Pinch to place depth limiter

Abstract

A depth limiter configured to couple with a cannula of a surgical access device is provided. The depth limiter includes first and second user contact portions and first and second biasing features. The first biasing feature includes a first resilient portion and a first gripping surface. The second biasing feature includes a second resilient portion and a second gripping surface. The first and second resilient portions are configured to move the respective first and second gripping surfaces from a fixed configuration to a movable configuration upon actuation of the respective first and second user contact portions. In the fixed configuration, the first and second gripping surfaces collectively limit axial movement of the depth limiter by directly contacting the cannula. In the movable configuration, the first and second gripping surfaces extend parallel to a longitudinal axis and allow axial movement of the depth limiter relative to the cannula.

Description

[0001] Priority

[0002] This patent application claims priority to Indian Provisional Patent Application 202011018670, filed May 1, 2020, entitled “Pinch-to-Release Cannula Depth Limiter.” BACKGROUND

[0003] Some surgical procedures can require a clinician to access a surgical site via a patient’s abdominal cavity. To gain such access, an opening is first formed through the abdominal wall tissue that overlies the abdominal cavity. In some surgical procedures, referred to as “laparoscopic” or “endoscopic” surgery, a relatively small opening is formed through the abdominal wall tissue, and then an elongated instrument is used to access the surgical site, which is inserted through an access device, commonly referred to as a “trocar,” that is positioned within the opening. A conventional trocar generally includes a cannula assembly and a obturator that is removably received within a working channel of the cannula assembly. In use, the obturator cooperates with the cannula assembly, and the combined structure (i.e., the trocar) is directed downward by the clinician through the patient’s abdominal wall so that the distal end of the obturator and cannula assembly extends into the abdominal cavity. The clinician then withdraws the obturator from the cannula assembly so that a surgical instrument can be directed downward through the working channel of the cannula assembly to access the surgical site.

[0004] The following patents disclose cannulas, their components, and other types of surgical access devices only as exemplary models: U.S. Patent 7,981,092, entitled "Vibratory Trocar," published July 19, 2011; U.S. Patent 8,226,553, entitled "Access Device with Insert," published July 24, 2012; U.S. Patent 8,251,900, entitled "Surgical Access Devices and Methods Providing Seal Movement in Predefined Paths," published August 28, 2012; U.S. Patent 8,579,807, entitled "Absorbing Fluids in a Surgical Access Device," published November 12, 2013; U.S. Patent 8,568,362, entitled "Surgical Access Device with Sorbents," published October 29, 2013; and U.S. Patent 8,568,362, entitled "Surgical Access Device with Sorbents," published January 28, 2014. U.S. Patent 8,636,686, entitled “Device”; U.S. Patent 8,690,831, entitled “Gas Jet Fluid Removal in a Trocar”, published April 8, 2014; and U.S. Patent 2019 / 0000496, entitled “Method of Suturing a Trocar Path Incision”, published January 3, 2019. The disclosure of each of the above-cited U.S. patents and publications is incorporated herein by reference.

[0005] Although various surgical instruments, including surgical access devices and end effectors, and other associated components, have been manufactured and used, it is believed that no one has manufactured or used the invention described in the appended claims prior to one or more inventors. Attached Figure Description

[0006] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description of the invention given above and the detailed description of the embodiments given below, serve to explain the principles of the invention.

[0007] Figure 1 A perspective view of an exemplary cannula needle having a cannula assembly and a tampon shown in an assembled state is shown;

[0008] Figure 2 It is shown in the disassembled state. Figure 1side elevational view of the trocar and the depth limiter of the trocar assembly of

[0009] Figure 3A a clinician is shown manipulating Figure 1 a side cross-sectional view of the trocar of the trocar assembly of

[0010] Figure 3B a side cross-sectional view of the trocar of the trocar assembly of Figure 1 Figure 3A

[0011] Figure 3C a side cross-sectional view of the trocar of the trocar assembly of Figure 1 Figure 3A

[0012] Figure 3D a side cross-sectional view of the trocar of the trocar assembly of Figure 1 Figure 3A

[0013] Figure 4 a perspective view of another example trocar having a trocar assembly and a obturator shown in an assembled state, wherein the trocar assembly includes a trocar tube;

[0014] Figure 5 a perspective view of the trocar assembly and the obturator of Figure 4 shown in a disassembled state, showing the reusable trocar and the disposable seal assembly of the trocar assembly separated from one another, and showing the obturator in a disassembled state;

[0015] Figure 6 a perspective view of the trocar of the trocar assembly of Figure 4 and a first example depth limiter, wherein the depth limiter is in a fixed configuration that limits axial movement of the depth limiter relative to a trocar tube of a trocar assembly of the trocar;

[0016] Figure 7 a perspective view of the depth limiter of Figure 6 , wherein the engagement features are shown in dashed lines;

[0017] Figure 8A a top plan view of the depth limiter of Figure 7 and the trocar tube of Figure 6 shown in cross-section, wherein an upper housing portion of the depth limiter is removed to show the depth limiter in a movable configuration that allows axial movement of the depth limiter relative to the trocar tube when actuated by a user;

[0018] ​​​​​​Figure 8B a top plan view of the depth limiter and cannula tube of Figure 8A , but with the depth limiter in a Figure 6 fixed configuration;

[0019] Figure 9 a cross-sectional view of the depth limiter of Figure 7 , taken along line 9-9 of Figure 7 ;

[0020] Figure 10 an exploded view of the depth limiter of Figure 7 ;

[0021] Figure 11 a perspective view of a second exemplary depth limiter;

[0022] Figure 12A a top plan view of the depth limiter of Figure 5 coupled with the cannula tube of Figure 11 , shown in cross-section, with the upper housing portion of the depth limiter removed to show the depth limiter in a movable configuration that allows axial movement of the depth limiter relative to the cannula tube when actuated by a user;

[0023] Figure 12B a top plan view of the depth limiter and cannula tube of Figure 12A , but with the depth limiter in a fixed configuration that limits axial movement of the depth limiter relative to the cannula tube;

[0024] Figure 13 an exploded view of the depth limiter of Figure 11 ;

[0025] Figure 14 a perspective view of another exemplary cannula coupled with a third exemplary depth limiter, with the depth limiter in a fixed configuration that limits axial movement of the depth limiter relative to the cannula tube of the cannula;

[0026] Figure 15 a perspective view of the depth limiter of Figure 14 ;

[0027] Figure 16A a top plan view of the depth limiter and cannula tube of Figure 14 , with the cannula tube shown in cross-section, with the depth limiter in a movable configuration that allows axial movement of the depth limiter relative to the cannula tube when actuated by a user;

[0028] Figure 16B a top plan view of the depth limiter and cannula tube of Figure 16Atop plan view of the depth limiter and the cannula tube, but with the depth limiter in a fixed configuration that restricts axial movement of the depth limiter relative to the cannula tube; Figure 14

[0029] Figure 17 a perspective view of a fourth example depth limiter is shown;

[0030] Figure 18A a perspective view of another example cannula coupled with the cannula tube of the depth limiter shown in cross-section; Figure 6 Figure 17 a top plan view of the depth limiter and the cannula tube, but with the depth limiter in a movable configuration that allows axial movement of the depth limiter relative to the cannula tube when actuated by a user;

[0031] Figure 18B a perspective view of a fifth example depth limiter is shown; Figure 18A a top plan view of the depth limiter and the cannula tube, but with the depth limiter in a fixed configuration that restricts axial movement of the depth limiter relative to the cannula tube;

[0032] Figure 19 a perspective view of another example cannula coupled with the fifth example depth limiter, with the depth limiter in a fixed configuration that restricts axial movement of the depth limiter relative to the cannula tube of the cannula;

[0033] Figure 20 a perspective view of the depth limiter is shown; Figure 19

[0034] a side elevational view of the depth limiter is shown; Figure 21 Figure 20 a top plan view of the depth limiter and the cannula tube, with the cannula tube shown in cross-section, with the depth limiter in a movable configuration that allows axial movement of the depth limiter relative to the cannula tube when actuated by a user;

[0035] Figure 22A Figure 20 a top plan view of the depth limiter and the cannula tube, but with the depth limiter in a fixed configuration that restricts axial movement of the depth limiter relative to the cannula tube;

[0036] Figure 22B a perspective view of a sixth example depth limiter is shown; Figure 22A a top plan view of the depth limiter is shown, with the housing shown in dashed lines to expose the biasing feature; Figure 19

[0037] Figure 23 a perspective view of a seventh example depth limiter is shown;

[0038] Figure 24 a top plan view of the depth limiter is shown, with the housing shown in dashed lines to expose the biasing feature; Figure 23 ​​​​​​

[0039] Figure 25A a depth limiter of Figure 5 coupled with a cannula tube of Figure 23 a side partial cross-sectional view of a depth limiter of

[0040] Figure 25B a top plan view of a depth limiter of Figure 25A and a cannula tube, but with the depth limiter in a fixed configuration that restricts axial movement of the depth limiter relative to the cannula tube;

[0041] Figure 26 a perspective view of a seventh example depth limiter;

[0042] Figure 27A a top plan view of a depth limiter of Figure 6 coupled with a cannula tube of Figure 26 a depth limiter of

[0043] Figure 27B a top plan view of a depth limiter of Figure 27A and a cannula tube, but with the depth limiter in a fixed configuration that restricts axial movement of the depth limiter relative to the cannula tube;

[0044] Figure 28 an exploded view of a depth limiter of Figure 26

[0045] Figure 29 a perspective view of an eighth example depth limiter;

[0046] Figure 30 a top partial cross-sectional view of a depth limiter of Figure 30 and a cannula tube having a first diameter, with the housing of the depth limiter partially removed to expose a biasing feature, a slot, and a slidable member, with the cannula tube positioned in a fixed configuration between the aperture of the housing and the slidable member that restricts axial movement of the depth limiter relative to the cannula tube;

[0047] Figure 31A a top plan view of a depth limiter of Figure 29 ​partial top sectional view of the depth limiter, where the depth limiter is in a movable configuration that allows axial movement of the depth limiter relative to the cannula tube when actuated by a user;

[0048] Figure 31B a perspective view of a ninth example depth limiter is shown including four legs; Figure 31A a top plan view of the depth limiter and the cannula tube, where the cannula tube is shown in cross-section, but where the depth limiter is in a fixed configuration similar to Figure 30

[0049] Figure 32 a perspective view of a tenth example depth limiter is shown including two legs;

[0050] Figure 33A a partial side sectional view of the depth limiter coupled to the cannula tube of the trocar's cannula assembly of Figure 1 Figure 32 a partial side sectional view of the depth limiter of

[0051] Figure 33B a partial side sectional view of the depth limiter coupled to the cannula tube of the trocar's cannula assembly of Figure 1 Figure 32 a partial side sectional view of the depth limiter of

[0052] Figure 34 a perspective view of an eleventh example depth limiter is shown including three legs;

[0053] Figure 35 a perspective view of a twelfth example depth limiter is shown including a hub having a notch;

[0054] Figure 36 a top plan view of the depth limiter coupled to the cannula tube of the trocar's cannula assembly of

[0055] Figure 37A a partial side sectional view of the depth limiter of Figure 5 Figure 36 a partial side sectional view of the depth limiter of

[0056] Figure 37B a partial side sectional view of the depth limiter coupled to the cannula tube of the trocar's cannula assembly of Figure 5 Figure 36 a partial side sectional view of the depth limiter of

[0057] Figure 38A ​​​​​a cannula tube of a cannula assembly of Figure 5 a partial side cross-sectional view of a depth limiter of Figure 36

[0058] Figure 38B a cannula tube of a cannula assembly of Figure 5 a partial side cross-sectional view of a depth limiter of Figure 36

[0059] Figure 39 a top cross-sectional view of a thirteenth example depth limiter including a fluid chamber and four legs.

[0060] The drawings are not intended to be limiting in any way, and it is contemplated that various embodiments of the application can be carried out in a variety of other ways, including those not necessarily depictured. The drawings are merely illustrative as to a number of aspects of the application, and should not be construed as limiting the application in any way. DETAILED DESCRIPTION

[0061] The following description of certain examples of the application should not be used to limit the scope of the application. Other examples, features, aspects, embodiments, and advantages of the application will become apparent to those of ordinary skill in the art upon review of the following description of the application in conjunction with the accompanying drawings. A best mode for carrying out the application is presented as a non-limiting example. As will be realized, the application is capable of other different and obvious aspects, all without departing from the application. Accordingly, the drawings and descriptions should be regarded as illustrative in nature and not restrictive.

[0062] For clarity of disclosure, the terms "proximal" and "distal" are defined herein relative to a surgeon or other operator grasping a surgical device. The term "proximal" refers to a position of an element closer to the surgeon and the term "distal" refers to a position of an element further from the surgeon. In addition, to the extent that spatial terms are used herein, such as "top," "bottom," "upper," "lower," "horizontal," "vertical," and the like, such terms are used for exemplary descriptive purposes only and are not intended to be limiting or absolute. In this regard, it will be appreciated that surgical instruments such as those disclosed herein can be used in a variety of orientations and positions other than those shown and described herein.

[0063] ​​Further, as used herein, the terms“about” and“approximately” in reference to any numerical or range of values, are intended to encompass the exact value, as well as suitable tolerances up to the intended purpose of the features being described.

[0064] I. Exemplary single-use trocars and reusable trocars

[0065] Figures 1-5 Exemplary surgical access devices are shown in the form of a single-use first trocar (10) and a reusable second trocar (110), each configured to provide access to a surgical site in a laparoscopic surgical procedure. Each trocar (10, 110) includes a cannula assembly (12, 112) having a working channel (14, 114) and a obturator (16, 116) configured to be removably coaxially inserted into the working channel (14, 114) such that the assembled trocar (10, 110) can be directed distally through a patient’s abdominal wall and into the abdominal cavity, e.g., as described below in connection with Figures 3A-3D the description.

[0066] A. Exemplary single-use trocars

[0067] As shown in Figures 1-2 the description, the cannula assembly (12) of the single-use trocar (10) includes a cannula (20) and a seal housing (30). The cannula (20) and the seal housing (30) cooperate to define a working channel (14) that extends longitudinally along a central axis (A) of the trocar (10). In particular, the working channel (14) is defined by an inner lumen of the cannula (20) that communicates with a hollow interior of the seal housing (30). The cannula assembly (12) is configured to receive an elongate surgical instrument distally through the working channel (14) to provide access to a surgical site within a patient’s abdominal cavity. As described in greater detail below, the seal housing (30) houses a pair of sealing structures that define a sealing assembly configured to maintain insufflation of a patient’s abdominal cavity while allowing passage of surgical instruments and tissue debris along the working channel (14).

[0068] The cannula (20) of the present version can include a bell-shaped hub (not shown) at a proximal end of the cannula and an elongate cylindrical tube (22) extending distally from the hub and terminating at an angled cannula tip (24). An outer surface of the cannula tube (22) includes a plurality of tissue gripping features in the form of annular ribs (26) arranged axially along an intermediate portion of the cannula tube (22). The ribs (26) are configured to grip abdominal wall tissue layers through which the cannula (20) is inserted and thereby help stabilize the cannula (20) in axial and radial directions when the cannula (20) is positioned within an opening formed in a patient’s abdominal wall.

[0069] More specifically, the tissue gripping ribs (26) of the present example are formed in the sidewall of the cannula tube (22) as annular scallops such that each rib (26) tapers radially inward in the distal direction from a radially outermost edge of the rib (26). Thus, the radially outermost edges of the ribs 26 are generally flush with the un-ribbed proximal and distal portions of the cannula tube (22). The resulting configuration of the ribs (26) promotes advancement of the cannula tube (22) through a tissue layer in the distal direction and discourages retraction of the cannula tube (22) through the tissue layer in the opposite proximal direction. Advantageously, this configuration prevents inadvertent withdrawal of the cannula tube (22) from the patient's abdominal wall during a surgical procedure. It will be appreciated, however, that in other versions of the trocar (10), the cannula tube (22) can be provided with various other types of tissue gripping features. For example, the cannula tube (22) can include tissue gripping features in the form of one or more helical ribs that extend around at least an intermediate portion of the cannula tube (22) and can be scalloped similar to the ribs (26).

