阅读说明：本技术 用于机器人系统的外科手术套管 (Surgical cannula for robotic system ) 是由 阿尔温德·拉马多雷 乔舒亚·斯诺 杰奎琳·琼斯 于 2018-05-08 设计创作，主要内容包括：一种外科手术套管包含护套和接触表面。所述护套在其中限定内腔。所述内腔被配置成在其中接纳外科手术器械的至少一部分。所述护套能够进行扩展以从未展开配置转变为展开配置。随着所述护套从所述未展开配置转变为所述展开配置,所述内腔的长度增大。所述接触表面沿着所述护套的至少一部分安置,并且被配置成减弱其上的冲击力。(A surgical cannula includes a sheath and a contact surface. The sheath defines a lumen therein. The lumen is configured to receive at least a portion of a surgical instrument therein. The sheath is expandable to transition from an undeployed configuration to a deployed configuration. The length of the lumen increases as the sheath transitions from the undeployed configuration to the deployed configuration. The contact surface is disposed along at least a portion of the sheath and is configured to attenuate impact forces thereon.)

1. A surgical cannula, comprising:

a sheath defining a lumen therein configured to receive at least a portion of a surgical instrument therein, wherein the sheath is expandable to transition from a non-deployed configuration to a deployed configuration such that a length of the lumen increases as the sheath transitions from the non-deployed configuration to the deployed configuration; and

a contact surface disposed along at least a portion of the sheath and configured to attenuate impact forces thereon.

2. The surgical cannula of claim 1, wherein the sheath is crimped onto itself in the undeployed configuration and is deployed as the sheath transitions to the deployed configuration.

3. The surgical cannula of claim 1, wherein the contact surface comprises a resilient foam element.

4. The surgical cannula of claim 1, wherein the contact surface comprises a rubber element.

5. The surgical cannula of claim 1, wherein the sheath comprises a material configured to be sterilized.

6. The surgical cannula of claim 1, wherein the sheath comprises a material configured to maintain the lumen of the sheath in a sterile state.

7. The surgical cannula of claim 1, wherein the sheath defines at least one port therethrough configured to receive a portion of the surgical instrument therethrough.

8. The surgical cannula of claim 1, wherein the sheath comprises a contact sensor thereon configured to measure a magnitude of a force on the sheath or detect physical contact.

9. The surgical cannula of claim 8, wherein the contact sensor is supported on the contact surface.

10. A surgical wrap, comprising:

a sheath comprising a longitudinal seam and defining a first radial end and a second radial end, the sheath being transitionable between an undeployed configuration in which the first radial end of the sheath is secured to the second radial end of the sheath such that in the deployed configuration the sheath defines a lumen therethrough configured to cover at least a portion of a surgical instrument; and

a contact surface disposed along at least a portion of the sheath and configured to attenuate impact forces thereon.

11. The surgical warp of claim 10 wherein the contact surface comprises a resilient foam element.

12. The surgical warp of claim 10 wherein the contact surface comprises a rubber element.

13. The surgical warp of claim 10, wherein the sheath comprises a material configured to undergo sterilization.

14. The surgical warp of claim 10 wherein a contact sensor is included on the sheath, the contact sensor configured to measure the magnitude of a force on the sheath or detect the presence of physical contact.

15. The surgical warp according to claim 14, wherein the contact sensor is supported on the contact surface.

16. The surgical warp of claim 10, wherein at least one of the first or second radial ends of the sheath further comprises a fixation element configured to selectively fix the first radial end to the second radial end in the deployed configuration.

17. The surgical warp according to claim 16, wherein the fixation element comprises a string.

18. The surgical warp of claim 16 wherein the securing element comprises an adhesive.

19. The surgical warp of claim 10 wherein the lumen of the sheath defines a shape complementary to the surgical instrument.

20. The surgical wrap of claim 10, wherein the sheath comprises a material configured to maintain the lumen of the sheath in a sterile state.

21. The surgical wrap of claim 10, wherein the sheath defines at least one port therethrough configured to receive a portion of a surgical instrument therethrough.

