US 12,491,005 B2
Cannulas having body wall retention features, and related systems and methods
Robert C. Reid, Fairfield, CT (US)
Assigned to INTUITIVE SURGICALS OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Aug. 1, 2022, as Appl. No. 17/878,547.
Application 17/878,547 is a continuation of application No. 16/673,172, filed on Nov. 4, 2019, granted, now 11,432,844.
Application 16/673,172 is a continuation of application No. 15/622,935, filed on Jun. 14, 2017, granted, now 10,485,582, issued on Nov. 26, 2019.
Claims priority of provisional application 62/365,778, filed on Jul. 22, 2016.
Prior Publication US 2023/0037688 A1, Feb. 9, 2023
Int. Cl. A61B 17/34 (2006.01); A61B 17/00 (2006.01)
CPC A61B 17/3423 (2013.01) [A61B 17/3421 (2013.01); A61B 2017/00526 (2013.01); A61B 2017/3484 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A cannula comprising:
a mounting feature configured to couple the cannula to a manipulator arm of a medical system; and
a tube extending distally from the mounting feature, the tube comprising:
a proximal end opening,
a distal end opening disposed at an opposite end of the tube from the proximal end opening,
a lateral wall defining a passage extending from the proximal end opening to the distal end opening, the passage configured to receive a medical instrument for advancement through the tube, and
a waisted outer surface portion defined along a length of the lateral wall, the waisted outer surface portion comprising:
a first tapered region tapering in a proximal-to-distal direction along the tube;
a second tapered region distal to the first tapered region and tapering in a distal-to-proximal direction of the tube; and
an inflection at a juncture between the first and second tapered regions,
wherein, in a coupled state of the cannula to the manipulator arm, the waisted outer surface portion is configured to be inserted through a body wall with the inflection positioned at the body wall,
wherein in response to manipulation of the cannula by the manipulator arm, the cannula has a remote center of motion located along the waisted outer surface portion, and
wherein an outer diameter of the tube is smaller at the inflection than at other portions of the tube proximal the waisted outer surface portion.