[0070] The sealed housing (30) of the cannula assembly (12) includes a proximal housing portion (32) and a distal housing portion (34) to which the proximal housing portion is removably attached. The proximal housing portion (32) includes a proximal head (36) and a distal base (38) that are secured together. The distal housing portion (34) includes a distal shroud (40) that encircles a proximal hub (not shown) of the cannula (20), a cover plate (42) that is secured to a proximal end of the distal shroud (40), and a latching ring (44) that is rotatably disposed between the distal shroud and the cover plate and has a radially outwardly projecting tab (46). The latching ring (44) is selectively rotatable about the central axis (A) of the trocar (10) between a locked position and an unlocked position via the tab (46). In the locked position, the latching ring (44) locks the proximal housing portion (32) to the distal housing portion (34). In the unlocked position, the latching ring (44) allows the proximal housing portion (32) to be separated from the distal housing portion (34), for example, to directly access a distal sealing structure (not shown) contained within the distal housing portion (34). In some versions, the distal shroud (40) can be integrally formed with the proximal end of the cannula tube (22) such that the distal shroud (40) is a component of the cannula (20).

[0071] Although not shown, the proximal housing portion (32) houses a proximal (or "outer") seal structure and the distal housing portion (34) houses a distal (or "inner") seal structure, both of which are disposed along the central axis (A) of the trocar (10). The proximal and distal seal structures cooperate to define a seal assembly that maintains insufflation to a patient's abdominal cavity during surgical procedures while allowing surgical instruments and tissue debris to pass along the working channel (14). For example, the proximal seal structure can include an annular seal member configured to sealingly engage a shaft of a laparoscopic surgical instrument directed through the working channel (14). The distal end seal structure can include a duckbill seal member configured to maintain the working channel (14) in a sealed state in the absence of a surgical instrument shaft.

[0072] The cannula assembly (12) also includes an insufflation port (50) operably coupled with the proximal end of the cannula (20) and having an adjustable valve in the form of a stopcock valve (52). The insufflation port (50) is configured to direct an insufflation fluid, such as carbon dioxide, from a fluid source (not shown) distally through the working channel (14) and into a patient's abdominal cavity, thereby expanding (or "insufflating") the cavity with the fluid. This expansion of the abdominal cavity creates additional space for easier performance of laparoscopic surgical procedures.

[0073] As Figure 1 and Figure 2As shown, the trocar (10) includes a cannula (12) having a proximal hub (20), an elongate cylindrical shaft (22) extending distally from the hub (20), and a tapered distal tip (24). The trocar (10) also includes a filler (16) having a proximal head (60), an elongate cylindrical shaft (62) extending distally from the head (60), and a tapered distal tip (64). The filler shaft (62) is configured to be received within the working channel (14) of the cannula assembly (12) such that the filler tip (64) extends through the cannula tip (24) and distally therefrom. The filler head (60) includes a domed upper body (66), a base plate (68), and an actuatable latching member (70) including a pair of latching arms (72) and a corresponding pair of latching buttons (74). The latching arms (72) are configured to be captured within respective slots (not shown) formed in a top surface of the sealed housing head (36) to couple the filler (16) with the cannula assembly (12). The latching buttons (74) are actuatable to release the latching arms (72) from the slots and thereby allow the filler (16) to be uncoupled from the cannula assembly (12). The filler (16) also includes a central channel (76) extending longitudinally through the filler head (60) and the filler shaft (62) and is configured to receive an endoscope (not shown) therein to provide visualization during insertion of the trocar (10) through a patient's abdominal wall. A clamp lever (78) of the filler head (60) is pivotable to selectively secure the endoscope within the central channel (76). The central channel (76) and the clamp lever (78) are merely optional features and can be omitted from the filler (16) in other versions.

[0074] The cannula assembly (12) and the filler (16) can be configured to be discarded after a single use on a patient. In other versions, one or more components of the trocar (10) can be suitably configured to withstand sterilization and multiple repeated uses, for example as described in greater detail below in connection with the trocar (110). Figures 4-5

[0075] B. Exemplary deployment of a trocar into a patient's abdominal cavity

[0076] Figures 3A-3D An exemplary method of using the trocar (10) described above to access a patient's abdominal cavity (1) through the patient's abdominal wall (2) is shown. It will be appreciated that the abdominal wall (2) includes an outward, superficial layer and an inward, deep layer. The superficial layer generally includes an outer layer of skin (3) and an inner layer of fat (4); while the deeper layer includes alternating layers of muscle (5) and fascia (6) that are fibrous and flexible with a relatively higher tensile strength than the superficial layer.

[0077] As Figure 3A ​As shown, with the obturator (16) received within the cannula assembly (12) and connected to the sealed housing (30), the clinician manipulates the trocar (10) via the obturator head (60) and the sealed housing (30) to push the obturator tip (64) against the skin (3) and inward toward the abdominal cavity (1) while rotating the trocar (10) back and forth. Continued pushing of the trocar (10) further directs the obturator tip (64) and the cannula tip (24) distally through layers of fat (4) and fascia (5) and into the cavity (1), as Figure 3B shown. As discussed above, this step can be facilitated by visualization provided by a scope (not shown) mounted within the obturator (16). Once the cannula (20) has reached the desired depth of insertion into the cavity (1), the clinician releases the obturator head (60) from the sealed housing (30) via pressing the latch button (74) and then withdraws the obturator (16) proximally from the cannula assembly (12), as Figure 3C shown. This frees the working channel (14) of the cannula assembly (12) to freely receive surgical instruments therethrough for performing laparoscopic surgical procedures. As noted above, the tissue-engaging ribs (26) disposed on the cannula tube (22) grip the tissue layers (3, 4, 5) of the abdominal wall (2), thereby providing at least a minimal degree of stability of the cannula assembly (12) relative to the abdominal wall (2). After completion of the laparoscopic surgical procedure, the clinician grasps the sealed housing (30) and withdraws the cannula assembly (12) proximally from the abdominal wall (2), as Figure 3D shown.

[0078] C. Exemplary reusable trocars with disposable seal assemblies

[0079] In some cases, it can be desirable to configure the trocar such that one or more components thereof can be sterilized and reused for multiple surgical procedures, while one or more other components can be easily and economically disposed of and replaced after each procedure. Figures 4-5 Another example trocar (110) configured in this manner is shown, which is similar in structure and function to the trocar (10) described above, unless otherwise described below.

[0080] Similar to the cannula (10), the cannula (110) includes a cannula assembly (112) having a working channel (114) and a tampon (116) configured to be coaxially inserted into the cannula assembly (112) along the working channel (114). The cannula assembly (112) includes a cannula (120) having: a bell-shaped hub (122) located at the proximal end of the cannula; and an elongated cylindrical tube (124) extending distally from the hub (122) and terminating at an angled cannula tip (126). The outer surface of the cannula (124) includes a plurality of tissue gripping features in the form of annular ribs (128) arranged axially along the middle portion of the cannula (124) and similar to the ribs (26) described above.

[0081] The cannulation assembly (112) also includes a sealing assembly (130). Unlike the sealing assembly defined by the sealing housing (30) of the cannula (10), the sealing assembly (130) is constructed as a modular, replaceable unit, designed to releasably engage with the proximal hub (122) of the cannula (120). Figure 5 As best shown, the sealing assembly (130) of this example typically includes an upper frame member (132), an intermediate frame member (134), and a lower frame member (136) arranged coaxially and fixed relative to each other. Although not shown, the proximal (or "outer") sealing structure is supported within the upper frame member (132), while the distal (or "inner") sealing structure is supported within the lower frame member (136). Such sealing structures may be structurally and functionally similar to the proximal and distal sealing structures of the cannula needle (10) described above. The sealing assembly (130) also includes a blow-in port (140) having an adjustable valve in the form of a stopcock valve (142).

[0082] A lower portion of the seal assembly (130) distal of the insufflation port (140) is configured to seat within the proximal hub (122) of the cannula (120) such that an annular seal member (144) disposed circumferentially about the lower portion sealingly engages an inner surface of the cannula hub (122). In this manner, an interior of the seal assembly (130) is in fluid communication with an inner lumen of the cannula (120) to define a working channel (114) of the cannula assembly (112) through which insufflation fluid, surgical instruments, and tissue debris can be directed in the manner generally described above in connection with the trocar (10). The seal assembly (130) can be further configured in accordance with the teachings of one or more of U.S. Patent Publication No. 2019 / 0090905, entitled “Trocar Seal Assemblies,” published March 28, 2019, the disclosure of which is incorporated by reference herein; and / or U.S. Patent Publication No. 2019 / 0380742, entitled “Asymmetric Shaft Seal,” published December 19, 2019, the disclosure of which is incorporated by reference herein.

[0083] As Figure 5 As best shown in FIG. 1, the obturator (116) of the trocar (110) includes a proximal head (150), an elongate cylindrical shaft (152) extending distally from the head (150), and a tapered tip (154) at a distal end of the shaft (152). The obturator head (150) includes a domed upper body (156), a base plate (158), and an actuatable latch member (160) including a pair of downwardly extending latch arms (162) and a corresponding pair of latch buttons (164). The latch arms (162) are configured to be captured within respective slots (138) formed in a top surface of the upper frame member (132) of the seal assembly (130) to couple the obturator (116) with the cannula assembly (112). The latch buttons (164) are actuatable to release the latch arms (162) from the slots (138) and thereby permit the obturator (116) to be uncoupled from the cannula assembly (112).

[0084] The cannula (120) and obturator (116) of the present example are suitably constructed from a robust material, such as surgical steel, such that they can be sterilized and reused for multiple surgical procedures. In contrast, as noted above, the seal assembly (130) is configured as a disposable unit intended to be separated from the cannula (120) and replaced after each procedure. For example, the seal assembly (130) can be constructed from various polymeric materials including plastics and rubbers such that the seal assembly (130) can be readily manufactured and sold at a price that makes the seal assembly (130) suitable for disposal after a single use, similar to the trocar (10) described above.

[0085] II. Exemplary depth limiters and associated methods

[0086] In some cases, the clinician can wish to limit the depth to which the single-use or reusable trocar (10, 110) can be advanced in the abdominal wall (2) (e.g., after the trocar (10, 110) is inserted to the desired location). Limiting the depth to which the trocar (10, 110) can be advanced in the abdominal wall (2) can help prevent the distal tip (64, 154) of the obturator (16, 116) and / or the cannula tip (24, 126) of the cannula assembly (12, 112) from unintentionally entering the abdominal cavity (1) deeper than desired. Preventing over-insertion of the trocar (10, 110) can reduce undesirable contact of the distal tip (64, 154) and / or the cannula tip (24, 126) with anatomical structures contained within the abdominal cavity (1).

[0087] Alternatively or in addition to limiting the depth to which the single-use or reusable trocar (10, 110) can be advanced in the abdominal wall (2), the clinician can wish to stabilize the trocar (10, 110) relative to the abdominal wall (2) (e.g., after the trocar (10, 110) is inserted to the desired location in the abdominal cavity (1)). The clinician can stabilize the trocar (10, 110) relative to the abdominal wall (2) by avoiding under-insertion of the trocar (10, 110). Stabilizing the trocar (10, 110) relative to the abdominal wall (2) after insertion in the abdominal wall (2) can help prevent the trocar (10, 110) from unintentionally pivoting about the insertion point in the abdominal wall (2) after the clinician releases the trocar (10, 110). Stabilizing the trocar (10, 110) keeps the cannula tip (24, 126) and, thus, the entry point of the surgical instrument into the abdominal cavity (1) in a desired position and / or orientation relative to the abdominal cavity (1).

[0088] As noted above with reference to Figures 1-5 The obturator (16, 116) can be configured to be advanced along the central axis (in the direction of arrow 20) to a position in which the distal tip (64, 154) of the obturator (16, 116) is disposed within the lumen (22, 122) of the cannula assembly (12, 112) (e.g., as shown in FIGS. 1 and 2). In some cases, the clinician can wish to limit the depth to which the single-use or reusable trocar (10, 110) can be advanced in the abdominal wall (2) (e.g., after the trocar (10, 110) is inserted to the desired location). Limiting the depth to which the trocar (10, 110) can be advanced in the abdominal wall (2) can help prevent the distal tip (64, 154) of the obturator (16, 116) and / or the cannula tip (24, 126) of the cannula assembly (12, 112) from unintentionally entering the abdominal cavity (1) deeper than desired. Preventing over-insertion of the trocar (10, 110) can reduce undesirable contact of the distal tip (64, 154) and / or the cannula tip (24, 126) with anatomical structures contained within the abdominal cavity (1). Figures 1-2A trocar (10, 110) is shown. The trocar (10, 110) includes a cannula (20, 120) removably coupled to a trocar hub (12, 112) along a central axis (A) of the trocar (10, 110) to facilitate insertion of the surgical access device through a wall of a patient's body cavity (shown as an abdominal wall (2)). The cannula (20, 120) includes a working channel (14, 114) and tissue gripping features (shown as ribs 26, 128). The working channel (14, 114) is configured to guide a surgical instrument (not shown) along a central axis of the cannula (20, 120). The tissue gripping features are intended to include non-spiral features (e.g., such as ridges and annular sectors) as well as spiral threads (e.g., overlapping or non-overlapping threads). The tissue gripping features can extend along only a portion of the length of the cannula tube (124). As previously noted, the ribs (26, 128) can be formed as annular sectors. The ribs (26, 128) can be disposed along an outer surface of the cannula (20, 120). As shown, the ribs (26, 128) can be configured to stabilize the cannula (20, 120) relative to the abdominal wall (2) of the patient as the cannula (20, 120) is inserted distally through the abdominal wall (2). Figures 3A-3D As shown, the ribs (26, 128) can be configured to stabilize the cannula (20, 120) relative to the abdominal wall (2) of the patient as the cannula (20, 120) is inserted distally through the abdominal wall (2).

[0089] To reduce over-insertion and / or under-insertion of the trocar (10, 110), an exemplary depth limiter (210, 310, 410, 510, 610, 710, 810, 910, 1010, 1110, 1210, 1310, 1410) can be selectively coupled with a cannula tube (22, 124, 416, 914) of a cannula (20, 120, 412, 912). The depth limiter (210, 310, 410, 510, 610, 710, 810, 910, 1010, 1110, 1210, 1310, 1410) is described in detail below and can be used alone or in combination with another depth limiter (210, 310, 410, 510, 610, 710, 810, 910, 1010, 1110, 1210, 1310, 1410) if desired. The depth limiter (210, 310, 410, 510, 610, 710, 810, 1010, 1110, 1210, 1310, 1410) can be scalable to fit a variety of different sized cannula tubes, including but not limited to those having a 5 mm diameter, an 8 mm diameter, a 10 mm diameter, and a 15 mm diameter. Figures 6-39 As shown, the ribs (26, 128) can be configured to stabilize the cannula (20, 120) relative to the abdominal wall (2) of the patient as the cannula (20, 120) is inserted distally through the abdominal wall (2).

[0090] The depth limiter (210, 310, 510, 610, 710, 810, 910, 1310, 1410) is shown relative to the trocar (110) of FIG. 1. Figures 4-5 Similarly, the depth limiter (410) is shown relative to the cannula (412) and cannula tube (416) of FIG. 4, while the depth limiter (610) is shown relative to the cannula (412) and cannula tube (416) of FIG. 6. Figure 14 Similarly, the depth limiter (410) is shown relative to the cannula (412) and cannula tube (416) of FIG. 4, while the depth limiter (610) is shown relative to the cannula (412) and cannula tube (416) of FIG. 6. Figure 19The cannula (612) and cannula conduit (616) are shown. Additionally, depth limiters (1010, 1110, 1210) are relative to... Figure 1 The cannula (10), cannula (20), and cannula conduit (22) are shown in Figure 3. However, it is conceivable that the depth limiter (210,310,410,510,610,710,810,910,1010,1110,1210,1310,1410) can be used with a variety of other suitable cannula, cannula assembly, and tamping device, including the cannula (10,110), the cannula (20,120,412,912), and the cannula conduit (22,124,416,914).

[0091] A. First exemplary depth limiter

[0092] Figures 6-10 A first exemplary depth limiter (210) is shown relative to a surgical access device (shown as cannula 110), which includes the cannulation assembly (112) and tampon (116) as described above. Specifically, Figure 6 It shows Figure 4 A perspective view of the cannula (110) in which the depth limiter (210) is in a fixed configuration that restricts the axial movement of the depth limiter (210) relative to the cannula (124) of the cannula assembly (112) (along the longitudinal axis (A1)). Figure 7 A perspective view of a depth limiter (210) is shown, which includes a housing (212) forming a central cavity (214). The housing (212) includes an upper housing portion and a lower housing portion (216, 218), which may be the same or different. The depth limiter (210) includes a first biasing feature (shown as a ring member (220)) and a second biasing feature (shown as a ring member (222)). For example, the ring members (220, 222) may be diametrically opposed spring members that can be compressed toward each other to release from the cannula (124), as described below. Figures 8A-8B As described.