22. A kit, comprising:

at least one surgical cannula, the surgical cannula comprising:

a sheath defining a lumen therein configured to receive at least a portion of a surgical instrument therein, wherein the sheath is expandable to transition from a non-deployed configuration to a deployed configuration such that a length of the lumen increases as the sheath transitions from the non-deployed configuration to the deployed configuration; and

a contact surface disposed along at least a portion of the sheath and configured to attenuate impact forces thereon; and

instructions for guiding a user to position the at least one surgical cannula on a surgical instrument or to transition the at least one surgical cannula from the undeployed configuration to the deployed configuration.

23. The kit of claim 22, further comprising:

at least one surgical instrument comprising a trocar or trocar cannula.

24. The kit of claim 22, further comprising:

a sterile package configured to hold the at least one surgical cannula and instructions for use.

Background

A robotic surgical system or "telesurgery" used in minimally invasive medical procedures may include a console or cart that supports a robotic arm and a surgical instrument (e.g., a trocar, forceps, stapler, or grasping tool). The robotic arm provides mechanical and/or electrical power to the surgical instrument to operate and move it. During a medical procedure, a surgeon typically operates a controller that remotely controls the articulation and actuation of the robotic arm and/or surgical instrument at the surgical site from a location that may be different from the patient.

Accidental contact may occur between the robotic arm or surgical instrument and a patient or surgical personnel present in the operating room during articulation and/or actuation of the robotic arm and/or surgical instrument. As a result of such contact, unexpected consequences may occur, such as damage to the robotic arm, surgical instrument, or accompanying components; the performance of the sterile surgical drape or patient covering is reduced or rendered unusable; and/or require re-sterilization of the surgical site, robotic surgical system, or surgical instrument during the pendency of the procedure.

Accordingly, there is a need for new surgical cannulas and coverings that can be easily and efficiently installed and removed that dampen, absorb, or attenuate impact forces generated by incidental physical contact between a patient or surgical personnel and a robotic surgical system or component thereof.

Disclosure of Invention

A surgical cannula according to the present disclosure is used to cover a surgical tool or component that may be coupled to a robotic surgical system, thereby absorbing or attenuating any incidental impact forces exerted thereon.

According to one aspect of the present disclosure, a surgical cannula includes a sheath and a contact surface. The sheath defines a lumen therein. The lumen is configured to receive at least a portion of a surgical instrument therein. The sheath is expandable to transition from an undeployed configuration to a deployed configuration. The length of the lumen increases as the sheath transitions from the undeployed configuration to the deployed configuration. The contact surface is disposed along at least a portion of the sheath and is configured to attenuate an impact force thereon.

In one embodiment, the sheath is crimped onto itself in an undeployed configuration and is deployed as the sheath transitions to the deployed configuration. In another embodiment, the contact surface comprises a resilient foam element. In one embodiment, the contact surface comprises a rubber element. In yet another embodiment, the sheath comprises a material configured to undergo sterilization. In yet another embodiment, the sheath contains a material configured to maintain the lumen of the sheath in a sterile condition. In an embodiment, the sheath defines at least one port therethrough. The port is configured to receive a portion of a surgical instrument therethrough.

In another embodiment, a contact sensor is included on the sheath. The contact sensor is configured to measure the magnitude of a force on the sheath or detect the presence of physical contact. In another embodiment, the touch sensor is supported on the touch surface.

According to another aspect of the present disclosure, a surgical wrap is provided that includes a sheath and a contact surface. The jacket includes a longitudinal seam and defines a first radial end and a second radial end. The sheath is transitionable between an undeployed configuration and a deployed configuration. In the deployed configuration, the first radial end of the sheath is secured to the second radial end of the sheath such that in the deployed configuration, the sheath defines a lumen therethrough configured to cover at least a portion of the surgical instrument. The contact surface is disposed along at least a portion of the sheath and is configured to attenuate impact forces thereon.

In one embodiment, the contact surface comprises a resilient foam element. In another embodiment, the contact surface comprises a rubber element. In yet another embodiment, the sheath comprises a material configured to undergo sterilization.

In another embodiment, a contact sensor is included on the sheath. The contact sensor is configured to measure the magnitude of a force on the sheath or detect physical contact. In another embodiment, the touch sensor is supported on the touch surface.

In another embodiment, the sheath or contact surface includes a contact sensor thereon. A touch sensor may be used to maintain a specified magnitude of force.

