partie cintrée, et des canaux d'instrument chirurgical s'étendent depuis la partie entonnoir dans la partie cintrée. La présente invention concerne des ferrures de support de canule qui supportent les canules pendant l'insertion dans l'ouverture unique et le montage sur des manipulateurs robotisés. La présente invention concerne un système de commande de téléopération qui déplace les canules incurvées et leurs instruments associés d'une manière qui permet à un chirurgien de connaître une commande intuitive.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PE, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)