[0093] like Figures 7-10 As shown, the ring member (220) includes a user contact portion (224), opposing bias arms (226, 228), and a gripping member (230). Similarly, the ring member (222) may include a user contact portion (232), opposing bias arms (234, 236), and a gripping member (238). The bias arms (226, 228) of the ring member (220) may form a first elastic portion of the ring member (220). The bias arms (234, 236) of the ring member (222) may form a second elastic portion of the ring member (222). AlthoughFigures 8A-8B and Figure 10 The ring members (220, 222) are shown as identical; however, they can be different if desired. The bias arms (226, 228) of the ring member (220) include apexes (240, 242) and bends (244, 246) that connect to the gripping member (230). Similarly, the bias arms (234, 236) of the ring member (222) include apexes (248, 250) and bends (252, 254) that connect to the gripping member (238). The ring members (220, 222) can be used as leaf springs. Figures 8A-9 As shown, the ring components (220, 222) can be nested together.

[0094] Figure 9 It shows along Figure 7 The line 9-9 was cut off Figure 7 A cross-sectional view of the depth limiter (210), and Figure 10 It shows Figure 7 An exploded view of the depth limiter (210). As shown, the gripping member (230) of the ring member (220) includes a gripping surface (256). Similarly, the gripping member (238) of the ring member (222) includes a gripping surface (258). As shown, the gripping surfaces (256, 258) extend parallel to the longitudinal axis (A1). The gripping surfaces (256, 258) can be smooth or non-smooth. For example, a non-smooth surface may include one or more features to lockably engage with the cannula (124). Figures 8A-10 As shown, the gripping surfaces (256, 258) can be smooth to frictionally engage with the ribs (128) of the cannula (120) in a fixed configuration and not frictionally engage with the ribs (128) of the cannula (120) in a movable configuration. Alternatively, at least one of the gripping surfaces (256, 258) may include at least one tooth configured to lockably engage with at least one rib (128) of the cannula (120) in a fixed configuration and not lockably engage with the ribs (128) of the cannula (120) in a movable configuration. Specifically, Figures 7 A gripping surface (258) including a plurality of engagement features (260) shown in dashed lines is illustrated and is optional. The engagement features (260) may be configured to engage lockably with ribs (128) provided on the outer surface of the cannula (124) of the cannula (120) in a fixed configuration and not engage lockably with ribs (128) provided on the outer surface of the cannula (124) in a movable configuration.

[0095] like Figures 7-10As shown, the upper and lower housing portions (216, 218) can surround the biasing arms (226, 228) of the ring members (220, 222) and the biasing arms (234, 236) of the ring members (222). The upper and lower housing portions (216, 218) can expose the user contact portions (224, 232) and the gripping members (230, 238). Thus, the upper and lower housing portions (216, 218) can reduce or prevent the possibility of the depth limiter (210) unintentionally pinching a user’s (e.g., a surgeon or other medical professional) glove and / or reduce or prevent the depth limiter (210) from pinching a patient’s tissue. As shown, the user contact portions (224, 232) are disposed diametrically opposite one another (i.e., diametrically opposite); however, other arrangements of the user contact portions (224, 232) are also contemplated.

[0096] The depth limiter (210) can be moved by a user (U) between Figure 8A the movable configuration shown in FIG. 2B and Figure 8B the fixed configuration shown in FIG. 2A. In other words, the depth limiter (210) can be selectively actuated from the fixed configuration having a first effective diameter (ED1) to the movable configuration having a second effective diameter (ED2) to couple the depth limiter (210) with the cannula conduit (124). Additionally, the depth limiter (210) can be selectively actuated again from the fixed configuration to the movable configuration to decouple the depth limiter (210) from the cannula conduit (124). As shown, the first effective diameter (ED1) is smaller than the second effective diameter (ED2). Figure 8A A top plan view of the depth limiter (210) is shown in Figure 7 FIG. 2B, wherein Figure 6 the cannula conduit (124) is shown in cross-section. In Figures 8A-8B FIG. 2B, the upper housing portion (216) of the depth limiter (210) is removed to show the depth limiter (210) in the movable configuration that allows the depth limiter (210) to move axially relative to the cannula conduit (124) when actuated by a user.

[0097] Specifically, when the respective user contact portions (224, 232) are actuated by a user from the fixed configuration to the movable configuration, the gripping surfaces (256) are movably coupled with the biasing arms (226, 228) and the gripping surfaces (258) are movably coupled with the biasing arms (234, 236). For example, in Figure 8AIn the movable configuration, the gripping surfaces (256, 258) together form a second effective diameter (ED2), which allows axial movement of the depth limiter (210) relative to the outer diameter of the cannula (124) of the cannula (120). In other words, the actuation of the user contact portions (224, 232) is configured to cause the bias arms (226, 228) of the ring member (220) and the bias arms (234, 236) of the ring member (222) to move the gripping surfaces (256, 258) radially outward to selectively engage and disengage with the cannula (124) of the cannula (120) when in the movable configuration.

[0098] For example, the user (U) can pinch two points (user contact portions (224, 232)) to increase the effective diameter between the relative gripping surfaces (256, 258) of the depth limiter (210), and then release the user contact portions (224, 232) to decrease the effective diameter between the relative gripping surfaces (256, 258) of the depth limiter (210) in a fixed configuration, thereby axially fixing or clamping the depth limiter (210) relative to the cannula (124). As shown, the user contact portions (224, 232) are configured to be actuated by the user (U) using their thumb and forefinger. However, the user (U) can press the user contact portions (224, 232) in other ways (e.g., using one or more fingers and the palm of the hand). By pinching the outer surfaces (262, 264) of the user contact portions (224, 232), the ring members (220, 222) slide and open the opposing gripping surfaces (256, 258) to disengage. In the movable configuration, the virtual diameter defined by the opposing gripping surfaces (256, 258) is larger than the diameter of the cannula (124), thereby allowing the depth limiter (210) to move freely along the cannula (124) to any user-specified depth. As shown, the gripping surface (256) is radially offset by approximately 180 degrees from the user contact portion (224), and the gripping surface (258) is radially offset by approximately 180 degrees from the user contact portion (232).

[0099] Figure 8B It shows Figure 8A A top plan view of the insertion conduit (124) of the depth limiter (210) and the cannula (120), but in which the depth limiter (210) is located Figure 6 The fixed configuration. The user (U) can release from the outer surface of the insertion tube (124). Figure 8AThe gripping surfaces (256, 258) allow the ring members (220, 222) to return to the fixed configuration. The gripping surfaces (256, 258) can be arranged circumferentially opposite each other and can be configured to directly contact the circumferentially opposite sides of the cannula (120) in the fixed configuration. In the fixed configuration, the gripping surfaces (256, 258) collectively form a first effective diameter (ED1) that limits the axial movement of the depth limiter (210) relative to the cannula (120) by directly contacting the cannula (120). As shown, when the ring members (220, 222) are in the fixed configuration, the first effective diameter (ED1) defined by the gripping surfaces (256, 258) is smaller than the outer diameter of the cannula (124). The fixed configuration can also be considered a static configuration. As shown in the figure, in both the fixed and movable configurations, the gripping surfaces (256, 258) do not completely (or entirely) surround the insertion channel (124) of the cannula (120). Instead, the gripping surfaces (256, 258) are spaced apart from each other and separated by gaps (266, 268) in both the fixed and movable configurations. Figure 8B In the fixed configuration, the gripping surfaces (256, 258) are shown as gripping less than half the circumference of the cannula (124) in discrete regions; however, this may be different.

[0100] like Figures 7-10 As shown, a user contact portion (224) is disposed between and fixedly connected to the bias arms (226, 228). In some configurations, the user contact portion (224) may be integrally formed with the bias arms (226, 228) as a single unit. In some configurations, a gripping member (230) may be integrally formed with the bias arms (226, 228) as a single unit. Similarly, a user contact portion (232) is disposed between and fixedly connected to the bias arms (234, 236). In some configurations, the user contact portion (232) may be integrally formed with the bias arms (234, 236) as a single unit. In some configurations, a gripping member (238) may be integrally formed with the bias arms (234, 236) as a single unit.

[0101] The depth limiter (210) is shown in a thin profile. The depth limiter (210) can nest on the proximal end of the cannula tube (124) for transport and / or storage. The depth limiter (210) can include a simple to operate pinch control. The depth limiter (210) can be reusable or disposable. For example, the depth limiter (210) can be injection molded for a disposable model. Alternatively, the depth limiter (210) can be stamped, machined, and / or metal injection molded for a reusable model. In some versions, the depth limiter (210) can be formed entirely of metal. The depth limiter (210) can fit into robotic and laparoscopic instruments, which can provide less medical waste for a medical facility (e.g., a hospital).

[0102] B. Second exemplary depth limiter

[0103] Figures 11-13 A second example depth limiter (310) is shown configured to be used with the trocar (10, 110) described above with reference to FIGS. 1-8. Specifically, Figures 1-5 The depth limiter (310) is shown in a perspective view, while Figure 11 The depth limiter (310) is shown in a perspective view, while Figure 13 The depth limiter (310) is shown in a perspective view, while Figure 11 An exploded view of the depth limiter (310) is shown. As shown, the depth limiter (310) includes a housing (312) and a biasing feature (314). The housing (312) includes upper and lower housing portions (316, 318) and user contact portions (320, 322). Thus, the upper and lower housing portions (316, 318) can be welded at a seam and can reduce or prevent the depth limiter (310) from pinching a user’s (U) glove and / or reduce or prevent the depth limiter (310) from pinching a patient’s tissue. The upper and lower housing portions (316, 318) are shown to be identical. However, if desired, the upper and lower housing portions (316, 318) can be different. The upper housing portion (316) can include a top wall (324), side walls (326, 328), and inner walls (330, 332). As shown, the side walls (326, 328) and inner walls (330, 332) extend downwardly toward the lower housing portion (318).

[0104] The lower housing portion (318) may include a bottom wall (334), side walls (336, 338), and inner walls (340, 342). The side walls (336, 338) and inner walls (340, 342) may extend upward toward the upper housing portion (316). The top and bottom walls (324, 334) are shown as generally flat and opposite each other to form a cavity (344) together with the inner walls (330, 332) of the upper housing portion (316) and the inner walls (340, 342) of the lower housing portion (318). The cavity (344) is configured to accommodate the offset feature (314), as described below. Figures 12A-12B A detailed description. For example... Figures 12A-13 As shown, the inner surfaces of the top and bottom walls (324, 334) may include a plurality of stop features (346, 348) configured to prevent the user contact portion (320, 322) from moving inwards by an excessive amount. Additionally, the user contact portion (320, 322) includes a plurality of protrusions (350, 352) configured to interact with the inner surfaces of the sides (326, 328) of the upper housing portion (316) and the sides (336, 338) of the lower housing portion (318) to prevent the user contact portion (320, 322) from moving outwards by an excessive amount.

[0105] like Figures 12A-13 As shown, the biasing feature (314) includes an elastic portion, shown as biasing arms (354, 356), which are disposed generally opposite to each other. The biasing arms (354, 356) are shown as generally thin flexible members; however, other types of biasing arms (354, 356) are also conceivable. As shown, the biasing arms (354, 356) may be connected to each other at terminals (358, 360). The biasing arm (354) includes an inner surface (362) and an outer surface (364). Similarly, the biasing arm (356) includes an inner surface (366) and an outer surface (368). The inner surface (362) of the biasing arm (354) includes a gripping surface (370). The inner surface (366) of the biasing arm (356) includes a gripping surface (374). The gripping surfaces (370, 374) may extend parallel to the longitudinal axis defined by the cannula (124) of the cannula (120).

[0106] The gripping surfaces (370, 374) can be smooth or non-smooth. For example, a non-smooth surface may include one or more features to lock into the cannula (124). At least one of the gripping surfaces (370, 374) may include at least one tooth configured to lock into at least one rib (128) of the cannula (120) in a fixed configuration and not lock into the rib (128) of the cannula (120) in a movable configuration.Figures 11-13 As shown, the gripping surfaces (370, 374) include a plurality of engagement features (372, 376) configured to engage lockably with ribs (128) on the outer surface of the cannula (124) of the cannula (120) in a fixed configuration and not engage lockably with ribs (128) on the outer surface of the cannula (124) in a movable configuration. Alternatively, the gripping surfaces (370, 374) may include a smooth surface (not shown) configured to engage frictionally with the ribs (128) of the cannula (120) in a fixed configuration and not engage frictionally with the ribs (128) of the cannula (120) in a movable configuration.

[0107] The depth limiter (310) can be controlled by the user (U) in Figure 12A The movable configuration shown and Figure 12B The depth limiter (310) can be selectively actuated from a fixed configuration having a first effective diameter (ED1) to a movable configuration having a second effective diameter (ED2) to connect the depth limiter (310) to the cannula (124). Alternatively, the depth limiter (310) can be selectively actuated from a fixed configuration to a movable configuration to disengage the depth limiter (310) from the cannula (124). As shown, the first effective diameter (ED1) is smaller than the second effective diameter (ED2). Figure 12A The figure shown is in cross-section. Figure 5 The insertion tube (124) is connected to Figure 11 Top plan view of the depth limiter (310). Figures 12A-12B In this case, the upper housing portion (316) of the depth limiter (310) is removed to reveal the depth limiter (310) in a movable configuration that allows the depth limiter (310) to move axially relative to the cannula (124) when actuated by the user (U).

[0108] Specifically, when the corresponding user contact portion (320, 322) is actuated by the user from a fixed configuration to a movable configuration, the gripping surface (370) can be movably connected to the bias arm (354), and the gripping surface (374) can be movably connected to the bias arm (356). For example, in Figure 12AIn the movable configuration, the gripping surfaces (370, 374) together form a second effective diameter (ED2), which allows axial movement of the depth limiter (310) relative to the outer diameter of the cannula (124) of the cannula (120). In other words, the actuation of the user contact portions (320, 322) is configured to cause the bias arms (354, 356) to move the gripping surfaces (370, 374) radially outward to selectively disengage from the cannula (120) in the movable configuration. As shown, the gripping surface (370) is radially offset by approximately 90 degrees from the user contact portions (320, 322), and the gripping surface (374) is radially offset by approximately 90 degrees from the user contact portions (320, 322).

[0109] As shown, the user contact portions (320, 322) can be actuated by the user (U) using their thumb and forefinger. However, the user (U) can press the user contact portions (320, 322) in other ways (e.g., using one or more fingers and the palm). By pinching the surfaces (378, 380) of the user contact portions (320, 322), the gripping surfaces (370, 374) open to disengage. In the movable configuration, the virtual diameter defined by the opposing gripping surfaces (370, 374) is larger than the diameter of the cannula (124), thereby allowing the depth limiter (310) to move freely along the cannula (124) to any user-specified depth. As shown, the user contact portions (320, 322) are arranged circumferentially opposite each other; however, other arrangements of the user contact portions (320, 322) are also conceivable. As shown, the user contact portion (320, 322) includes surfaces (378, 380) for enhancing user (U) grip. If the depth limiter (310) is reusable, the surfaces (378, 380) may include features (not shown) that allow for more thorough disinfection.

[0110] Figure 12B It shows Figure 12A The diagram shows a top plan view of the depth limiter (310) and the insertion conduit (124), but in which the depth limiter (310) is in a fixed configuration that restricts axial movement of the depth limiter (310) relative to the insertion conduit (124). The user (U) can release the insertion conduit (124) from its outer surface. Figure 12Athe gripping surfaces (370, 374) are disposed opposite one another in a circumferential direction and are configured to directly contact circumferentially opposite sides of the cannula (120) in the fixed configuration. In the fixed configuration, the gripping surfaces (370, 374) collectively form a first effective diameter (ED1) that limits axial movement of the depth limiter (310) relative to the cannula (120) by directly contacting the cannula (120) at discrete regions. As shown, the first effective diameter (ED1) defined by the gripping surfaces (370, 374) is less than the outer diameter of the cannula tubing (124) when the biasing arms (354, 356) of the biasing feature (314) are in the fixed configuration. The fixed configuration is a resting configuration. As shown, the gripping surfaces (370, 374) do not fully (or completely) encircle the cannula tubing (124) of the cannula (120) in either the fixed configuration or the movable configuration. Rather, the gripping surfaces (370, 374) are spaced apart from one another and separated by gaps (266, 268) in both the fixed configuration and the movable configuration.

[0111] The depth limiter (310) is shown in a thin profile. The depth limiter (310) can nest on a proximal end of the cannula tubing (124) for shipping and / or storage. The depth limiter (310) also includes a simple pinch-to-release control. The depth limiter (310) can be reusable or disposable. For example, the depth limiter (310) can be injection molded for a disposable model. Alternatively, the depth limiter (310) can be stamped, machined, and / or metal injection molded for a reusable model. In some versions, the depth limiter (310) is formed entirely of metal. The depth limiter (310) can fit into robotic and laparoscopic instruments, which can reduce medical waste that is thrown away and medical facilities (e.g., hospitals) do not have to store as many different SKUs.