In another embodiment, at least one of the first or second radial ends of the sheath further comprises a fixation element. The securing element is configured to selectively secure the first radial end to the second radial end in the deployed configuration. In another embodiment, the fixation element comprises a string. In one embodiment, the securing element comprises an adhesive.

In another embodiment, the lumen of the sheath defines a shape complementary to the surgical instrument. In yet another embodiment, the sheath contains a material configured to maintain the lumen of the sheath in a sterile condition.

In another embodiment, the sheath defines at least one port therethrough. The port is configured to receive a portion of a surgical instrument therethrough.

According to yet another aspect of the present disclosure, a kit includes at least one surgical cannula and instructions for using the at least one surgical cannula. The surgical cannula includes a sheath and a contact surface. The sheath defines a lumen therein. The lumen is configured to receive at least a portion of a surgical instrument therein. The sheath is expandable to transition from the undeployed configuration to the deployed configuration such that the length of the lumen increases as the sheath transitions from the undeployed configuration to the deployed configuration. The contact surface is disposed along at least a portion of the sheath and is configured to attenuate an impact force thereon.

The kit further includes instructions for guiding a user to position the at least one surgical cannula on the surgical instrument or to transition the at least one surgical cannula from the undeployed configuration to the deployed configuration.

In an embodiment, the kit further comprises at least one surgical instrument comprising a trocar or trocar cannula.

In another embodiment, the kit further comprises a sterile package configured to hold at least one surgical cannula and instructions for use.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure, in which:

FIG. 1 is a schematic view of a robotic surgical system according to the present disclosure;

FIG. 2 is a perspective view of a robotic arm having a trocar support coupled thereto with a trocar separated therefrom;

FIG. 3A is a side perspective view of a surgical cannula according to the present disclosure, shown in an undeployed configuration;

FIG. 3B is a side perspective view of the surgical cannula of FIG. 3A, shown in a deployed configuration;

FIG. 3C is a side perspective view of the surgical cannula of FIG. 3B, shown covering the trocar of FIG. 2;

FIG. 4A is a side perspective view of another embodiment of a surgical cannula according to the present disclosure, shown in an undeployed configuration;

FIG. 4B is a side perspective view of the surgical cannula of FIG. 4A, shown in a deployed configuration; and is

Fig. 5 is a schematic view of a kit according to the present disclosure.

Detailed Description

Embodiments of the present disclosure are described in detail with reference to the drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term "distal end" refers to a portion of the device that is further from the user.

Although robotic surgical systems or "telesurgery" are discussed below, the embodiments disclosed herein may be configured for use with conventional instruments used during open surgery, minimally invasive instruments, or any instrument or tool where incidental physical contact may occur. Features of the devices disclosed herein will be directed to robotic surgical systems for the sake of brevity only. Robotic surgical systems employ various robotic elements to assist a surgeon and allow teleoperation (or partial teleoperation) of surgical instruments. Various robotic arms, gears, cams, pulleys, motors, mechanical motors, and the like may be employed for this purpose, and may be designed with a robotic surgical system to assist the surgeon during the procedure or treatment procedure. Such robotic systems may include remotely steerable systems, automated flexible surgical systems, remote articulated surgical systems, wireless surgical systems, modular or selectively configurable teleoperated surgical systems, and the like.

Robotic surgical systems may be employed with one or more consoles proximate to an operating room or at remote locations. In this example, one surgeon or nurse team may prepare the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein, while another surgeon (or a group of surgeons) remotely controls the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon can perform multiple operations at multiple locations without leaving his/her remote console, which is economically advantageous and also beneficial to a patient or a series of patients.

Referring to fig. 1, a robotic surgical system 1 includes a plurality of robotic arms 2, 3; a control device 4; and an operation console 5 coupled with the control device 4. The operating console 5 comprises a display device 6 which can be arranged, in particular, to display a three-dimensional image; and manual input means 7, 8 by means of which a human being, for example a surgeon (not shown), can remotely control the robot arms 2, 3.

Each of the plurality of robot arms 2, 3 includes a plurality of members connected by joints. The robotic surgical system 1 also includes a surgical assembly 10 connected to the distal end of each robotic arm 2, 3. The surgical assembly 10 includes an instrument drive unit and a surgical instrument 20 detachably coupled to the instrument drive unit. The surgical instrument 20 includes an end effector 23.

