US Patent:
20110282351, Nov 17, 2011
Inventors:
Thomas G. Cooper - Menlo Park CA, US
Jeffrey D. Brown - Palo Alto CA, US
Nicola Diolaiti - Palo Alto CA, US
Eugene F. Duval - Menlo Park CA, US
Daniel H. Gomez - Sunnyvale CA, US
Robert E. Holop - Sunnyvale CA, US
Paul E. Lilagan - Sunnyvale CA, US
Anthony K. McGrogan - San Jose CA, US
Craig R. Ramstad - Minden NV, US
Assignee:
Intuitive Surgical Operations, Inc. - Sunnyvale CA
International Classification:
A61B 17/00
A61B 19/00
Abstract:
An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.