[0112] C. Third exemplary depth limiter

[0113] Figures 14-16B A third example depth limiter (410) is shown coupled with an example cannula (412). Specifically, Figure 14 A perspective view of the depth limiter (410) is shown in a fixed configuration that limits axial movement of the depth limiter (410) relative to the cannula (412). Figure 15 A perspective view of the depth limiter (410) is shown in a fixed configuration that limits axial movement of the depth limiter (410) relative to the cannula (412). Figure 14FIG. 6 is a perspective view of a depth limiter (410). Similar to the cannula (120), the cannula (412) can have a bell-shaped hub (414) at a proximal end of the cannula and an elongate cannula tube (416) extending distally from the hub (414) and terminating at an angled cannula tip (418). An outer surface of the cannula tube (416) includes a plurality of tissue gripping features in the form of ribs (420) arranged axially along a middle portion of the cannula tube (416). As shown, the cannula tube (416) includes a slotted portion (422) formed opposite one another. The slotted portion (422) extends longitudinally along the cannula tube (416). The slotted portion (422) has a reduced outer diameter compared to the rest of the cannula tube (416). The slotted portion (422) includes an aperture or feature (424) disposed on a distal portion of the cannula tube (416) and generally adjacent the cannula tip (418). As shown, the slotted portion (422) extends along the entire axial length of the cannula tube (416); however, in some versions, the slotted portion (422) can extend only along a portion of the axial length of the cannula tube (416). Figure 14 and Figures 16A-16B As shown, the slotted portion (422) extends along the entire axial length of the cannula tube (416); however, in some versions, the slotted portion (422) can extend only along a portion of the axial length of the cannula tube (416).

[0114] The depth limiter (410) can include an outer portion (426), an inner portion (428), and arms (430, 432) disposed between the outer and inner portions (426, 428). As shown, Figure 16B When in a fixed configuration (i.e., a resting configuration), the outer portion (426) can be generally elliptical in shape. The outer portion (426) includes user contact portions (434, 436) that can be disposed opposite one another circumferentially. The user contact portions (434, 436) are configured to be actuated by a user (U). As shown, the user contact portions (434, 436) include raised bumps (438, 440) configured to enhance gripping of the respective user contact portions (434, 436) and / or allow the user to locate the user contact portions (434, 436) tactilely without visualization.

[0115] The depth limiter (410) includes biasing features (442, 444) disposed opposite one another. The biasing feature (442) includes a resilient portion (446), an arm (430), and a gripping member (448). Similarly, the biasing feature (444) includes a resilient portion (450), an arm (432), and a gripping member (452). The resilient portions (446, 450) can be configured to, when the respective user contact feature (434, 436) is actuated by the user (U), as Figure 16Aas shown. This flexibility can be due in part to the geometry of the depth limiter (410) such that the relative cross-sectional thickness of the resilient portion (446, 450) is less than the relative cross-sectional thickness of the outer portion (426) including the user contact portion (434, 436). For example, as shown Figure 15 As shown, the height (HI) of the user contact portion (434, 436) is greater than the height (H2) of the resilient portion (446, 450). Similarly, as shown Figure 16B As shown, the thickness (Tl) of the user contact portion (434, 436) is greater than the thickness (T2) of the resilient portion (446, 450).

[0116] The grip member (448) includes a grip surface (458) and an outer surface (460). The grip surface (458) is movably coupled with the resilient portion (446) when the user contact portion (434) is actuated by the user (U) from the fixed configuration to the movable configuration. Similarly, the grip member (452) includes a grip surface (462) and an outer surface (464). The grip surfaces (458, 462) are sized and configured to receive the cannula conduit (416) at discrete regions. The grip surfaces (458, 462) can extend parallel to a longitudinal axis defined by the cannula conduit (416) of the cannula (412). The grip surface (462) is movably coupled with the resilient portion (446) when the user contact portion (434) is actuated by the user (U) from the fixed configuration to the movable configuration. The grip surfaces (458, 462) include respective slotted portions (466, 467) configured to align with the slotted portion (422) of the cannula conduit (416) in the fixed configuration. The grip surfaces (458, 462) of the grip members (448, 452) are spaced apart from each other by gaps (468, 470) in both the closed configuration and the movable configuration.

[0117] The grip surfaces (458, 462) can be smooth or non-smooth. For example, the non-smooth surface can include one or more features to lockingly engage with the cannula conduit (416). At least one of the grip surfaces (458, 462) can include at least one engagement feature configured to lockingly engage with at least one of the ribs (420) of the cannula (412) in the fixed configuration and not lockingly engage with the ribs (420) of the cannula (412) in the movable configuration. As shown Figure 15As shown, the gripping surfaces (458, 462) include a plurality of engagement features (shown as teeth (472, 474)) configured to engage lockably with ribs (420) on the outer surface of the cannula (416) of the cannula (412) in a fixed configuration and not engage lockably with ribs (420) on the outer surface of the cannula (416) in a movable configuration. Alternatively, the gripping surfaces (458, 462) may include a smooth surface (not shown) configured to engage frictionally with the ribs (420) of the cannula (412) of the cannula (416) in a fixed configuration and not engage frictionally with the ribs (420) of the cannula (412) in a movable configuration.

[0118] The depth limiter (410) can be controlled by the user (U) in Figure 16A The movable configuration shown and Figure 16B The depth limiter (410) can be selectively actuated from a fixed configuration having a first effective diameter (ED1) to a movable configuration having a second effective diameter (ED2) to disengage the depth limiter (410) from the cannula (416), and from the movable configuration to the fixed configuration to engage the depth limiter (410) with the cannula (416). As shown, the first effective diameter (ED1) is smaller than the second effective diameter (ED2). Figure 16A It shows Figure 14 A top plan view of the depth limiter (410) and the cannula (416), wherein the cannula (416) is shown in cross-section, wherein the depth limiter (410) is in a movable configuration that allows axial movement of the depth limiter (410) relative to the cannula (416) when actuated by a user (U). Figure 16A In the movable configuration, the gripping surfaces (458, 462) together form a second effective diameter (ED2), which allows axial movement of the depth limiter (410) relative to the outer diameter of the cannula (416) of the cannula (412). In other words, the actuation of the user contact portions (434, 436) is configured to cause the arms (430, 432) to move the gripping surfaces (458, 462) outward to selectively disengage from the cannula (412) in the movable configuration.

[0119] As shown, the user contact portions (434, 436) are configured to be actuated by the user (U) using their thumb and forefinger. However, the user (U) can press the user contact portions (434, 436) in other ways (e.g., using one or more fingers and the palm). By pinching the user contact portions (434, 436), the gripping surfaces (458, 462) open to disengage. In the movable configuration, the virtual diameter defined by the opposing gripping surfaces (458, 462) is larger than the diameter of the cannula (416), thereby allowing the depth limiter (410) to move freely along the cannula (416) to any user-specified depth. As shown, the gripping surface (458) is radially offset from the user contact portions (434, 436) by approximately 90 degrees, and the gripping surface (462) is radially offset from the user contact portions (434, 436) by approximately 90 degrees.

[0120] Figure 16B It shows Figure 16A Top plan view of the depth limiter (410) and the insertion tube (416), but the depth limiter (410) is located at... Figure 14 The fixed configuration. The user (U) can release from the outer surface of the insertion tube (124). Figure 16A The gripping surfaces (458, 462) allow the arms (430, 432) to return to the fixed configuration. The gripping surfaces (458, 462) are arranged circumferentially opposite each other and configured to directly contact the circumferentially opposite sides of the cannula (412) in the fixed configuration. In the fixed configuration, the gripping surfaces (458, 462) collectively form a first effective diameter (ED1) that limits the axial movement of the depth limiter (410) relative to the cannula (412) by directly contacting the cannula (412).

[0121] As shown in the figure, when the arms (430, 432) are in the fixed configuration, the first effective diameter (ED1) defined by the gripping surfaces (458, 462) is smaller than the outer diameter of the cannula (416). The fixed configuration can be considered as a static configuration. As shown in the figure, in both the fixed and movable configurations, the gripping surfaces (458, 462) do not completely (or entirely) surround the cannula (412) and the cannula (416). Instead, the gripping surfaces (458, 462) are spaced apart from each other and separated by gaps (468, 470) in both the fixed and movable configurations. Figure 16B In the fixed configuration, the gripping surfaces (458, 462) are shown as gripping less than half the circumference of the cannula (416) in discrete regions; however, this may be different.

[0122] The depth limiter (410) can be reusable or disposable. For example, the depth limiter (410) can be injection molded for a cheap, disposable model. The depth limiter (410) can be integrally formed as a single piece. For example, the depth limiter (410) can be formed of a polymeric material (e.g., plastic). Alternatively, the depth limiter (410) can be stamped, machined, and / or metal injection molded for a reusable model.

[0123] D. Fourth exemplary depth limiter

[0124] Figures 17-18B A fourth example depth limiter (510) coupled with a cannula (120) is shown. Like the depth limiter (410) including an outer portion (426), the depth limiter (510) includes an outer portion (526) and biasing features (530, 532) disposed within the outer portion (526). The outer portion (526) includes user contact portions (534, 536) disposed opposite one another, similar to the user contact portions (434, 436). The user contact portions (534, 536) are configured to be actuated by a user (U). As shown, the user contact portions (534, 536) include raised bumps (538, 540) configured to enhance gripping of the respective user contact portions (534, 536) and / or allow the user to tactilely locate the user contact portions (534, 536) without visualization. The outer portion (526) can include thin portions (528, 529) disposed opposite one another and between the user contact portions (534, 536).

[0125] The biasing features (530, 532) are disposed opposite one another. The biasing feature (530) includes a resilient portion (546) and a gripping feature (548). Similarly, the biasing feature (532) includes a resilient portion (550) and a gripping feature (552). The resilient portions (546, 550) can be configured to flex outwardly when the respective user contact features (534, 536) are actuated by the user (U), as shown. This flexibility can be due in part to the geometry of the depth limiter (510) such that the relative cross-sectional thickness of the resilient portions (546, 550) is less than the relative cross-sectional thickness of the outer portion (526) including the user contact portions (534, 436) and the thin portions (528, 529). For example, as shown, the height (HI) of the user contact portions (534, 436) is greater than the height (H2) of the thin portions (528, 529). The thin portions (528, 5292) can be shorter than the gripping features (548, 552) to affect the amplitude of the outward flexing of the biasing features (530, 532). Figure 18A Figure 17 The gripping features (548, 552) can be configured to be gripped by the user (U) to actuate the user contact portions (534, 536). For example, as shown, the gripping features (548, 552) include raised ridges (554, 556) configured to enhance gripping of the respective gripping features (548, 552) and / or allow the user to tactilely locate the gripping features (548, 552) without visualization.​

[0126] The gripping features (548) include a gripping surface (558) and an outer surface (560). Similarly, the gripping features (552) include a gripping surface (562) and an outer surface (564). The gripping surfaces (558, 562) can be movably coupled with the resilient portions (546, 550) when the user-contact portions (534, 536) are actuated by the user (U) from the fixed configuration to the movable configuration. The gripping surfaces (558, 562) can be sized and configured to receive the cannula conduit (124) of the cannula (120) at discrete regions. The gripping surfaces (558, 562) can extend parallel to a longitudinal axis defined by the cannula conduit (124) of the cannula (120). The gripping surfaces (558, 562) of the gripping features (548, 552) are spaced apart from each other by a gap (568, 570) in both the fixed configuration and the movable configuration.

[0127] The gripping surfaces (558, 562) can be smooth or non-smooth. For example, a non-smooth surface can include one or more features to lockingly engage with the cannula conduit (124). At least one of the gripping surfaces (558, 562) can include at least one engagement feature configured to lockingly engage with at least one of the ribs (128) of the cannula (120) in the fixed configuration and not lockingly engage with the ribs (128) of the cannula (120) in the movable configuration. As shown, the gripping surfaces (558, 562) include a plurality of engagement features (shown as teeth (574, 576)) configured to lockingly engage with the ribs (128) disposed on an outer surface of the cannula conduit (124) of the cannula (120) in the fixed configuration and not lockingly engage with the ribs (128) disposed on the outer surface of the cannula conduit (124) in the movable configuration. Alternatively, although not shown, the gripping surfaces (558, 562) can include a smooth surface (not shown) configured to frictionally engage with the ribs (128) of the cannula conduit (124) of the cannula (120) in the fixed configuration and not frictionally engage with the ribs (128) of the cannula (120) in the movable configuration. Figures 18A-18B

[0128] The depth limiter (510) can be moved by the user (U) from the fixed configuration and the movable configuration shown to a third configuration in which the depth limiter (510) is disposed in the cannula conduit (124) of the cannula (120) and the user-contact portions (534, 536) are disposed in the fixed configuration. Figure 18A Figure 18B ​​The depth limiter (510) can be selectively actuated from a fixed configuration having a first effective diameter (ED1) to a movable configuration having a second effective diameter (ED2) to engage the depth limiter (510) with the cannula (124). The depth limiter (510) can also be selectively actuated from a fixed configuration to a movable configuration to disengage the depth limiter (510) from the cannula (124). As shown, the first effective diameter (ED1) is smaller than the second effective diameter (ED2). Figure 18A It shows Figure 5 A top plan view of the depth limiter (510) and the cannula (124), wherein the cannula (124) is shown in cross-section, wherein the depth limiter (510) is in a movable configuration that allows axial movement of the depth limiter (510) relative to the cannula (124) when actuated by a user (U). Figure 18A The movable configuration, with gripping surfaces (558, 562) collectively forming a second effective diameter (ED2), allows axial movement of the depth limiter (510) relative to the outer diameter of the insertion channel (124) of the cannula (120). Figure 18B As shown, when in a fixed configuration (also considered a static configuration), the shape of the outer part (526) can be approximately elliptical.

[0129] As shown, the user contact portions (534, 536) are configured to be actuated by the user (U) using their thumb and forefinger. However, the user (U) can press the user contact portions (534, 536) in other ways (e.g., using one or more fingers and the palm). By pinching the user contact portions (534, 536), the gripping surfaces (558, 562) can open to disengage. In the movable configuration, the virtual diameter defined by the opposing gripping surfaces (558, 562) is larger than the diameter of the cannula (124), thereby allowing the depth limiter (510) to move freely along the cannula (124) to any user-specified depth. As shown, the gripping surface (558) is radially offset from the user contact portions (534, 536) by approximately 90 degrees, and the gripping surface (562) is radially offset from the user contact portions (534, 536) by approximately 90 degrees.

[0130] Figure 18B It shows Figure 18A Top plan view of the depth limiter (510) and the insertion tube (124), but the depth limiter (510) is located at... Figure 14 A fixed configuration. For example... Figure 18B As shown, when in a fixed configuration (also considered a static configuration), the outer portion (526) is approximately circular in shape. The user (U) can release from the outer surface of the insertion conduit (124).Figure 18A the biasing features (530, 532) return to the fixed configuration. The gripping surfaces (558, 562) are circumferentially opposite one another and are configured to directly contact circumferentially opposite sides of the cannula (120) in the fixed configuration. In the fixed configuration, the gripping surfaces (558, 562) collectively form a first effective diameter (ED1) that restricts axial movement of the depth limiter (510) relative to the cannula (120) by directly contacting the cannula (120). When the biasing features (530, 532) are in the fixed configuration, the first effective diameter (ED1) defined by the gripping surfaces (558, 562) is less than the outer diameter of the cannula conduit (124). As shown, the gripping surfaces (558, 562) do not fully (or completely) surround the cannula conduit (124) of the cannula (120), whether in the fixed configuration or the movable configuration. Rather, the gripping surfaces (558, 562) are spaced apart from one another and separated by gaps (568, 570) in both the fixed configuration and the movable configuration. In the fixed configuration of the depth limiter (510), the gripping surfaces (558, 562) are shown as collectively gripping less than half of the circumference of the cannula conduit (124); however, this can vary. Figure 18B

[0131] The depth limiter (510) can be reusable or disposable. For example, the depth limiter (510) can be injection molded for a cheap, disposable model. The depth limiter (510) can be integrally formed together as a unitary piece. For example, the depth limiter (510) can be formed from a polymeric material (e.g., plastic). Alternatively, the depth limiter (510) can be metal injection molded for a reusable model.

[0132] E. Fifth exemplary depth limiter

[0133] Figures 19-22B A fifth example depth limiter (610) is shown coupled with an example cannula (612). Specifically, Figure 19 A perspective view of the depth limiter (610) is shown in a fixed configuration that restricts axial movement of the depth limiter (610) relative to the cannula (612). Similar to the cannula (120), the cannula (612) includes a bell-shaped hub (614) at a proximal end of the cannula and an elongate cannula conduit (616) extending distally from the hub (414) and terminating at an angled cannula tip (618). An outer surface of the cannula conduit (616) includes a plurality of tissue gripping features in the form of ribs (620) that are axially arranged along a middle portion of the cannula conduit (616).