The robot arms 2, 3 may be driven by an electric drive (not shown) connected to the control device 4. The control device 4 (e.g. a computer) is provided to activate the drive, in particular by means of a computer program, so that the robotic arms 2, 3, the surgical assembly 10 thereof, perform the required movements according to the movements defined by the manual input devices 7, 8. The control device 4 may also be arranged such that it regulates the movement of the robot arms 2, 3 and/or the drive.

With continued reference to fig. 1, the robotic surgical system 1 is configured for a patient 13 lying on a patient bed 12 to be treated in a minimally invasive manner by an end effector 23. The robotic surgical system 1 may contain more than two robotic arms 2, 3. Additional robot arms may also be connected to the control device 4 and may be operated remotely by operating the console 5. One or more additional surgical assemblies 10 and/or surgical instruments 20 may also be attached to the additional robotic arm.

The control device 4 may control a plurality of motors (motors 1 … n), wherein each motor is configured to drive the pushing or pulling of one or more cables (not shown), for example, coupled to the end effector 23 of the surgical instrument 20. It is also contemplated to replace the cable with a rod or the like. In use, as these cables are pushed and/or pulled, the cables effect manipulation and/or movement of the end effector 23 of the surgical instrument 20. It is contemplated that control device 4 coordinates activation of the various motors (motor 1 … n) to coordinate the pushing or pulling motion of one or more cables to coordinate the operation and/or movement of one or more end effectors 23. In embodiments, each motor may be configured to actuate a drive rod or lever arm to effect operation and/or movement of end effector 23 in addition to or in lieu of one or more cables.

The control device 4 may comprise any suitable logic control circuitry adapted to perform calculations and/or operations according to a set of instructions. The control device 4 may be configured to control the operation of the device via wireless (e.g., Wi-Fi)^TM、LTE^TMEtc.) and/or a wired connection to communicate with a remote system "RS". The remote system "RS" may contain data, instructions and/or information related to the various components, algorithms and/or operations of the robotic surgical system 1. The remote system "RS" may comprise any suitable electronic service, database, platform, cloud "C" (see fig. 1), and the like. The control device 4 may comprise a central processing unit operatively connected to a memory. The memory may include a transitory type of memory (e.g., RAM) and/or a non-transitory type of memory (e.g., flash media, magnetic disk media, etc.). In some embodiments, the memory is part of and/or operably coupled to a remote system "RS".

The control device 4 may include a plurality of inputs and outputs for interfacing with components of the robotic surgical system 1, such as through drive circuitry. The control device 4 may be configured to receive input signals and/or generate output signals to control one or more of the various components (e.g., one or more motors) of the robotic surgical system 1. The output signal may contain and/or may be based on algorithmic instructions that may be preprogrammed and/or input by a user. The control device 4 may be configured to accept a number of user inputs from a user interface (e.g., switches, buttons, touch screen, etc. operating the console 5) that may be coupled to the remote system "RS".

The database 14 may be directly and/or indirectly coupled to the control device 4. The database 14 may be configured to store preoperative data from one or more biological and/or anatomical atlases. The database 14 may contain memory that may be part of and/or operatively coupled to the remote system "RS". For a detailed discussion of the construction and operation of the robotic surgical system 1, reference may be made to U.S. patent No. 8,828,023 entitled "medical workstation" filed on 3.11.2011, the entire contents of which are incorporated herein by reference.

Turning now to fig. 2, the surgical assembly 10 includes an exemplary embodiment of the surgical instrument 20 (fig. 1) shown as a trocar support 50, wherein the trocar support 50 is releasably coupled to the robotic arm 2 and is used to releasably couple a trocar or trocar cannula 100 to the robotic arm. It should be appreciated that the trocar or trocar cannula 100 and trocar mount 50 may represent any surgical tool or component used during minimally invasive or open surgery that may be coupled to the robotic surgical system 1, such as forceps, staplers, graspers, cutters, biopsy probes, imaging probes, radiation probes, etc., wherein the trocar or trocar cannula 100 and trocar mount 50 will be discussed herein for brevity.

