Modular cannula assembly

Abstract

A modular cannula assembly includes a housing, an elongate tubular portion, and a quick-connect assembly. The elongated tubular portion is configured to be selectively connected to the housing. The quick-connect assembly includes a pin disposed on one of the housing or the elongated tubular portion and a J-slot disposed on the other of the housing or the elongated tubular portion. The pin is configured to travel through the J-slot.

Description

Cross-reference to related applications

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 531,616, filed August 9, 2023, the entire contents of which are incorporated herein by reference. Background Technology

[0002] This disclosure relates to cannulation assemblies for use in surgical procedures. More specifically, this disclosure relates to modular cannulation assemblies that include elongated tubular portions capable of selectively engaging a housing.

[0003] Surgical techniques and instruments have been developed that allow surgeons to perform an increasingly wide range of surgical procedures through minimal incisions into a patient's skin and body tissues. Minimally invasive surgery has become widely accepted in many medical specialties and often replaces traditional open surgery. Unlike open surgery, which typically requires relatively large incisions, minimally invasive surgery (such as endoscopy or laparoscopy) is performed through one or more relatively small incisions.

[0004] In laparoscopic and endoscopic surgery, small "keyhole" incisions or punctures are typically made in the patient's body (e.g., in the abdomen) to provide an entry point for surgical access devices, which are inserted into the incision and facilitate the insertion of specialized instruments used to perform the surgery into the internal surgical site. The number of incisions can vary depending on the type of surgery. It is not uncommon for some abdominal surgeries (e.g., gallbladder surgery) to be performed through a single incision. For most patients, minimally invasive approaches result in less postoperative pain, shorter hospital stays, faster recovery, lower rates of wound-related and pulmonary complications, cost savings through reduced postoperative care, and, in some cases, better overall outcomes.

[0005] Minimally invasive surgery can be performed anywhere in the body and typically relies on obtaining access to the internal surgical site through a relatively small path (usually less than one centimeter in diameter). One way to provide this access is by inserting a cannula assembly through the patient's skin. Typically, to place the cannula assembly, the puncture tip of the occluder of the cannula assembly is pushed through the skin and underlying tissue until the distal end of the cannula assembly is within a body cavity. Alternatively, some cannula devices have a blunt occluder tip used for placement of the cannula assembly through, for example, a previously created incision. Once the cannula is properly positioned, the occluder is removed, and the cannula assembly can then serve as a pathway between the surgical site and the patient's external body, through which the surgeon can introduce various surgical instruments needed to perform the desired procedure. Surgical instruments that can be inserted through the cannula assembly include forceps, clamps, scissors, probes, flexible or rigid endoscopes, sutures, and cutting instruments.

[0006] In some surgeries, the walls of the body cavity are bulged by pressurizing the cavity to provide sufficient working space at the surgical site and / or allow a cannula to penetrate the cavity without penetrating any organs within it. The process of inflating the abdominal wall to separate it from the organs surrounding the abdominal cavity is called insufflation. During laparoscopic surgery (endoscopic examination within the abdominal cavity), insufflation can be achieved by introducing insufflation gas (such as carbon dioxide, nitrogen, nitrous oxide, helium, argon, etc.) through a pneumoperitoneum needle or other catheter inserted through the abdominal wall to expand the area around the target surgical site, creating a larger, more accessible working area. The surgeon can then perform surgery within the cavity by manipulating instruments that have been extended through the surgical access device. This manipulation of instruments within the body is limited by both spatial constraints and the need to maintain the cavity in an insufflated state.

[0007] For example, certain surgical procedures or conditions can benefit from modular cannulation assemblies that include interchangeable parts to simplify and reduce product usage. Summary of the Invention

[0008] This disclosure relates to a modular cannulation assembly including a housing, an elongated tubular portion, and a quick-connect assembly. The elongated tubular portion is configured to selectively connect to the housing. The quick-connect assembly includes a pin disposed on one of the housing or the elongated tubular portion and a J-groove disposed on the other of the housing or the elongated tubular portion. The pin is configured to travel from an inlet portion of the J-groove to a final portion of the J-groove to connect the housing and the elongated tubular portion.

[0009] In the disclosed embodiments, the J-shaped groove defines a first arcuate path and a second arcuate path.

