Cannula assemblies for use with robotic surgical systems

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.

1 . (canceled) 
     
     
         2 . A cannula assembly for use with a mounting structure of a robotic arm, the cannula assembly comprising:
 a cannula including a proximal portion and a distal portion, the distal portion configured to engage tissue; and   a barrier configured to extend at least partially through a channel of the mounting structure, the barrier defining a lumen, the cannula configured for insertion at least partially through the lumen in a distal-to-proximal direction.   
     
     
         3 . The cannula assembly according to  claim 2 , wherein the barrier includes a proximal ring configured for positioning adjacent a proximal face of the mounting structure. 
     
     
         4 . The cannula assembly according to  claim 3 , wherein the barrier includes a distal ring configured for positioning adjacent a distal face of the mounting structure. 
     
     
         5 . The cannula assembly according to  claim 4 , wherein the barrier includes a cylindrical section extending between the proximal ring and the distal ring. 
     
     
         6 . The cannula assembly according to  claim 2 , further comprising an attachment mechanism configured to releasably engage the cannula. 
     
     
         7 . The cannula assembly according to  claim 2 , wherein the barrier is configured to provide a sterile barrier between the cannula and the mounting structure during use. 
     
     
         8 . The cannula assembly according to  claim 2 , further comprising a first seal disposed within the lumen of the barrier and configured to provide an air-tight seal about a surgical instrument that is inserted through a hole defined by the first seal. 
     
     
         9 . The cannula assembly according to  claim 8 , further comprising a second seal disposed within the lumen of the barrier and 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. 
     
     
         10 . The cannula assembly according to  claim 9 , wherein the first seal, the second seal, and the barrier are made from the same material. 
     
     
         11 . The cannula assembly according to  claim 2 , further comprising an O-ring disposed between the cannula and the barrier. 
     
     
         12 . The cannula assembly according to  claim 2 , wherein the cannula is configured for removal from the lumen of the barrier in a proximal-to-distal direction. 
     
     
         13 . A surgical assembly for use with a robotic arm, the surgical assembly comprising:
 a mounting structure configured to mechanically engage the robotic arm, the mounting structure defining a channel extending longitudinally therethrough; and   a cannula including a distal portion configured to engage tissue, the cannula configured for insertion at least partially through the channel of the mounting structure in a distal-to-proximal direction.   
     
     
         14 . The surgical assembly according to  claim 13 , further comprising a barrier extending at least partially through the channel of the mounting structure, the barrier defining a lumen. 
     
     
         15 . The surgical assembly according to  claim 14 , wherein the barrier includes a proximal ring disposed adjacent a proximal face of the mounting structure, a distal ring disposed adjacent a distal face of the mounting structure, and a cylindrical section extending between the proximal ring and the distal ring. 
     
     
         16 . The surgical assembly according to  claim 14 , further comprising a first seal and a second seal disposed within the lumen of the barrier, wherein the first seal is configured to provide an air-tight seal about a surgical instrument that is inserted through a hole defined by the first seal, and wherein the second seal is 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. 
     
     
         17 . The surgical assembly according to  claim 16 , wherein the first seal, the second seal, and the barrier are made from the same material. 
     
     
         18 . The surgical assembly according to  claim 13 , wherein the mounting structure includes a proximal housing and a distal housing. 
     
     
         19 . The surgical assembly according to  claim 18 , wherein the proximal housing is rotatable relative to the distal housing. 
     
     
         20 . The surgical assembly according to  claim 13 , further comprising an attachment mechanism configured to releasably engage the cannula. 
     
     
         21 . A cannula assembly for use with a mounting structure of a robotic arm, the cannula assembly comprising:
 a cannula including a lumen, a proximal portion and a distal portion, the distal portion configured to engage tissue, the cannula configured for insertion at least partially through a channel of the mounting structure in a distal-to-proximal direction; and   a first seal disposed within the lumen of the cannula and configured to provide an air-tight seal about a surgical instrument that is inserted through a hole defined by the first seal.