The trocar support 50 is configured to releasably couple a trocar or trocar cannula 100 to the robotic arm 2 so that additional surgical tools can be introduced through the trocar or trocar cannula 100 during a surgical procedure. During such a surgical procedure, articulation of the robotic arms 2, 3, or any other surgical instrument or component complementary to the robotic surgical system 1, may cause inadvertent contact of the trocar or trocar cannula 100, the trocar support 50, and/or an instrument passing therethrough with the patient, the surgical personnel, or other components of the robotic surgical system 1. Thus, the robotic surgical system 1 may include a surgical cannula, drape, or covering that encloses or covers the trocar or trocar cannula 100, the trocar mount 50, the robotic arm 2, any other component or assembly of the robotic surgical system 1, and/or any combination thereof such that impact forces due to incidental physical contact therebetween are inhibited, absorbed, or attenuated.

Referring to fig. 3A through 3C, a surgical cannula 1000 is shown covering or substantially enclosing or covering at least a portion of a trocar or trocar cannula 100. When used with a robotic surgical system 1, surgical cannula 1000 may be configured to: positioned over the trocar or trocar cannula 100 before or after the trocar or trocar cannula 100 is mounted to the trocar support 50; before or after the trocar support 50 is mounted to the robot arm 2, or before or after the trocar or trocar cannula 100 is mounted to the trocar support 50, positioned on the trocar support 50; positioned over the trocar or trocar cannula 100 and trocar holder 50; or positioned over the trocar or trocar cannula 100, the trocar support 50 and the robotic arm 2. For the sake of brevity, the surgical cannula 1000 will be described herein with respect to a trocar or trocar cannula 100 and a trocar support 50. During use, the surgical cannula 1000 functions to dampen, absorb, or attenuate impact forces generated as a result of incidental physical contact between the trocar or trocar cannula 100 and surrounding objects (e.g., a patient, surgical personnel, or other components of the robotic surgical system 1).

Surgical cannula 1000 includes a sheath 1010 and at least one contact surface 1200 disposed thereon. The sheath 1010 includes a first open end 1012, a second open end 1014, and a lumen or inner cavity 1020 therebetween. The cavity or inner cavity 1020 is configured to receive a trocar or trocar cannula 100 therein, or alternatively, any other surgical or robotic tool, component, or assembly as described herein. In accordance with embodiments of the present disclosure, the sheath 1010 may be a loose fit, or may alternatively have a preset or predetermined shape having defined dimensions complementary to the trocar or trocar cannula 100 or any surgical tool or component received within the cavity or lumen 1020.

Sheath 1010 may be configured to radially expand and/or axially extend such that sheath 1010, and thus surgical cannula 1000, transitions between an undeployed configuration (fig. 3A) and a deployed configuration (fig. 3B). In the undeployed configuration, the sheath 1010 is folded, rolled, or otherwise crimped about itself, thereby defining a length "L" of the lumen or inner cavity 1020₁". When the sheath 1010 is transitioned from the undeployed configuration to the deployed configuration, a portion of the sheath 1010 may be deployed, opened, or otherwise deployed such that the length of the lumen or inner cavity 1020 is a first length "L" from the undeployed configuration₁"expanded or extended to a second greater length in the deployed configuration" L₂". It will be appreciated that the sheath 1010 may similarly transition from the deployed configuration to the undeployed configuration whereby the length of the lumen or inner cavity 1020 changes from the second, greater length "L₂Reduced to a first length L₁". In addition, a second greater length "L₂"canThe length of the lumen or inner cavity 1020 may be set to any length desired by the operator, depending on the user.