[0134] Figure 20 A perspective view of the depth limiter (610) is shown in a fixed configuration that restricts axial movement of the depth limiter (610) relative to the cannula (612). Similar to the cannula (120), the cannula (612) includes a bell-shaped hub (614) at a proximal end of the cannula and an elongate cannula conduit (616) extending distally from the hub (414) and terminating at an angled cannula tip (618). An outer surface of the cannula conduit (616) includes a plurality of tissue gripping features in the form of ribs (620) that are axially arranged along a middle portion of the cannula conduit (616). Figure 19 ​The perspective view of the depth limiter (610), and Figure 21 It shows Figure 20 A side front view of a depth limiter (610). The depth limiter (610) includes user contact portions (622, 624) and biasing features (626, 628). The user contact portions (622, 624) are disposed opposite to each other and are configured to be actuated by a user (U). As shown, the user contact portions (622, 624) include buttons (630, 632). The buttons (630, 632) may include gripping features configured to enhance gripping of the respective user contact portions (622, 624) and / or allow the user (U) to position the user contact portions (622, 624) without visualization.

[0135] The biasing features (626, 628) are disposed opposite to each other. The biasing feature (626) includes a resilient portion (shown as a thin portion (638)) and a thick portion (640). The thin portion (638) is connected to the user contact portion (622) via a connecting portion (642). Similarly, the biasing feature (628) includes a resilient portion (shown as a thin portion (644)) and a thick portion (646). The thin portion (644) is connected to the user contact portion (624) via a connecting portion (648). The thick portion (640) includes a gripping feature (650). Similarly, the thick portion (646) includes a gripping feature (652). The gripping features (650, 652) are configured to, when the corresponding user contact features (622, 624) are actuated by the user (U), such that... Figure 22A It bends outward as shown. This flexibility may be partly due to the geometry of the depth limiter (610), which makes the relative cross-sectional thickness of the thin portion (638, 644) smaller than that of the thick portion (640, 646). Figure 22B As shown, the thickness (T1) of the thick portion (640, 646) is greater than the thickness (T2) of the thin portion (638, 644).

[0136] The gripping feature (650) includes a gripping surface (654) that is movably coupled with the thin portion (638) when the user contact portion (622) is actuated by the user (U) from the fixed configuration to the movable configuration. Similarly, the gripping feature (652) includes a gripping surface (656) that is movably coupled with the thin portion (644) when the user contact portion (622) is actuated by the user (U) from the fixed configuration to the movable configuration. The gripping surfaces (654, 656) are sized and configured to receive the cannula conduit (616) at discrete regions. In both the fixed configuration and the movable configuration, the gripping surfaces (654, 656) of the gripping features (650, 652) are spaced apart from each other by gaps (658, 660). The gripping surfaces (654, 656) can extend parallel to a longitudinal axis defined by the cannula conduit (616) of the cannula (612).

[0137] The gripping surfaces (654, 656) can be smooth or non-smooth. For example, a non-smooth surface can include one or more features to lockingly engage with the cannula conduit (616). At least one of the gripping surfaces (654, 656) can include at least one engagement feature configured to lockingly engage with at least one of the ribs (620) of the cannula (612) in the fixed configuration and not lockingly engage with the ribs (620) of the cannula (612) in the movable configuration. As shown, the gripping surfaces (654, 656) each include a plurality of engagement features (shown as teeth (670, 672)) configured to lockingly engage with the ribs (620) disposed on an outer surface of the cannula conduit (616) of the cannula (612) in the fixed configuration and not lockingly engage with the ribs (620) disposed on the outer surface of the cannula conduit (616) in the movable configuration. Three separate teeth (670, 672) are shown and they are arranged to mimic the shape of a scallop of the cannula (612). Alternatively, although not shown, the gripping surfaces (654, 656) can include a smooth surface (not shown) configured to frictionally engage with the ribs (620) of the cannula conduit (616) of the cannula (612) in the fixed configuration and not frictionally engage with the ribs (620) of the cannula (612) in the movable configuration. Figures 22A-22B

[0138] The depth limiter (610) can be moved by the user (U) from the fixed configuration and the movable configuration shown Figure 22B Figure 22A ​​The depth limiter (610) can be moved between the fixed configurations shown. In other words, the depth limiter (610) can be selectively actuated from a fixed configuration having a first effective diameter (ED1) to a movable configuration having a second effective diameter (ED2) to connect the depth limiter (610) to the cannula (616). Additionally, the depth limiter (610) can be moved by the user (U) from the fixed configuration to the movable configuration to disengage the depth limiter (610) from the cannula (616). Specifically, Figure 22A It shows Figure 5 A top plan view of the depth limiter (610) and the cannula (124), wherein the cannula (616) is shown in cross-section, wherein the depth limiter (610) is in a movable configuration that allows the depth limiter (610) to move axially relative to the cannula (616) when actuated by the user (U).

[0139] exist Figure 22A In the movable configuration, the gripping surfaces (654, ​​656) together form a second effective diameter (ED2), which allows axial movement of the depth limiter (610) relative to the outer diameter of the cannula (616) of the cannula (612). In other words, the actuation of the user contact portions (622, 624) is configured to cause the biasing features (626, 628) to move the gripping surfaces (654, ​​656) outward to selectively disengage from the cannula (612) in the movable configuration. FIGS. 22A-22B As shown, the first effective diameter (ED1) is smaller than the second effective diameter (ED2). As illustrated, the user contact portions (622, 624) are configured to be actuated by the user (U) using their thumb and forefinger. However, the user (U) can press the user contact portions (622, 624) in other ways (e.g., using one or more fingers and the palm). In the movable configuration, the virtual diameter defined by the opposing gripping surfaces (654, ​​656) is larger than the diameter of the cannula (616), thereby allowing the depth limiter (610) to move freely along the cannula (616) to any user-specified depth. In other words, due to the biaxial stress caused by pinching the user contact features (622, 624), the thickness of the thin portions (638, 644) causes the effective diameter to extend from the first effective diameter (ED1) to the second effective diameter (ED2). As shown in the figure, the gripping surface (654) is radially offset by approximately 90 degrees from the user contact portion (622, 624), and the gripping surface (656) is radially offset by approximately 90 degrees from the user contact portion (622, 624).

[0140] Pushing the user contact portions (622, 624) along the first axis causes the gripping features (650, 652) to expand along a vertical second axis (pushing in one direction produces an effect in the vertical direction). The user's pinching force causes the vertical surfaces to deflect inward, causing the gripping surfaces (654, ​​656) to move outward and upward to unlock. The depth limiter (610) has a biaxially curved shape to induce the desired buckling in the vertical direction when pinched or pulled in the other direction. Perpendicular to these features, at the more proximal ends, is a thin section (638, 644) (i.e., here, a slot, ellipse, or other curved shape removes more material from the inner surface). This thinning results in flexibility, such that when the user pinches the button (630, 632), the stress induced in this section causes the gripping features (650, 652) to rotate upward and away from the insertion tube (e.g., in gull-wing motion). The dimensions of the manipulated thin sections (638, 644) allow for easier actuation compared to higher clamping forces and / or consideration of different material properties.

[0141] FIG. 22B It shows FIG. 22A The diagram shows a top plan view of the depth limiter (610) and the cannula (616), but in which the depth limiter (610) is in a fixed configuration that restricts the axial movement of the depth limiter (610) relative to the cannula (616). In the fixed configuration, the gripping surfaces (654, ​​656) together form a first effective diameter (ED1) that restricts the axial movement of the depth limiter (610) relative to the cannula (612) by direct contact with the cannula (612). The user (U) can release the cannula (616) from its outer surface. FIG. 22A The gripping surfaces (654, ​​656) in the fixed configuration cause the bias features (626, 628) to return to the fixed configuration. The gripping surfaces (654, ​​656) can be arranged opposite each other in the circumferential direction and can be configured to directly contact the circumferentially opposite sides of the cannula (612) in the fixed configuration.

[0142] When the biasing features (626, 628) are in the fixed configuration, the first effective diameter (ED1) defined by the gripping surfaces (654, ​​656) is smaller than the outer diameter of the cannula (616). The fixed configuration can be considered a static configuration. As shown, in both the fixed and movable configurations, the gripping surfaces (654, ​​656) do not completely (or entirely) surround the cannula (612) of the cannula (616). Instead, the gripping surfaces (654, ​​656) can be spaced apart from each other and separated by gaps (658, 660) in both the fixed and movable configurations. FIG. 18BIn the fixed configuration, the gripping surfaces (654, ​​656) are shown as gripping less than half the circumference of the cannula (616); however, this may vary. As shown, when in the fixed configuration (i.e., the static configuration), the depth limiter (610) is approximately circular in shape.

[0143] The depth limiter (610) can be reusable or disposable. For example, the depth limiter (610) can be injection molded for inexpensive disposable models. The depth limiter (610) can be integrally formed as a single part. For example, the depth limiter (610) can be a single injection-molded part, which will achieve very low commodity costs and relatively high clamping forces with relatively low user-actuated release forces. For example, the depth limiter (610) can be formed from a polymer material (e.g., plastic). Alternatively, the depth limiter (610) can be metal injection molded for reusable models. In addition, in some types, the depth limiter (610) can be modified for more efficient stamping, machining, and welding processes.

[0144] F. Sixth Exemplary Depth Limiter

[0145] FIGS. 23-25B A sixth exemplary depth limiter (710) is shown. Specifically, FIG. 23 A perspective view of the depth limiter (710) is shown, while FIG. 24 It shows FIG. 23 A top plan view of the depth limiter (710). As shown, the depth limiter (710) includes a housing (712), user contact portions (714, 716), and biasing features (718, 720). The housing (712) may include a cylindrical portion (722) and a truncated conical portion (724) having an aperture (726) extending through it, configured to receive a cannula (124) for inserting a cannula (120). In some configurations, the truncated conical portion (724) may be shorter, allowing for a shorter and more compact overall height of the depth limiter (710). As shown, the cylindrical portion (722) includes radially inwardly projecting protrusions (728, 730). The user contact portions (714, 716), which may be in the form of buttons, may be positioned opposite each other and may be configured to be actuated by a user (U). The user contact portion (714, 716) includes an outer surface (731, 733) shown as generally circular. Although not shown, the outer surface (731, 733) may include gripping features configured to enhance gripping of the respective user contact portion (714, 716) and / or allow the user (U) to position the user contact portion (714, 716) without visualization.

[0146] The biasing features (718, 720) can be disposed opposite to each other and can be used as opposing spring retaining rods. As shown, the biasing feature 718 includes an elastic portion (in... FIGS. 25A-25B The spring (732) and bias arm (734) are shown in the diagram. The spring (732) is coiled around the pin (735) and received by the protrusion (728) to bias the bias arm (734). The bias arm (734) includes a gripping member (736) that includes a gripping surface (738) configured to receive an insertion tube (124). Similarly, the biasing feature 720 includes a resilient portion (in...) FIGS. 25A-25B The spring (740) and bias arm (742) are shown in the diagram. The spring (740) is coiled around the pin (741) and received by the protrusion (730) to bias the bias arm (742). The bias arm (742) includes a gripping member (744) that includes a gripping surface (746) configured to receive another portion of the cannula (124). FIG. 24 In the middle, the housing (712) shows the bias arms (734, 742) to expose the bias features (718, 720) in dashed lines.

[0147] The gripping surfaces (738, 746) are sized and configured to receive the cannula (124) at discrete regions. The gripping surfaces (738, 746) may extend parallel to the longitudinal axis defined by the cannula (124) of the cannula (120). In both fixed and movable configurations, the gripping surfaces (738, 746) of the gripping members (736, 744) are spaced apart from each other by gaps (748, 750). The gripping surfaces (738, 746) are shown as cylindrical gripping surfaces that interfere with the cannula (120) and provide clamping pressure. The gripping surfaces (738, 746) may be smooth or non-smooth. As shown, the gripping surfaces (738, 746) may include smooth arcuate surfaces configured to engage frictionally with the ribs (128) of the cannula (120) in a fixed configuration and not in a movable configuration. Alternatively, although not shown, non-smooth surfaces may include one or more features for locking engagement with the cannula (124). For example, at least one gripping surface (738, 746) may include at least one engagement feature (e.g., a tooth) configured to lockably engage with at least one rib (128) of the cannula (120) in a fixed configuration and not in a movable configuration.

[0148] The depth limiter (710) can be controlled by the user (U) in... FIG. 25A The movable configuration shown and FIG. 25BThe depth limiter (710) can be moved between the fixed configurations shown. In other words, the depth limiter (710) can be selectively actuated from a fixed configuration having a first effective diameter (ED1) to a movable configuration having a second effective diameter (ED2) to disengage the depth limiter (710) from the cannulation channel (124). Additionally, the depth limiter (710) can be moved by the user (U) from the movable configuration to the fixed configuration to engage the depth limiter (710) with the cannulation channel (124). Specifically, FIG. 25A It shows the relationship with FIG. 5 The insertion tube (124) is connected to FIG. 23 A partial sectional view of the side of the depth limiter (710), wherein the depth limiter (710) is in a movable configuration that allows axial movement of the depth limiter (710) relative to the cannula (124) when actuated by the user (U).

[0149] exist FIG. 25A In the movable configuration, the gripping surfaces (738, 746) together form a second effective diameter (ED2), which allows axial movement of the depth limiter (710) relative to the outer diameter of the cannula (124) of the cannula (120). In other words, the actuation of the user contact portions (714, 716) is configured to cause the biasing features (718, 720) to move the gripping surfaces (738, 746) radially outward in a selective disengagement configuration from the cannula (120). FIGS. 25A-25B As shown, the first effective diameter (ED1) is smaller than the second effective diameter (ED2). As also shown, the user contact portions (714, 716) are configured to be actuated by the user (U) using their thumb and forefinger. However, the user (U) can press the user contact portions (714, 716) in other ways (e.g., using one or more fingers and the palm).

[0150] like FIG. 25AAs shown, the bias arms (734, 742) are pivotally mounted within the housing (712) to be clamped onto the cannula (120) using gripping members (736, 744). The bias arms (734, 742) are passively clamped, engaged by springs (732, 740), and released by the user by pushing the user contact portion (714, 716), which tilts the lever (shown as the bias arms (734, 742)). This disturbance is passively biased by the force of the springs (732, 740), which push the bias arms (734, 742) into a fixed configuration, thereby clamping them onto the outer surface of the cannula (124). The user releases the bias arm (734, 742) by pushing the user contact portion (714, 716), thereby rotating the bias arm (734, 742) and actuating the spring (732, 740), allowing the depth limiter (710) to reposition. The spring (732, 740) can be a torsion spring and / or an axial spring to passively push the bias arm (734, 742) towards a fixed configuration.

[0151] FIG. 25B It shows FIG. 25A A partial cross-sectional plan view of the side of the depth limiter (710) and the cannula (124), but in which the depth limiter (710) is in a fixed configuration that restricts the axial movement of the depth limiter (710) relative to the cannula (124). In the fixed configuration, the gripping surfaces (738, 746) together form a first effective diameter (ED1) that restricts the axial movement of the depth limiter (710) relative to the cannula (120) by directly contacting the cannula (120). When the biasing features (718, 720) are in the fixed configuration, the first effective diameter (ED1) defined by the gripping surfaces (738, 746) is smaller than the outer diameter of the cannula (124). The fixed configuration is a static configuration. The gripping surfaces (738, 746) are arranged circumferentially opposite to each other and are configured to directly contact the circumferentially opposite sides of the cannula (120) in the fixed configuration. As shown in the figure, in both the fixed and movable configurations, the gripping surfaces (738, 746) do not completely (or fully) surround the insertion conduit (124) of the cannula (120). Instead, the gripping surfaces (738, 746) are spaced apart from each other and separated by gaps (748, 750) in both the fixed and movable configurations.

[0152] The depth limiter (710) can be reusable or disposable. For example, the depth limiter (710) can be injection molded for inexpensive disposable models. For example, the depth limiter (710) can be formed from a polymer material (e.g., plastic). Alternatively, the depth limiter (710) can be metal injection molded for reusable models. In addition, in some types, the depth limiter (710) can be modified for more efficient stamping, machining, and welding processes. In some types, the depth limiter (710) can be formed entirely of metal.