[0010] In the disclosed embodiments, the J-shaped groove defines a first linear path, a second linear path, and a third linear path.

[0011] In the disclosed embodiments, the J-groove and the pin are configured such that during the connection of the elongated tubular portion and the housing, the pin moves proximally relative to a first portion of the J-groove and distally relative to a second portion of the J-groove.

[0012] In the disclosed embodiments, a pin is disposed on the proximal portion of the elongated tubular portion, and a J-shaped groove is disposed on the collar of the housing.

[0013] In the disclosed embodiments, the quick-connect assembly includes a second slot. A pin is configured to engage the second slot. In another embodiment, the quick-connect assembly includes a second pin. The second pin is configured to engage the J-slot and the second slot one at a time.

[0014] In the disclosed embodiments, the modular cannulation assembly includes an O-ring that can be positioned within a housing. In one embodiment, the O-ring provides a fluid seal between the housing and the elongated tubular portion when the elongated tubular portion is attached to the housing. In another embodiment, the O-ring is positioned between a shoulder of the housing and a proximal side of the elongated tubular portion when the housing is attached to the elongated tubular portion. In yet another embodiment, the O-ring is positioned between an inner wall of the housing and an outer wall of the elongated tubular portion when the housing is attached to the elongated tubular portion.

[0015] In the disclosed embodiments, the modular cannulation assembly includes a biasing element configured to bias the elongated tubular portion away from the housing. In one embodiment, the biasing element is positioned between a shoulder of the housing and a proximal side of the elongated tubular portion when the housing is attached to the elongated tubular portion.

[0016] In the disclosed embodiments, the modular cannulation assembly includes a biasing element configured to bias the elongated tubular portion away from the housing. The biasing element is positioned between the shoulder of the housing and the proximal side of the elongated tubular portion when the housing is attached to the elongated tubular portion.

[0017] This disclosure also relates to a modular cannulation assembly including a housing, an elongated tubular portion, and a quick-connect assembly. The elongated tubular portion is configured to selectively connect to the housing and define a longitudinal axis. The quick-connect assembly includes a pin disposed on one of the housing or the elongated tubular portion and a slot disposed on the other of the housing or the elongated tubular portion. The slot and the pin are configured such that, during connection between the elongated tubular portion and the housing, the pin travels from an inlet portion of the slot in a first longitudinal direction and in an opposite second longitudinal direction to a final portion of the slot to connect the housing and the elongated tubular portion.

[0018] In the disclosed embodiments, the pin is configured to move laterally through the slot to connect the housing and the elongated tubular portion.

[0019] In the disclosed embodiments, the modular cannulation assembly includes an O-ring positioned between the shoulder of the housing and the proximal side of the elongated tubular portion when the housing is attached to the elongated tubular portion.

[0020] In the disclosed embodiments, the slot is J-shaped.

[0021] This disclosure also relates to a modular cannulation kit including a housing, a first elongated tubular portion, and a second elongated tubular portion. The housing includes a J-shaped groove. The first elongated tubular portion includes a first pin. The first pin is configured to travel through the J-shaped groove of the housing to connect the first elongated tubular portion to the housing. The second elongated tubular portion includes a second pin. The second pin is configured to travel through the J-shaped groove of the housing to connect the second elongated tubular portion to the housing.

[0022] In the disclosed embodiments, the modular cannulation kit includes an O-ring positioned adjacent to the shoulder of the housing. The O-ring is configured to contact the proximal side of the first elongated tubular portion when it is attached to the housing. The O-ring is configured to contact the proximal side of the second elongated tubular portion when it is attached to the housing. Attached Figure Description

[0023] The embodiments of this disclosure are described in detail with reference to the accompanying drawings, wherein the same reference numerals identify similar or identical structural elements, and:

[0024] Figure 1 This is a perspective view of a modular cannulation assembly according to an embodiment of the present disclosure, showing the engagement of the housing of the modular cannulation assembly with the elongated tubular portion of the modular cannulation assembly.