In an embodiment, and with temporary reference to fig. 4A and 4B, instead of or in addition to deploying, opening, or deploying the sheath 1010 such that the length of the cavity or lumen 1020 expands or extends to enclose or cover the trocar or trocar cannula 100, the sheath 1010 may be configured to wrap around the trocar or trocar cannula 100. In such embodiments, the sheath 1010 can include a longitudinal seam 1016 such that, in an undeployed configuration, the first radial end 1015 of the sheath 1010 can be wrapped around the trocar or trocar cannula 100 and secured to the second radial end 1017 of the sheath 1010. With the first radial end 1015 of the sheath 1010 secured to the second radial end 1017 of the sheath 1010, a lumen or inner cavity 1020 of the sheath 1010 is defined and the sheath 1010 is in an expanded configuration. Thus, in such embodiments, in an undeployed configuration, in which the first radial end 1015 and the second radial end 1017 of the sheath 1010 are unsecured, the sheath 1010 may define a substantially planar configuration. In the deployed configuration, the first radial end 1015 and the second radial end 1017 are secured to one another, and the sheath 1010 defines a lumen or inner cavity 1020 therethrough such that the trocar or trocar cannula 100 can be enclosed thereby. At least one of the first radial end 1015 or the second radial end 1017 may further comprise a securing element 1018 such that the first radial end 1015 and the second radial end 1017 may be selectively secured to one another. The securing element 1018 may be disposed along a portion or all of the longitudinal seam 1017 and may define an adhesive element, a tether, a tow hook and loop type fastener, or any other means known in the art such that the first radial end 1015 may be selectively secured to the second radial end 1017.

Referring to fig. 3A-4B, a contact surface 1200 of surgical cannula 1000 is disposed over at least a portion of sheath 1010. It is contemplated that contact surface 1200 may be disposed on the entire sheath 1010, or several contact surfaces may be disposed on portions of the sheath, and may be in any pattern or geometric configuration to inhibit, absorb, or attenuate a surgical instrument positioned therein on the sheathThe impact force of (2). Further, the contact surface 1200 may be disposed about the sheath 1010 such that the contact surface 1200 circumscribes a portion or the entire lumen 1020 defined by the sheath 1010, along a portion or the entire second length "L" of the lumen 1020₂"longitudinally extending. As an exemplary illustration, fig. 3B through 4B show a contact surface 1200 that circumscribes an inner lumen 1020 of the sheath 1010 and extends longitudinally along a portion of the sheath 1010 with the sheath 1010 in a deployed configuration.

The contact surface 1200 is configured to define a resilient or compressible portion of the sheath 1010, and more particularly, may include a flexible element, a resilient foam element, a rubber element, a gel element, or any combination thereof, such that the contact surface 1200 dampens, absorbs, or attenuates impact forces thereon. It is further contemplated that contact surface 1200 may be configured to act as a crumple zone of surgical cannula 1000 such that contact surface 1200 destructively deforms, thereby absorbing and attenuating impact forces thereon.

In use, surgical cannula 1000 is brought into proximity with a trocar or an end of trocar cannula 100. With the surgical cannula 1000 in the undeployed configuration (fig. 3A and 4A), a trocar or trocar cannula 100 can be inserted into the cavity or lumen 1020 of the sheath 1010, after which the surgical cannula 1000 can be transitioned to the deployed configuration (fig. 3B and 4B). Alternatively, the surgical cannula 1000 may be first transitioned to the deployed configuration, whereby the trocar or trocar cannula 100 is then inserted into the cavity or inner lumen 1020 of the sheath 1010 with the surgical cannula 1000 in the deployed configuration. In either embodiment, surgical cannula 1000 may be gradually transitioned from the undeployed configuration to the deployed configuration as desired by the operator. Further, a second, greater length "L" of the cavity or lumen 1020 as the surgical cannula 1000 transitions toward the deployed configuration₂"may be customized to fit a given length of trocar or trocar cannula 100, or any alternate surgical object inserted into the cavity or lumen 1020. Once surgical cannula 1000 is deployed, contact surface 1200 of surgical cannula 1000 acts to dampen, absorb, and attenuate any incidental impact forces that may be exerted on the trocar or trocar cannula 100And (4) acting.

As briefly discussed above, when used with the robotic surgical system 1, the surgical cannula 1000 may be configured to be positioned at: trocar or trocar cannula 100; a trocar support 50; a trocar or both a trocar cannula 100 and a trocar support 50; or trocar cannula 100, trocar holder 50 and robotic arm 2. In an embodiment, the lumen or inner cavity 1020 of the sheath 1010 of the surgical cannula 1000 may define a complementary length and/or radial diameter to receive the trocar or trocar cannula 100, the trocar support 50, or the robotic arm 2 when deployed. Alternatively, one or more surgical cannulas 1000 may be utilized to individually enclose or cover a trocar or trocar cannula 100, trocar mount 50, or robotic arm 2.