[0153] G. Seventh Exemplary Depth Limiter

[0154] FIGS. 26-28 A seventh exemplary depth limiter (810) is shown. Specifically, FIG. 26 A perspective view of the depth limiter (810) is shown, while FIG. 28 It shows FIG. 26 An exploded view of the depth limiter (810). As shown, the depth limiter (810) includes a housing (812), user contact portions (814, 816), and biasing features (818, 820). The housing (812) may include a cylindrical top (822) and a truncated conical portion (824) including side holes (826). In some configurations, the truncated conical portion (824) may be shorter, resulting in a shorter and more compact overall height of the depth limiter (810). As shown, the cylindrical top (822) includes a hole (828), while the truncated conical portion (824) includes a hole (830). The holes (828, 830) are configured to receive a cannula (120) passing through them. As shown, the biasing features (818, 820) together form a torsion spring. The biasing features (818, 820) are housed within the housing (812) to prevent tissue from being pinched between the biasing features (818, 820) and serve as abutting surfaces against the abdominal wall (2), such as FIGS. 3A-3D As shown.

[0155] The user contact portions (814, 816) can be disposed generally adjacent to each other (e.g., on the same side of the cannula conduit (124)) and configured to be actuated by the user (U). For example, the user contact portions (814, 816) can include overmolds on the ends, and / or any other suitable end treatment that is ergonomic. As shown, the user contact portions (814, 816) are disposed on the same side of the depth limiter (810) and not directly opposite each other. The user contact portions (814, 816) include outer surfaces (832, 834) shown as generally rectangular. Although not shown, the outer surfaces (832, 834) can include gripping features configured to enhance gripping of the respective user contact portion (814, 816) and / or allow the user to locate the user contact portions (814, 816) without visualization.

[0156] The biasing feature (818) includes a resilient portion (shown as a coil portion (836)). Similarly, the biasing feature 820 includes a resilient portion (shown as a coil portion (838)). The coil portions (836, 838) include gripping surfaces (840, 842), respectively. The gripping surfaces (840, 842) are sized and configured to receive the cannula conduit (124). The gripping surfaces (840, 842) can extend parallel to a longitudinal axis defined by the cannula conduit (124) of the cannula (120). The gripping surfaces (840, 842) of the coil portions (836, 838) completely surround the cannula conduit (124) in both the fixed configuration and the movable configuration. The gripping surfaces (840, 842) can be smooth or non-smooth. As shown, the gripping surfaces (840, 842) can include smooth arcuate surfaces configured to frictionally engage the ribs (128) of the cannula conduit (124) of the cannula (120) in the fixed configuration and not frictionally engage the ribs (128) of the cannula (120) in the movable configuration. Alternatively, although not shown, the non-smooth surfaces can include one or more features to lockingly engage the cannula conduit (124). For example, at least one of the gripping surfaces (840, 842) can include at least one engagement feature (e.g., a tooth) configured to lockingly engage at least one of the ribs (128) of the cannula (120) in the fixed configuration and not lockingly engage the ribs (128) of the cannula (120) in the movable configuration. The gripping surfaces (840, 842) can nest on the outer surface of the cannula (120) to increase retention.

[0157] The depth limiter (810) can be moved by the user (U) from the fixed configuration shown to the movable configuration shown and vice versa. FIG. 27A the movable configuration shown and vice versa. FIG. 27BThe depth limiter (810) can be selectively actuated from a fixed configuration with a first effective diameter (ED1) to a movable configuration with a second effective diameter (ED2) to connect the depth limiter (810) to the cannulation channel (124). Additionally, the depth limiter (810) can be moved by the user (U) from the fixed configuration to the movable configuration to disengage the depth limiter (810) from the cannulation channel (124). Specifically, FIG. 27A The figure shown is in cross-section. FIG. 6 The insertion tube (124) is connected to FIG. 26 A top plan view of the depth limiter (810), wherein the upper housing of the depth limiter (810) (shown as a cylindrical top (822)) is removed to show the depth limiter (810) in a movable configuration.

[0158] exist FIG. 27A In the movable configuration, the gripping surfaces (840, 842) together form a second effective diameter (ED2), which allows axial movement of the depth limiter (810) relative to the outer diameter of the cannula (124) of the cannula (120). In other words, the actuation of the user contact portions (814, 816) is configured to cause the biasing features (818, 820) to radially extend the gripping surfaces (840, 842) to selectively disengage from the cannula (120) in the movable configuration. As shown, the user contact portions (814, 816) are configured to be actuated by the user (U) using their thumb and forefinger. However, the user (U) may press the user contact portions (814, 816) in other ways (e.g., using one or more fingers and the palm). The user (U) can increase the inner diameter of the gripping surface (840, 842) by pinching the outer surfaces (832, 834) of the user contact portion (814, 816) together. The biasing feature (818, 820) is passively engaged to the cannula (120) by spring force and disengaged from the cannula (120) by pressing the two handles (814, 816) attached to its end together, which opens the biasing feature (818, 820). The dimensions and construction of the biasing feature (818, 820), which together form a torsion spring, are configured to provide an interference / compression fit with the cannula (120) in a fixed configuration.

[0159] FIG. 27B It shows FIG. 27Atop plan view of the depth limiter (810) and the cannula conduit (124), but with the depth limiter (810) in a fixed configuration that restricts axial movement of the depth limiter (810) relative to the cannula conduit (124). In the fixed configuration, the gripping surfaces (840, 842) collectively form a first effective diameter (ED1) that restricts axial movement of the depth limiter (810) relative to the cannula (120) by directly contacting the cannula (120). The first effective diameter (ED1) defined by the gripping surfaces (840, 842) is smaller than the outer diameter of the cannula conduit (124) when the biasing features (818, 820) are in the fixed configuration. The fixed configuration is a rest configuration.

[0160] The depth limiter (810) can be reusable or disposable. For example, the depth limiter (810) can be injection molded for a cheap disposable model. For example, the depth limiter (810) can be formed from a polymeric material (e.g., plastic). Alternatively, the depth limiter (810) can be metal injection molded for a reusable model. Additionally, in some versions, the depth limiter (810) can be modified for more efficient stamping, machining, and welding processes. In some versions, the depth limiter (810) can be formed entirely from metal. Depending on the selection of torsion spring, the depth limiter (810) can provide a high clamping force. Additionally, as shown, the depth limiter (810) includes a simple pinch-to-release control using the user contact portions (814, 816).

[0161] H. Eighth Exemplary Depth Limiter

[0162] FIGS. 29-31B An eighth example depth limiter (910) is shown. Specifically, FIG. 29 A perspective view of the depth limiter (910) of a surgical access device is shown, and FIG. 30 A perspective view of the depth limiter (910) and the cannula (912) is shown. As FIG. 29 shown, the cannula (912) includes a cannula conduit (914) having a first diameter (D1) that is configured to selectively couple with the depth limiter (910). FIG. 30

[0163] ​The depth limiter (910) can include a housing (916), a biasing feature (918), and a slidable member (920). The housing (916) can include opposing upper and lower housing portions (922, 924). The upper and lower housing portions (922, 924) can form a slot (926) configured to receive the slidable member (920). The upper housing portion 922 includes a bore (928) that communicates with the slot (926). As shown, the bore (928) opens into the slot (926) and can be sized and configured to receive the cannula tubing (124). Similarly, the lower housing portion (924) can include a bore or void (not shown) that opens into the slot (926) such that the upper and lower housing portions (922, 924) can collectively receive the cannula tubing (124) therethrough. The bore (928) can extend along a longitudinal axis that is transverse to a length of the housing (916). As shown, the housing (916) is partially removed to expose the biasing feature (918), the slot (926), and the slidable member (920). While the biasing feature (918) is shown as a single coil spring, a variety of suitable biasing features are also contemplated, including the use of multiple biasing features (918) if desired. FIG. 30 As shown, the biasing feature (918) is at least partially disposed within the slot (926) collectively formed by the upper and lower housing portions (922, 924). For example, the biasing feature (918) can be at least partially housed within a recess (942). FIG. 30 and FIG. 31A As shown, the biasing feature (918) is at least partially disposed within the slot (926) collectively formed by the upper and lower housing portions (922, 924). For example, the biasing feature (918) can be at least partially housed within a recess (942).

[0164] The slidable member (920) can be at least partially disposed within the slot (926). The slidable member (920) includes a bore (932) extending therethrough. The slidable member (920) is movably coupled with the biasing feature (918) between a fixed configuration and a movable configuration. In the fixed configuration, the bore (928) of the upper housing portion (922) and the bore (932) of the slidable member (920) are at least partially aligned to limit axial movement of the depth limiter (910) relative to the cannula (912). As shown, the bore (932) of the slidable member (920) can include a gripping surface (934). The gripping surface (934) is shown as having a tapered oblong shape that is configured to accommodate cannulas (120, 912) having different diameters (D1, D2) in the closed configuration and the movable configuration. The tapered oblong interior shape of the bore (932) of the slidable member (920) allows for use with various sizes of cannulas (120, 912) such that the tapered oblong shape allows the biasing feature (918) (e.g., spring) to close over the gripping surface (934) to accommodate cannula tubes (124, 914) of different sizes. In other words, the depth limiter (910) can be coupled with a cannula (120) having a smaller diameter and a cannula (912) having a larger diameter by a squeeze of the user (U). The squeeze of the user (U) can also release the cannula (120, 912) from the depth limiter (910) allowing for quick adjustment or removal. As noted above, the depth limiter (910) can also be used with the cannula tube (22) of the cannula (20), the cannula tube (416) of the cannula (412), or other suitable cannulas having a range of outer diameters.

[0165] As shown, the terminal end of the slidable member (920) includes a user contact portion (936). The side of the housing (916) opposite the slot (926) serves as a user contact portion (938). Thus, the user contact portions (936, 938) are disposed generally opposite one another and are configured to be actuated by the user (U). One or both of the user contact portions (936, 938) can include gripping features configured to enhance the grip of the respective user contact portion (936, 938) and / or allow the user to locate the user contact portions (936, 938) without visualization.

[0166] At least a portion of the aperture (928) of the upper housing portion (922) forms a gripping surface (940). The gripping surfaces (934, 940) are configured to limit axial movement of the depth limiter (910) relative to the cannula (912) at discrete regions. The gripping surfaces (934, 940) can extend parallel to a longitudinal axis defined by the cannula conduit (124) of the cannula (120). As shown, the gripping surfaces (934, 940) can be smooth arcuate surfaces configured to frictionally engage with ribs (not shown) of the cannula conduit (124) of the cannula (120) in the fixed configuration and not frictionally engage with the ribs (128) of the cannula (120) in the movable configuration. Alternatively, although not shown, a non-smooth surface can include one or more features to lockingly engage with the cannula conduit (124). For example, at least one of the gripping surfaces (934, 940) can include at least one engagement feature (e.g., a tooth) configured to lockingly engage with at least one of the ribs (128) of the cannula (120) in the fixed configuration and not lockingly engage with the ribs (128) of the cannula (120) in the movable configuration. The gripping surfaces (934, 940) can nest on an outer surface of the cannula (120) to increase retention. The gripping surfaces (934, 940) form a central aperture configured to extend along the central surgical access device axis (A).

[0167] The depth limiter (910) is movable by the user (U) between a movable configuration, as shown, and a fixed configuration, as shown. FIG. 31A The depth limiter (910) is movable by the user (U) between a movable configuration, as shown, and a fixed configuration, as shown. FIG. 31B In other words, the depth limiter (910) is selectively actuatable from a fixed configuration having a first effective diameter (ED1) to a movable configuration having a second effective diameter (ED2) to disengage the depth limiter (910) from the cannula conduit (124). Additionally, the depth limiter (910) is movable by the user (U) from the movable configuration to the fixed configuration to couple the depth limiter (910) to the cannula conduit (124). Specifically, FIG. 31A A partial top cross-sectional view of the depth limiter (910) coupled with the cannula conduit (124) having a second diameter (D2) shown in cross-section is shown. FIG. 29 A partial top cross-sectional view of the depth limiter (910) coupled with the cannula conduit (124) having a second diameter (D2) shown in cross-section is shown.

[0168] In the movable configuration, the aperture (930) of the upper housing portion (922) and the aperture (932) of the slidable member (920) collectively form a second effective diameter (ED2) that allows axial movement of the depth limiter (910) relative to the cannula (912). In other words, in the movable configuration, FIG. 31AIn the movable configuration, the gripping surfaces (934, 940) together form a second effective diameter (ED2), which allows axial movement of the depth limiter (910) relative to the outer diameter of the cannula (124) of the cannula (120). In other words, the actuation of the user contact portions (936, 938) is configured to cause the biasing features (918, 820) to radially and outwardly bias the gripping surfaces (934, 940) to selectively disengage from the cannula (120) in the movable configuration. As shown, the user contact portions (936, 938) are configured to be actuated by the user (U) using their thumb and forefinger. However, the user (U) may press the user contact portions (936, 938) in other ways (e.g., using one or more fingers and the palm).

[0169] FIG. 31B It shows FIG. 31A A top plan view of the depth limiter (910) and the cannula (124), wherein the cannula (124) is shown in cross-section, but the depth limiter (910) is positioned similarly to... FIG. 30 The fixed configuration. In the fixed configuration, the gripping surfaces (934, 940) together form a first effective diameter (ED1), which limits the axial movement of the depth limiter (910) relative to the cannula (120) by directly contacting the cannula (120). When the biasing feature (918) is in the fixed configuration, the first effective diameter (ED1) defined by the gripping surfaces (934, 940) is smaller than the outer diameter of the cannula (124). The fixed configuration can be considered a static configuration.

[0170] The depth limiter (910) can be reusable or disposable. For example, the depth limiter (910) can be injection molded for inexpensive disposable models. For example, the depth limiter (910) can be formed from a polymer material (e.g., plastic). Alternatively, the depth limiter (910) can be metal injection molded for reusable models. The depth limiter (910) can be sterilized using an autoclave, allowing steam to enter the depth limiter (910) for sterilization or by completely sealing the depth limiter (910). Additionally, in some types, the depth limiter (910) can be modified for more efficient stamping, machining, and welding processes. In some types, the depth limiter (910) can be formed entirely of metal. The depth limiter (910) can be made of four parts, shown as a bias feature (918) and a sliding member (920), an upper housing portion (922), and a lower housing portion (924).

[0171] I. Ninth Exemplary Depth Limiter

[0172] FIG. 32A perspective view of a ninth example depth limiter (1010) is shown. The depth limiter (1010) includes a hub (1012) and a plurality of legs (1014). The depth limiter (1010) can be used in conjunction with the depth limiters (210, 310, 410, 510, 610, 710, 810, 910) described above. While the hub (1012) is shown as generally square, other shaped hubs (1012) are also contemplated. While the hub (1012) is shown as having a single leg (1014) extending from each side, other configurations are also contemplated. FIGS. 32-33B Referring to FIG. 1 the cannula tube (22) of the trocar (10) described above, the depth limiter (1010) can also be used with the cannula tubes (124, 416, 616) of the cannulas (120, 412, 612). As shown, the hub (1012) includes a bore (1016) extending completely therethrough. The bore (1016) can include a gripping surface (1018). The gripping surface (1018) can extend parallel to a longitudinal axis defined by the cannula tube (22) of the cannula (20). The gripping surface (1018) can be smooth or non-smooth. As shown, the gripping surface (1018) includes a smooth surface that can frictionally engage with a portion of the cannula (20), such as the ribs (26). Alternatively, the gripping surface (1018) can include a non-smooth surface that can include one or more features to lockingly engage with the cannula tube (22). In other words, the depth limiter (1010) can be secured to the cannula (20) using mating threads (like a nut), or to a scalloped cannula using an appropriate amount of interference fit. Such threads of the depth limiter (1010) can be helical or non-helical (e.g., scalloped). For example, the gripping surface (1018) can include at least one tooth configured to lockingly engage with at least one of the ribs (26) of the cannula (20). FIG. 32

[0173] The legs (1014) can have a generally constant cross-sectional area moving radially away from the hub (1012); however, the legs (1014) can have a non-uniform cross-section. For example, one or more ends of the legs (1014) can include a cupped portion (1020) to distribute downward force. As shown, the legs (1014) are separated by approximately 90 degrees. More or fewer legs (1014) are also contemplated.

[0174] ​A depth limiter (1010) provides additional stability to the cannula (10) against tilting. The depth limiter (1010) may be configured to use legs (1014) to limit sudden tilting, thereby stabilizing the cannula (20). The depth limiter (1010) is configured to prevent accidental over-insertion while also limiting the displacement and / or velocity of the cannula (10) to stabilize the cannula (10, 110). This stabilization may be achieved using the mechanical spring effect of each leg (1014). The legs (1014) may have reduced mass, allowing the legs (1014) to flex outward, resulting in a variable spring resistance in each direction in which the cannula (10) attempts to tilt. For example, the legs (1014) may have a reduced mass portion (e.g., a movable hinge portion) and / or may rely on the inherent spring force of the legs (1014). The leg (1014) may contact the patient’s body wall to prevent or at least slow the tilting of the cannula (20).