[0025] Figure 2 yes Figure 1 A 3D view of the modular cannulation assembly, showing a portion of the housing removed;

[0026] Figure 3 yes Figure 2 An exploded view of the modular cannulation assembly;

[0027] Figure 4 yes Figure 1 A side view of the modular cannulation assembly, showing the housing disengaged from the elongated tubular portion;

[0028] Figure 5 yes Figure 1 A side view of the modular cannulation assembly, showing the engagement of the housing with the elongated tubular portion;

[0029] Figure 6 It is along Figure 2 A cross-sectional view of the modular cannulation assembly taken from line 6-6 in the figure;

[0030] Figure 7 yes Figure 6 A magnified view of the detailed area indicated in the middle;

[0031] Figure 8A yes Figure 4 A magnified view of the detailed area indicated in the middle shows Figure 1 An embodiment of a slot in the housing of a modular cannulation assembly;

[0032] Figure 8B yes Figure 1 An enlarged view of another embodiment of the slot in the housing of the modular cannulation assembly;

[0033] Figure 9This is an exploded view of a modular cannulation assembly according to another embodiment of this disclosure;

[0034] Figure 10 It is along Figure 2 The line 10-10 is cut off Figure 9 A cross-sectional view of the modular cannulation assembly;

[0035] Figure 11 yes Figure 10 A magnified view of the detailed area indicated in the middle;

[0036] Figure 12 This is a perspective view of a modular cannulation assembly kit according to an embodiment of this disclosure; and

[0037] Figure 13 This is a schematic illustration of a robotic surgical system constructed for use in accordance with this disclosure. Detailed Implementation

[0038] Embodiments of the disclosed modular cannulation assembly are described in detail with reference to the accompanying drawings, in which the same reference numerals denote the same or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of the modular cannulation assembly or its components further away from the user, while the term "proximal" refers to the portion of the modular cannulation assembly or its components closer to the user.

[0039] As will be described in more detail below, this disclosure includes a modular cannulation assembly comprising a housing, an elongated tubular portion, and a quick-connect assembly for facilitating a rapid, robust, and selective connection between the housing and the elongated tubular portion.

[0040] Figures 1 to 12 Embodiments of modular cannulation assemblies according to embodiments of the present disclosure are shown, and these modular cannulation assemblies are generally referred to as modular cannulation assembly 100. Generally, modular cannulation assembly 100 includes a housing 200, an elongated tubular portion 300 selectively engaged or connected to the housing 200, and a quick-connect assembly 400 for facilitating engagement or connection between the housing 200 and the elongated tubular portion 300.

[0041] refer to Figure 1 and Figure 2 The diagram shows the housing 200, the elongated tubular portion 300, and the quick-connect assembly 400 of the modular cannulation assembly 100. Additionally, Figure 1An optional adapter assembly 250 is shown, which engages with the housing 200 to, for example, connect to or receive another surgical instrument. Further, the housing 200 may include at least one seal to prevent the escape of solids, liquids, or gases from the surgical site, for example, when a surgical instrument is within the housing 200 and / or when no surgical instrument is within the housing 200. These seals are omitted from the figures for clarity, but they may be included in the modular cannulation assembly 100.

[0042] Continue to refer to Figure 1 and Figure 2 The housing 200 includes a body portion 210 and a collar 220 disposed distally adjacent to the body portion 210. The elongated tubular portion 300 includes a proximal portion 310 configured to engage the collar 220 of the housing 200, and a distal portion 320 configured for positioning adjacent tissue or for insertion into tissue. Additionally, the elongated tubular portion 300 defines a longitudinal axis “XX” extending therethrough. When the housing 200 engages with the elongated tubular portion 300, a channel 350 is defined therethrough. The channel 350 is configured to receive at least a portion of a surgical instrument.

[0043] Now for reference Figure 2 and Figure 3 The diagram illustrates a quick-connect assembly 400. The quick-connect assembly 400 includes at least one pin 410 and at least one slot 420. (As shown...) Figure 3 As shown, the quick-connect assembly 400 may include more than one pin 410 and more than one slot 420. Further, the quick-connect assembly 400 may include one pin 410 and more than one slot 420. For clarity, at least one pin 410 is referred to herein as pin 410, and at least one slot 420 is referred to herein as slot 420.