Surgical cannula 1000 may be formed of any biocompatible material known in the art that provides flexibility to enable easy transition from an undeployed configuration to a deployed configuration and allows for unobstructed movement of a covered surgical instrument (e.g., trocar or trocar cannula 100) while maintaining a strong tear resistant barrier. For example, surgical cannula 1000 may be made from a flexible and/or impermeable material, such as a plastic, a polymer blend, a thermoplastic, combinations thereof, and the like. The surgical cannula 1000 may be adapted to form a fit or loose fit on a covered surgical instrument, such as a trocar or trocar cannula 100, trocar mount 50, robotic arm 2, and/or other component of a robotic surgical system 1, or to be freely stretched or bent for corresponding movement during use. Further, the surgical cannula 1000 can be configured for sterilization such that the surgical cannula 1000 can serve as a sterile barrier to prevent contamination of the trocar or trocar 100, trocar holder 50, and/or robotic arm 2 (e.g., from bodily fluids, the surrounding environment, etc.). In such embodiments, once deployed, the surgical cannula 1000 can function to provide a sterile barrier between the operating room and the trocar or trocar cannula 100, trocar support 50, or robotic arm 2. Still further, surgical cannula 1000 may be configured to be reusable, or alternatively, disposable.

It is further contemplated that the sheath 1010 of the surgical cannula 1000 can be biased radially inward such that the sheath 1010 is tied to or constrains the trocar or trocar cannula 100 when the trocar or trocar cannula 100 is disposed within the cavity or lumen 1020 of the sheath 1010 and such that longitudinal translation of the surgical cannula 1000 relative to the trocar or trocar cannula 100 is inhibited after deployment. Alternatively or additionally, the surgical cannula 1000 can include an attachment element 1030 disposed on the sheath 1010 and configured to engage the trocar or trocar cannula 100 such that, after deployment, longitudinal translation of the surgical cannula 1000 relative to the trocar or trocar cannula 100 is inhibited. The attachment element 1030 may define a tether, string, adhesive, elastic element, or any other attachment element known in the art such that the surgical cannula 1000 may be fixed relative to the trocar or trocar cannula 100. It is further contemplated that attachment element 1030 may function to inhibit surgical cannula 1000 from inadvertently transitioning from the deployed configuration to the undeployed configuration prior to completion of a procedure.

Still further, it is contemplated that surgical cannula 1000 may define at least one port 1040 that extends through sheath 1010 into lumen or inner cavity 1020 (fig. 3B-4B). Port 1040 is configured to provide access for a trocar or portion of trocar cannula 100 or any alternative surgical instrument (e.g., forceps, staplers, graspers, etc.) disposed within cavity or inner lumen 1020 of surgical cannula 1000 to be positioned outside of cavity or lumen 1020. The port 1040 may be further configured to provide a sterile access, thereby maintaining a sterile barrier. It should be appreciated that the ports 1040 allow exposure of the trocar or portion of the trocar cannula 100, or an alternative surgical instrument, from the cavity or inner lumen 1020 while maintaining the integrity of the sheath 1010 with respect to absorbing or attenuating impacts thereon, or the ability of the surgical cannula 1000 to maintain a sterile barrier.

In an embodiment, surgical cannula 1000 also includes a contact sensor 1050 (fig. 3B and 3C), wherein contact sensor 1050 is disposed on at least one of sheath 1010 or contact surface 1200. Contact sensor 1050 is configured to measure the magnitude of an impact force exerted on surgical cannula 1000 and/or detect the presence of an impending or actual physical contact thereon. Touch sensor 1050 may include, for example, a strain gauge, a pressure sensitive pressure sensor, a force gauge or force sensor, a proximity sensor, a motion detector, a passive infrared sensor, a reed switch, a capacitive sensor, a photoelectric sensor, combinations thereof, and the like. The contact sensor 1050 may be configured to communicate with the robotic surgical system 1 to alert the clinician of an impending or actual interaction of the cannula with another object. In an embodiment, the robotic surgical system 1 includes a controller that inhibits, limits, or completely inhibits movement of the surgical instrument upon receiving a signal from the contact sensor. In other embodiments, a visual marker or audible component is included on the contact sensor 1050 to alert the clinician to an impending or actual interaction of the cannula with another object. It will be appreciated that multiple contact sensors may be employed on a single contact surface, or where multiple contact surfaces are present on the sleeve, there may be a separate contact sensor on each contact surface.