[0175] FIGS. 33A-33B The depth limiter (1010) is shown; however, FIGS. 33A-33B The teaching content can also be applied to the depth limiters (1110, 1210) described in detail below. FIG. 33A It shows the relationship with FIG. 1 The cannula needle (10) is connected to the cannula assembly (12) and the cannula tube (22). FIG. 32 A partial side sectional view of the depth limiter (1010), wherein the leg (1014) of the depth limiter (1010) is in a non-deployed configuration when the distal end of the cannula (10) is received within the abdominal cavity (1). FIG. 33A In the non-deployed configuration (e.g., the stationary configuration), the legs (1014) can bend downwards. As the depth limiter (1010) is pushed against the abdominal wall (2), the legs (1014) bend flatter, providing a reaction force against the abdominal wall (2) and the cannula (20). The degree to which the legs (1014) bend flatter can be controlled by the user. For example, an additional force (e.g., downward hand pressure from the user) may cause the legs (1014) to bend flatter until the depth limiter (1010) is positioned close to the abdominal wall (2). As the flatness of the legs (1014) increases, the amount of reaction force on the cannula (20) may also increase, which increases the locking force. For example, the legs (1014) may have a degree of deployment when the user has pressed the depth limiter (1010) into a partially (but not fully) deployed configuration. Additionally, if the user subsequently applies an off-axis load, one or more of the legs (1014) may press further than the other legs (1014), but when the off-axis load is removed, the legs (1014) can balance and return to their original centered position in a controlled manner.

[0176] FIG. 33Bshown coupled to the cannula tube (22) of the trocar assembly (12) of the trocar (10) of FIG. 1 after the obturator (16) has been detached and removed FIG. 1 FIG. 32

[0177] J. Tenth Exemplary Depth Limiter

[0178] FIG. 34 FIGS. 33A-33B

[0179] K. Eleventh Exemplary Depth Limiter

[0180] FIG. 35 ​​​​An eleventh exemplary depth limiter (1210) similar to depth limiters (1010, 1110) is shown. The depth limiter (1210) includes a hub (1212) similar to a hub (1012), legs (1214) similar to legs (1014), holes (1216) similar to holes (1016), and gripping surfaces (1218) similar to gripping surfaces (1018). The legs (1114) may include cup-shaped portions (1220) similar to cup-shaped portions (1020). Unlike the depth limiter (1010) shown as including four legs (1014), the depth limiter (1210) includes three legs (1214). For example, the legs (1214) may be evenly spaced approximately 120 degrees circumferentially around the hub (1212). However, the legs (1214) may be unevenly spaced. In some cases, using three or four legs (1014, 1214, 1314, 1414) allows for further stability and ergonomics to allow the user's (U) fingers to grasp. The legs (1214) can be similar to those referenced above. FIGS. 33A-33B The legs (1014) are bent as shown.

[0181] L. Twelfth Exemplary Depth Limiter

[0182] FIGS. 36-38B A twelfth exemplary depth limiter (1310) is shown. Specifically, FIG. 36 A perspective view of the depth limiter (1310) is shown. As shown, the depth limiter (1310) includes a hub (1312) and a plurality of legs (1314) extending from the hub (1312). The depth limiter (1310) can be used in conjunction with any or more of the depth limiters (210, 310, 410, 510, 610, 710, 810, 910) described above. Although the hub (1312) is shown as generally cylindrical, other shapes of hubs (1312) are also conceivable. As shown, the hub (1312) includes a bore 1316 and a plurality of recesses 1318. The recesses (1318) allow the depth limiter (1310) to be converted from a movable configuration to a fixed configuration.

[0183] The aperture (1316) includes a gripping surface (1320) configured to engage with the outer surface of the cannula (124) in a fixed configuration. The gripping surface (1320) may extend parallel to the longitudinal axis defined by the cannula (124) of the cannula (120). The gripping surface (1320) may be smooth or non-smooth. FIG. 36As shown, the gripping surface (1320) can comprise a smooth surface that frictionally engages with the ribs (128) of the cannula (120) in the fixed configuration. Alternatively, the gripping surface (1320) can comprise a non-smooth surface that can include one or more features to lockingly engage with the cannula tube (124). The hub (1312) of the depth limiter (1310) can be secured to the cannula (120) using mating threads (e.g., a nut) or can be secured to the scalloped cannula using an interference fit. The threads can be helical or non-helical (e.g., scalloped). For example, the gripping surface (1320) can comprise at least one tooth configured to lockingly engage with at least one of the ribs (128) of the cannula (120). For example, a notch (1318) can be formed in the hub (1312) of the depth limiter (1310) such that when sufficient force is applied to each leg (1314), the leg (1314) can selectively collapse causing the gripping surface (1320) to more tightly grip the cannula (120). Thus, the depth limiter (1310) can limit the insertion depth of the cannula tube (124) of the cannula (120) and provide stability control of the cannula tube (124) of the cannula (120).

[0184] The legs (1314) can have a generally tapered cross-section that moves radially away from the hub (1312). For example, one or more ends of the legs (1314) can include a distal end pad (1322) to distribute downward force. As shown, the legs (1314) are separated by approximately 90 degrees. The legs (1314) can be unevenly separated. Additionally, more or fewer legs (1314) (similar to the legs associated with the depth limiters (1110, 1210) shown in FIGS. 1 1 A- 12B) are also contemplated. FIGS. 34-35 The depth limiter (1310) can provide additional stability to the trocar (110) against tilting. The depth limiter (1310) can be configured to limit sudden tilting using the legs (1314), thereby stabilizing the cannula (120). The legs (1314) can contact the body wall to prevent or at least slow the tilting of the cannula (120). Although FIGS. 37A-38B The depth limiter (1310) is described with reference to the cannula tube (124) of the trocar (110), but the cannula tube (22, 416, 616) of the cannula (20, 412, 612) can also be used.

[0185] FIG. 37A and FIG. 38A The depth limiter (1310) is shown in the movable configuration. Specifically, FIG. 37A The depth limiter (1310) is shown coupled to the cannula tube (124) of the cannula assembly (112) of FIG. 5 FIG. 36 ​Top plan view of the depth limiter (1310), wherein the hub (1312) of the depth limiter (1310) is in a movable configuration. FIG. 38A It shows the relationship with FIG. 5 The cannulation assembly (112) is connected to the cannulation conduit (124). FIG. 36 A partial side sectional view of the depth limiter (1310), wherein the legs (1314) of the depth limiter (1310) are in a movable configuration. FIG. 37A and FIG. 38A In the movable configuration, the gripping surface (1320) forms a second effective diameter (ED2), which allows axial movement of the depth limiter (1310) relative to the outer diameter of the cannula (124) of the cannula (112). In the movable configuration, which is also considered a stationary configuration, the legs (1314) bend downwards. Once pushed against the abdominal wall (2), the legs (1314) bend more flat and provide reaction forces against the abdominal wall (2) and the cannula (120).

[0186] FIG. 37B and FIG. 38B A depth limiter (1310) in a fixed configuration is shown. Specifically, FIG. 37B The diagram shows the interaction after the tampon (116) is separated and removed. FIG. 5 The cannulation assembly (112) is connected to the cannulation conduit (124). FIG. 36 A partial side sectional view of the depth limiter (1310), wherein the leg (1314) of the depth limiter (1310) is in a fixed configuration. FIG. 38B The diagram shows the interaction after the tampon (116) is separated and removed. FIG. 5 The cannulation assembly (112) is connected to the cannulation conduit (124). FIG. 36 A partial side cross-sectional view of the depth limiter (1310), wherein the legs (1314) of the depth limiter (1310) are in a fixed configuration. In the fixed configuration, the notch (1318) can be forced closed to narrow the orifice (1316). The legs (1314) reduce the amount of rotational displacement / tilting that the cannula (110) may exhibit, and also reduce the speed at which the cannula (110) may tilt (i.e., prevent sudden movement within the body). In the fixed configuration, the gripping surfaces (1320) together form a first effective diameter (ED1) that limits the axial movement of the depth limiter (1310) relative to the cannula (120) by direct contact with the cannula (120). The depth limiter (1310) can be disposable or reusable.

[0187] M. Thirteenth Exemplary Depth Limiter

[0188] FIG. 39A top cross-sectional view of a thirteenth example depth limiter (1410) is shown. The depth limiter (1410) includes a hub (1412) and a plurality of legs (1414) extending from the hub (1412). The depth limiter (1410) can be used in conjunction with any one or more of the depth limiters (210, 310, 410, 510, 610, 710, 810, 910) described above. In some versions, the hub (1412) can be generally cylindrical. As shown, the hub (1412) includes a bore (1416) configured to receive a cannula conduit (124) of a cannula (120). As shown, the legs (1414) can be separated by approximately 90 degrees. However, the legs (1414) can be unevenly separated. Additionally, more or fewer legs (1414) are also contemplated, similar to the depth limiters (1110, 1210) shown in FIGS. 11 and 12. FIGS. 34-35

[0189] The depth limiter (1410) includes a fluid chamber (1418) that can be disposed within the hub (1412) and the legs (1414). For example, the fluid chamber (1418) can be completely enclosed by the hub (1412) and the legs (1414). The fluid chamber can include a plurality of fluid passages (1420) including a constriction (1422). The constriction (1422) can be generally disposed between the hub (1412) and the legs (1414). The constriction (1422) regulates flow between the hub (1412) and the legs (1414). In other words, the fluid chamber (1418) can be integrated into the legs (1414) with the constrictions (1422) forming restricted flow areas at the base of each leg (1414). As shown, one or more ends of the legs (1414) can include an extension (1424) configured to extend from a compressed configuration (C) to an expanded configuration (E). The depth limiter (1410) can provide additional stability to the trocar (110) against tilting. As additional tilting forces act on each individual leg (1414), fluid can be redistributed to other legs (1414), but the fluid can be limited by these restricted areas (1422) creating a dampening effect on the tilting of the trocar (110). This dampening effect can regulate the speed of the tilting of the trocar (110). Thus, the depth limiter (1410) can limit sudden tilting of the trocar (110) via restricted fluid flow between the legs (1414) to stabilize the cannula (120).

[0190] ​The orifice (1416) includes a gripping surface (1426) that can engage with the outer surface of the cannula (124) of the cannula (120). The gripping surface (1426) may extend parallel to the longitudinal axis defined by the cannula (124) of the cannula (120). The gripping surface (1426) may be smooth or non-smooth. FIG. 39 As shown, the gripping surface (1426) may include a smooth surface that frictionally engages with the ribs (128) of the cannula (120). Alternatively, the gripping surface (1426) may include a non-smooth surface that may include one or more features for locking engagement with the cannula conduit (124). For example, the hub (1412) of the depth limiter (1410) may be secured to the cannula (120) or to a fan-shaped cannula using a mating thread (such as a nut). The thread may be helical or non-helical (e.g., fan-shaped). For example, the gripping surface (1426) may include at least one tooth configured to lockably engage with at least one rib (128) of the cannula (120). The depth limiter (1410) may be disposable.

[0191] N. Exemplary Methods

[0192] A method for inserting a surgical access device (e.g., cannula 10, 110) through the patient’s body wall (e.g., abdominal wall (2)) is also described. The cannula (10, 110) includes a cannula (20, 120, 412, 612, 912), a tampon (16, 116) and one or more depth limiters (210, 310, 410, 510, 610, 710, 810, 910, 1010, 1110, 1210, 1310, 1410).

[0193] The method includes connecting the depth limiter (210,310,410,510,610,710,810,910,1010,1110,1210,1310,1410) to the cannula (20,120,412,612) via cannula (22,124,416,616). This connection can be achieved by the user (U) actuating the user contact portion (224,232,320,322,434,436,534,536,622,624,714,716,814,816,936,938), which causes the elastic portion including the gripping surface (256,258,370,374,458,462,558,562,654,656,738,746,840,842,934,940,1018,1118,1218,1320,1426) to move from a fixed configuration to a movable configuration.

[0194] In the fixed configuration, the gripping surfaces (256, 258, 370, 374, 458, 462, 558, 562, 654, 656, 738, 746, 840, 842, 934, 940, 1320) collectively form a first effective diameter (ED1) that restricts axial movement of the depth limiter (210, 310, 410, 510, 610, 710, 810, 910, 1310) relative to the cannula (20, 120, 412, 612) by directly contacting the cannula (20, 120, 412, 612). In the movable configuration, the gripping surfaces (256, 258, 370, 374, 458, 462, 558, 562, 654, 656, 738, 746, 840, 842, 934, 940, 1320) collectively form a second effective diameter (ED2) that allows axial movement of the depth limiter (210, 310, 410, 510, 610, 710, 810, 910, 1310) relative to the cannula (20, 120, 412, 612, 912).

[0195] The method further includes inserting at least a portion of a cannula tube (22, 124, 416, 616, 914) of the cannula (20, 120, 412, 612, 912) into a patient. Once the cannula (20, 120, 412) is in the body, the depth limiter (210, 310, 410, 510, 610, 710, 810, 910, 1010, 1110, 1210, 1310, 1410) is movable along the cannula (20, 120, 412) by the user again actuating the user contact portion (224, 232, 320, 322, 434, 436, 534, 536, 622, 624, 714, 716, 814, 816, 936, 938), which causes the resilient portion including the gripping surfaces (256, 258, 370, 374, 458, 462, 558, 562, 654, 656, 738, 746, 840, 842, 934, 940, 1018, 1118, 1218, 1320, 1426) to move from the fixed configuration to the movable configuration.

[0196] III. Exemplary Combinations

[0197] The following embodiments relate to various non-exhaustive ways in which the teachings herein can be combined or applied. It should be understood that the following embodiments are not intended to limit the coverage of any claims that can be presented at any time by any party related to this patent application or its successors. No disclaimer is intended. The following embodiments are provided only as examples of how the various teachings herein can be combined and applied. It is contemplated that various teachings herein can be combined and applied in a number of ways. It is also contemplated that some embodiments can omit certain features referred to in the following embodiments. Accordingly, no inference should be drawn that any claim that includes additional conceptual features is not combinable with any other claim that does not include the additional conceptual features. Further, no inference should be drawn that any claim that includes a conceptual feature is a disposable claim or that it is grouped with any other claim containing the same conceptual feature for purposes of patentability.

[0198] Example 1

[0199] A depth limiter configured to couple with a cannula of a surgical access device, the depth limiter comprising: (a) first and second user contact portions configured to be actuated by a user; (b) a first biasing feature comprising: (i) a first resilient portion, and (ii) a first gripping surface, wherein the first gripping surface is movably coupled with the first resilient portion, wherein the first resilient portion is configured to move the first gripping surface from a fixed configuration to a movable configuration upon the first user contact portion being actuated by the user; and (c) a second biasing feature comprising: (i) a second resilient portion, and (ii) a second gripping surface, wherein the second gripping surface is movably coupled with the second resilient portion, wherein the second resilient portion is configured to move the second gripping surface from the fixed configuration to the movable configuration upon the second user contact portion being actuated by the user, wherein in the fixed configuration, the first and second gripping surfaces collectively form a first effective diameter configured to limit axial movement of the depth limiter relative to the cannula by directly contacting the cannula, and wherein in the movable configuration, the first and second gripping surfaces extend parallel to a longitudinal axis defined by the cannula and collectively form a second effective diameter configured to allow axial movement of the depth limiter relative to the cannula.

[0200] Example 2

[0201] The depth limiter according to any of the preceding embodiments, wherein the first resilient portion is attached to the first gripping surface, wherein the second resilient portion is attached to the second gripping surface.

[0202] Example 3

[0203] The depth limiter according to any of the preceding embodiments, wherein the first resilient portion is integrally formed as a unitary piece with the first gripping surface, wherein the second resilient portion is integrally formed as a unitary piece with the second gripping surface.

[0204] Example 4

[0205] The depth limiter according to any of the preceding embodiments, wherein the first gripping surface is radially offset from the first user contact portion by about 90 degrees, wherein the second gripping surface is radially offset from the second user contact portion by about 90 degrees.

[0206] Example 5

[0207] The depth limiter according to any of the preceding embodiments, wherein the first gripping surface and the second gripping surface do not completely surround the cannula in the fixed configuration or the movable configuration.

[0208] Example 6

[0209] The depth limiter according to any of the preceding embodiments, wherein the first gripping surface is configured to contact the cannula at a first discrete region, wherein the second gripping surface is configured to contact the cannula at a second discrete region spaced apart from the first discrete region.

[0210] Example 7

[0211] The depth limiter according to any of the preceding embodiments, wherein the first gripping surface and the second gripping surface are circumferentially opposite each other and configured to directly contact circumferentially opposite sides of the cannula in the fixed configuration.

[0212] Example 8

[0213] The depth limiter according to any of the preceding embodiments, wherein the first gripping surface and the second gripping surface are spaced apart from each other in both the fixed configuration and the movable configuration.

[0214] Example 9

[0215] The depth limiter of any of the preceding embodiments, wherein the cannula comprises a plurality of tissue gripping features, wherein at least one of the first gripping surface and the second gripping surface comprises a smooth surface configured to frictionally engage with the tissue gripping features of the cannula in the fixed configuration and not to frictionally engage with the tissue gripping features of the cannula in the movable configuration.

[0216] Example 10

[0217] The depth limiter of any one or more of embodiments 1-8, wherein the cannula comprises a plurality of tissue gripping features, wherein at least one of the first gripping surface and the second gripping surface comprises at least one engagement feature configured to lockingly engage with at least one of the tissue gripping features of the cannula in the fixed configuration and not to lockingly engage with the tissue gripping features of the cannula in the movable configuration.

[0218] Example 11

[0219] The depth limiter of any one or more of embodiments 1-8, wherein the cannula comprises a plurality of tissue gripping features, wherein at least one of the first gripping surface and the second gripping surface comprises a plurality of engagement features configured to lockingly engage with the tissue gripping features of the cannula in the fixed configuration and not to lockingly engage with the tissue gripping features of the cannula in the movable configuration.

[0220] Example 12

[0221] The depth limiter of any of the preceding embodiments, wherein the first resilient portion comprises a first biasing arm and a second biasing arm disposed opposite each other, wherein the second resilient portion comprises a first biasing arm and a second biasing arm disposed opposite each other.

[0222] Example 13

[0223] The depth limiter of any of the preceding embodiments, wherein the first user contact portion and the second user contact portion are circumferentially disposed opposite each other.

[0224] Example 14

[0225] The depth limiter of any of the preceding embodiments, wherein the depth limiter is integrally formed together as a unitary piece.

[0226] Example 15

[0227] The depth limiter according to any of the preceding embodiments, further comprising a housing that surrounds the at least one biasing feature while exposing the first and second user contact portions.

[0228] Example 16

[0229] A depth limiter configured to couple with a cannula of a surgical access device, the depth limiter comprising: (a) a housing comprising: (i) a slot, and (ii) a bore extending through the housing, wherein the bore is in communication with the slot, wherein the bore extends along a longitudinal axis; (b) a biasing feature disposed at least partially within the slot; and (c) a slidable member disposed at least partially within the slot, wherein the slidable member comprises a bore extending therethrough, wherein the slidable member is movably coupled with the biasing feature between a fixed configuration and a movable configuration, wherein in the fixed configuration, the bore of the housing and the slidable member are at least partially aligned to collectively form a first effective diameter such that the slidable member and the housing are configured to limit axial movement of the depth limiter relative to the cannula, wherein in the movable configuration, the bore of the housing and the slidable member collectively form a second effective diameter such that the slidable member and the housing are configured to allow axial movement of the depth limiter relative to the cannula.

[0230] Example 17

[0231] The depth limiter according to embodiment 16, wherein the bore of the slidable member has an oblong shape configured to accommodate cannulas having different diameters in both the fixed configuration and the movable configuration.

[0232] Example 18

[0233] A surgical access device assembly comprising: (a) a cannula, wherein the cannula comprises a working channel configured to guide a surgical instrument along a central axis of the cannula; and (b) a depth limiter comprising: (i) first and second user contact portions configured to be actuated by a user; (ii) a first biasing feature comprising: (A) a first resilient portion, and (B) a first gripping surface, wherein the first gripping surface is movably coupled with the first resilient portion, wherein the first resilient portion is configured to move the first gripping surface from a fixed configuration to a movable configuration upon the first user contact portion being actuated by the user; and (iii) a second biasing feature comprising: (A) a second resilient portion, and (B) a second gripping surface, wherein the second gripping surface is movably coupled with the second resilient portion, wherein the second resilient portion is configured to move the second gripping surface from the fixed configuration to the movable configuration upon the second user contact portion being actuated by the user, wherein in the fixed configuration, the first and second gripping surfaces collectively form a first effective diameter configured to limit axial movement of the depth limiter relative to the cannula by directly contacting the cannula, and wherein in the movable configuration, the first and second gripping surfaces extend parallel to a longitudinal axis defined by the cannula and collectively form a second effective diameter configured to allow axial movement of the depth limiter relative to the cannula.

[0234] Example 19

[0235] The surgical access device assembly of claim 18, wherein the resilient portion is integrally formed with the first and second gripping surfaces as a unitary piece.

[0236] Example 20

[0237] The surgical access device assembly of any one or more of claims 18-19, further comprising an obturator, wherein the obturator is configured to be removably coupled with the cannula along the central axis to facilitate insertion of the surgical access device through a body wall of the patient.

[0238] IV. Miscellaneous

[0239] It should be understood that any one or more of the teachings, expressions, embodiments, examples, etc. described herein can be combined with any one or more of the other teachings, expressions, embodiments, examples, etc. described herein. The above-described teachings, expressions, embodiments, examples, etc. should therefore not be viewed in isolation relative to each other. Various suitable methods, features, components, and / or functions described herein can be employed in conjunction with each other, without necessarily being out of context. Such modifications and variations are intended to be included within the scope of the claims.

[0240] Furthermore, any one or more of the teachings of this document can be combined with any one or more of the teachings of the following patent applications: U.S. Patent Application entitled "Multi-Diameter Cannula Depth" [Attorney Docket No. END9247USNP2], filed on even date herewith; U.S. Patent Application entitled "Pinch-To-Clamp Cannula Depth Limiter" [Attorney Docket No. END9247USNP3], filed on even date herewith; U.S. Patent Application entitled "Universal Size Multi-Walled Elastomer Cannula Depth Limiter" [Attorney Docket No. END9247USNP4], filed on even date herewith; U.S. Patent Application entitled "Threaded Cannula Depth Limiter" [Attorney Docket No. END9247USNP5], filed on even date herewith; U.S. Patent Application entitled "Tilting Tang Cannula Depth Limiter" [Attorney Docket No. END9247USNP6], filed on even date herewith; U.S. Patent Application entitled "Two Piece Separable Obturator" [Attorney Docket No. END9247USNP7], filed on even date herewith; U.S. Patent Application entitled "Latchless Obturator with Interference Fit Feature" [Attorney Docket No. END9247USNP8], filed on even date herewith; U.S. Patent Application entitled "Balancing Feature for Reusable Trocar" [Attorney Docket No. END9247USNP9], filed on even date herewith; U.S. Patent Application entitled "Airflow Channels and Patterns in Lumen for Cannula" [Attorney Docket No. END9247USNP10], filed on even date herewith; and / or U.S. Patent Application entitled "Stabilizer for Surgical Shafts or Cannulas" [Attorney Docket No. END9247USNP11], filed on even date herewith. The disclosure of each of these patent applications is hereby incorporated by reference herein.

[0241] It should be understood that any patents, patent publications, or other publications referred to herein are incorporated by reference in their entirety only to the extent that the incorporated material is not inconsistent with existing definitions, statements, or other disclosure material set forth in the present disclosure. Thus, and to the extent necessary, the disclosure herein expressly incorporates by reference the entire text of all patent, patent publication, and other disclosure materials cited herein. Any material, or portion thereof, that is said to be incorporated by reference herein, but which contradicts the present disclosure, including definitions, is only incorporated to the extent that the material is not contradictory.

[0242] Versions of the devices described above can have application in conventional medical treatments and procedures conducted by a medical professional, as well as application in robotic-assisted medical treatments and procedures. By way of example only, various teachings herein can be readily incorporated into a robotic surgical system such as the DAVINCI® system by Intuitive Surgical, Inc., of Sunnyvale, California. TMSystem. Similarly, those of ordinary skill in the art will recognize that the various teachings herein can be readily incorporated into any of the various teachings of the following patents: U.S. Patent 5,792,135, entitled "Articulated Surgical Instrument For Performing Minimally Invasive Surgery With Enhanced Dexterity and Sensitivity," issued August 11, 1998, the disclosure of which is incorporated by reference herein; U.S. Patent 8,783,541, entitled "Robotically-Controlled Surgical End Effector System," issued July 22, 2014, the disclosure of which is incorporated by reference herein; U.S. Patent 8,479,969, entitled "Drive Interface for Operably Coupling a Manipulatable Surgical Tool to a Robot," issued July 9, 2013; U.S. Patent 8,800,838, entitled "Robotically-Controlled Cable-Based Surgical End Effectors," issued August 12, 2014, the disclosures of which are incorporated by reference herein; and / or U.S. Patent 8,573,465, entitled "Robotically-Controlled Surgical End Effector System with Rotary Actuated Closure Systems," issued November 5, 2013, the disclosure of which is incorporated by reference herein.

[0243] Devices of the foregoing variety can be designed to be disposed of after a single use, or they can be designed to be used multiple times. Devices may, in either case or in both cases, be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning and / or replacement of particular pieces, and subsequent reassembly. In particular, some versions of the device can be disassembled, and certain identified pieces can be selectively replaced or removed in any combination. Upon cleaning and / or replacement of particular pieces, some versions of the device can be reassembled for subsequent use either at a reconditioning facility, or by a user immediately prior to a procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

[0244] By way of example only, the versions described herein can be sterilized prior to and / or following a procedure. In one sterilization technique, the device is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and device can then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation can kill bacteria on the device and in the container. The sterilized device can then be stored in the sterile container for later use. A device can also be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, or steam.

[0245] Having shown and described various embodiments of the present application, further adaptations and modifications can be made by those of ordinary skill in the art without departing from the scope of the application. Several of such possible modifications have already been mentioned, and others will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. For example, the embodiments, implementations, geometries, materials, dimensions, ratios, steps, and the like discussed above are illustrative and not necessary. Accordingly, the specification and figures are to be regarded in an illustrative manner and the scope of the application is to be measured only by reference to the following claims.

Claims

1. A depth limiter configured to couple with a cannula of a surgical access device, the depth limiter comprising: (a) first and second user contact portions configured to be actuated by a user; (b) a first biasing feature comprising: (i) a first resilient portion, and (ii) a first gripping surface, wherein the first gripping surface is radially offset 180 degrees from the first user contact portion, wherein the first gripping surface is movably coupled with the first resilient portion, wherein the first resilient portion is configured to move the first gripping surface from a fixed configuration to a movable configuration upon actuation of the first user contact portion by the user; and (c) a second biasing feature comprising: (i) a second resilient portion, and (ii) a second gripping surface, wherein the second gripping surface is movably coupled with the second resilient portion, wherein the second resilient portion is configured to move the second gripping surface from the fixed configuration to the movable configuration upon actuation of the second user contact portion by the user, wherein in the fixed configuration, the first and second gripping surfaces collectively form a first effective diameter configured to limit axial movement of the depth limiter relative to the cannula by directly contacting the cannula, and wherein in the movable configuration, the first and second gripping surfaces extend parallel to a longitudinal axis defined by the cannula and collectively form a second effective diameter configured to allow axial movement of the depth limiter relative to the cannula.

2. The depth limiter of claim 1, wherein, The first resilient portion is attached to the first gripping surface, wherein the second resilient portion is attached to the second gripping surface.

3. The depth limiter of claim 1, wherein, The first resilient portion is integrally formed with the first gripping surface as a unitary piece, wherein the second resilient portion is integrally formed with the second gripping surface as a unitary piece.

4. The depth limiter of claim 1, wherein, The first gripping surface is radially offset approximately 90 degrees from the first user contact portion, wherein the second gripping surface is radially offset approximately 90 degrees from the second user contact portion.

5. The depth limiter of claim 1, wherein, In the fixed configuration or the movable configuration, the first and second gripping surfaces do not completely surround the cannula.

6. The depth limiter of claim 1, wherein, The first gripping surface is configured to contact the cannula at a first discrete region, wherein the second gripping surface is configured to contact the cannula at a second discrete region spaced apart from the first discrete region.

7. The depth limiter of claim 6, wherein, The first and second gripping surfaces are disposed opposite one another along a circumference and are configured to directly contact circumferentially opposite sides of the cannula in the fixed configuration.

8. The depth limiter of claim 1, wherein, The first and second gripping surfaces are spaced apart from one another in both the fixed configuration and the movable configuration.

9. The depth limiter of claim 1, wherein, The cannula includes a plurality of tissue grasping features, wherein at least one of the first grasping surface and the second grasping surface includes a smooth surface configured to frictionally engage with the tissue grasping features of the cannula in the fixed configuration and not to frictionally engage with the tissue grasping features of the cannula in the movable configuration.

10. The depth limiter of claim 1, wherein, The cannula includes a plurality of tissue grasping features, wherein at least one of the first grasping surface and the second grasping surface includes at least one engagement feature configured to lockingly engage with at least one of the tissue grasping features of the cannula in the fixed configuration and not to lockingly engage with the tissue grasping features of the cannula in the movable configuration.

11. The depth limiter of claim 1, wherein, The cannula includes a plurality of tissue grasping features, wherein at least one of the first grasping surface and the second grasping surface includes a plurality of engagement features configured to lockingly engage with the tissue grasping features of the cannula in the fixed configuration and not to lockingly engage with the tissue grasping features of the cannula in the movable configuration.

12. The depth limiter of claim 1, wherein, The first resilient portion includes a first biasing arm and a second biasing arm disposed opposite one another, wherein the second resilient portion includes a first biasing arm and a second biasing arm disposed opposite one another.

13. The depth limiter of claim 1, wherein, The first user contact portion and the second user contact portion are disposed opposite one another in a circumferential direction.

14. The depth limiter of claim 1, wherein, The depth limiter is integrally formed as a one-piece.

15. The depth limiter of claim 1, further comprising a housing surrounding the first resilient portion and the second resilient portion while exposing the first user contact portion and the second user contact portion.

16. A depth limiter configured to couple with a cannula of a surgical access device, the depth limiter comprising: (a) a housing comprising: (i) a slot, and (ii) a bore extending through the housing, wherein the bore is in communication with the slot, wherein the bore extends along a longitudinal axis; (b) a biasing feature disposed at least partially within the slot; and (c) a slidable member disposed at least partially within the slot, wherein the slidable member includes a bore extending therethrough, wherein the slidable member is movably coupled with the biasing feature between a fixed configuration and a movable configuration, wherein in the fixed configuration, the bore of the slidable member and the housing are at least partially aligned to collectively form a first effective diameter such that the slidable member and the housing are configured to limit axial movement of the depth limiter relative to the cannula, wherein in the movable configuration, the bore of the slidable member and the housing collectively form a second effective diameter such that the slidable member and the housing are configured to allow axial movement of the depth limiter relative to the cannula.

17. The depth limiter of claim 16, wherein, The bore of the slidable member has an oblong shape configured to accommodate cannulas having different diameters in both the fixed configuration and the movable configuration.

18. A surgical access device assembly comprising: (a) a cannula, wherein the cannula includes a proximal hub and a cannula conduit extending distally from the proximal hub, wherein the cannula defines a working channel configured to guide a surgical instrument along a central axis of the cannula; and (b) a depth limiter, the depth limiter comprising: (i) first and second user contact portions configured to be actuated by a user; (ii) a first biasing feature comprising: (A) a first resilient portion, and (B) a first gripping surface, wherein the first gripping surface is movably coupled with the first resilient portion, wherein the first gripping surface is radially offset 180 degrees from the first user contact portion, wherein the first resilient portion is configured to move the first gripping surface from a fixed configuration to a movable configuration upon actuation of the first user contact portion by the user; and (iii) a second biasing feature comprising: (A) a second resilient portion, and (B) a second gripping surface, wherein the second gripping surface is movably coupled with the second resilient portion, wherein the second resilient portion is configured to move the second gripping surface from the fixed configuration to the movable configuration upon actuation of the second user contact portion by the user, wherein in the fixed configuration, the first and second gripping surfaces collectively form a first effective diameter configured to limit axial movement of the depth limiter relative to the cannula conduit by directly contacting the cannula conduit, and wherein in the movable configuration, the first and second gripping surfaces extend parallel to the central axis defined by the cannula and collectively form a second effective diameter configured to allow axial movement of the depth limiter relative to the cannula.

19. The surgical access device assembly of claim 18, wherein, The resilient portion is integrally formed with the first and second gripping surfaces as a unitary piece.

20. The surgical access device assembly of claim 18, further comprising a obturator, wherein the obturator is configured to be removably coupled with the cannula along the central axis to facilitate insertion of the surgical access device through a body wall of a patient.

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