Referring to fig. 1 through 4B, a method for restraining, absorbing, or attenuating impact forces will be disclosed. With the surgical cannula 1000 in the undeployed configuration, a surgeon, nurse, or other user ("operator") first positions the sheath 1010 proximate to the trocar or at least one of the trocar cannula 100, the trocar support 50, the robotic arm 2, or any other component or assembly of the robotic surgical system 1. Next, the operator transitions the surgical cannula 1000 to a deployed configuration such that the trocar or at least a portion of the trocar cannula 100 is disposed within the cavity or inner lumen 1020 of the sheath 1010. The operator can remove the sheath 1010 from the defined length "L₁"such that the lumen or lumen 1020 is expanded or extended to a desired second greater length" L₂", so as to enclose or cover a portion of the trocar or trocar cannula 100. Alternatively or additionally, the operator may engage a first radial end of the sheath 10101015 is wrapped over a portion of the trocar or trocar cannula 100 and secures the first radial end 1015 and the second radial end 1017 of the sheath 1010 such that a lumen or inner cavity 1020 of the sheath 1010 is formed around at least a portion of the trocar or trocar cannula 100. Further, the operator may secure the surgical cannula 1000 to the trocar or trocar cannula 100 such that longitudinal translation of the surgical cannula 1000 relative to the trocar or trocar cannula 100 is inhibited by the radially inward bias of the sheath 1010 or attachment element 1030. With the trocar or at least a portion of the trocar cannula 100 disposed within the cavity or inner cavity 1020 of the surgical cannula 1000, the contact surface 1200 serves to dampen, absorb, or attenuate any impact forces resulting from accidental contact between the trocar or trocar cannula 100 and the patient, operator, or any other surgical instrument or component of the robotic surgical system 1. Additionally, the contact sensor 1050 may be used to measure the amount of force thereon or detect the presence of physical contact therewith, and may further provide visual or audible indicia to the operator. Still further, with the surgical cannula 1000 in a deployed configuration and positioned over at least a portion of the trocar or trocar cannula 100, a sterile barrier between the trocar or trocar cannula 100 and the operating room can be achieved and maintained. After the procedure is completed, surgical cannula 1000 may be discarded or sterilized for reuse.

Referring to fig. 5, a kit 1500 for absorbing and attenuating impact forces will be disclosed. The kit 1500 contains at least one surgical cannula 1000, wherein the surgical cannula 1000 can define a range of longitudinal and radial dimensions to provide an operator with various sizes to customize the surgical cannula 1000 for a given surgical instrument. Kit 1500 may be configured such that surgical cannula 1000 is provided in an undeployed configuration such that a low-profile and compact package may be utilized. Still further, kit 1500 may include sterile packaging 1502 configured to hold at least one surgical cannula 1000 such that surgical cannula 1000 is provided to an operator in a sterile manner. Further, the kit 1500 can include a plurality of accessories "a," such as trocars, trocar cannulas, surgical instruments and components (e.g., forceps or staplers), robotic components, or combinations thereof. In an embodiment, kit 1500 may contain instructions for use of surgical cannula 1000 ("IFU"), which may be packaged separately or together with surgical cannula 1000. The IFU may contain instructions that instruct the operator how to install surgical cannula 1000, how to transition surgical cannula 1000 from an undeployed configuration to a deployed configuration, how to remove surgical cannula 1000, how to disinfect surgical cannula 1000, and the like.

Those of skill in the art will understand that the structures and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the description, disclosure, and drawings are to be considered as merely illustrative of specific embodiments. It is therefore to be understood that the present disclosure is not limited to the precise embodiments described and that various other changes and modifications may be affected therein by one skilled in the art without departing from the scope or spirit of the disclosure. Additionally, elements and features shown or described in connection with certain embodiments may be combined with elements and features of certain other embodiments without departing from the scope of the present disclosure, and such modifications and variations are intended to be included within the scope of the present disclosure. Accordingly, the subject matter of the present disclosure is not limited by what has been particularly shown and described.