[0044] Initially, although the illustrated embodiments show a pin 410 disposed on the proximal portion 310 of the elongated tubular portion 300 and a groove 420 disposed on the collar 220 of the housing 200, this disclosure also includes the pin 410 disposed on the collar 220 of the housing 200 and the groove 420 disposed on the proximal portion 310 of the elongated tubular portion 300 (e.g., a mirror image of the groove shown).

[0045] Overall, the full engagement between pin 410 and slot 420 connects the housing 200 of the modular cannulation assembly 100 to the elongated tubular portion 300. The disengagement between pin 410 and slot 420 allows the housing 200 to be disengaged from the elongated tubular portion 300 and allows different elongated tubular portions (e.g., Figure 12 Any one of the other elongated tubular portions 300a-300d in the shell is connected to the housing 200.

[0046] refer to Figure 4 and Figure 5 This illustrates the two steps involved in the complete engagement of pin 410 and slot 420. Initially, as... Figure 4 As shown, the elongated tubular portion 300 is moved toward the housing 200 in the general direction of arrow "A" (or vice versa) until the pin 410 engages with the groove 420. Next, as... Figure 5 As shown, the elongated tubular portion 300 is rotated relative to the housing 200 about the longitudinal axis "XX" in the general direction of arrow "B" (or vice versa), such that the pin 410 follows the path defined by the groove 420. As indicated by the shape of the groove 420, and as discussed in further detail below, this rotation also includes, generally... Figure 5 The arrow "C" indicates the longitudinal component. In addition, although the arrow "B" indicates a direction of rotation (e.g., counterclockwise), this disclosure also includes the path defined by the slot 420 that requires rotation in the opposite direction (e.g., clockwise) to fully engage the pin 410 with the slot 420.

[0047] Now for reference Figure 3 , Figure 6 and Figure 7 The image shows a seal or O-ring 500. For example, the O-ring 500 may be positioned between the elongated tubular portion 300 and the housing 200 to help prevent blown-in gas from traveling between the elongated tubular portion and the housing. More specifically, in Figure 7 In the illustrated embodiment, the O-ring 500 is positioned adjacent to and in contact with the proximal side 312 of the elongated tubular portion 300 and the shoulder 212 of the housing 200. In this embodiment, the O-ring 500 is adhered to the shoulder 212 of the housing 200 for ease of use.

[0048] The O-ring 500 can be made of any suitable material, such as rubber (including natural and synthetic rubber). Furthermore, the thickness and stiffness of the O-ring 500 can vary based on various details of the modular cannulation assembly 100. For example, in embodiments where the pin 410 travels a relatively large distance distally within the groove 420, the stiffness of the O-ring 500 can be relatively high. Conversely, in embodiments where the pin 410 travels a relatively small distance distally within the groove 420, the stiffness of the O-ring 500 can be relatively low. In the disclosed embodiments, the stiffness of the O-ring 500 is from about 40 Shore A to about 80 Shore A. Additionally, the thickness of the O-ring 500 can be from about 0.04 inches to about 0.10 inches. A specific thickness of the O-ring 500 can depend on the desired amount of compression of the O-ring 500.

[0049] Now for reference Figure 8A and Figure 8B Several embodiments of slot 420 are shown. Figure 8AIn the text, the slot is referred to as slot 420a, and... Figure 8B In this context, the slot is referred to as slot 420b. Firstly, regarding... Figure 8A The groove 420a is J-shaped (including curved or arcuate segments) and defines a path having an inlet or first portion 422a, a second portion 424a, and a final or third portion 426a. When engaged with the pin 410, the pin 410 initially travels from the first portion 422a to the second portion 424a, and then to the third portion 426a. Figure 8A In the path, pin 410 is indicated by reference numeral 410a1 in the first part 422a, pin 410 is indicated by reference numeral 410a2 in the second part 424a, and pin 410 is indicated by reference numeral 410a3 in the third part 426a. When traveling from the first part 422a to the second part 424a, pin 410 moves proximally relative to groove 420a both in the general direction of arrow "Pa" and laterally in the general direction of arrow "La". That is, when pin 410 moves from the first part 422a to the second part 424a, the movement of pin 410 includes a longitudinal motion component relative to groove 420a and a lateral motion component relative to groove 420a.

[0050] Continue to refer to Figure 8A When traveling from the second part 424a of the path to the third part 426a of the path, the pin 410 moves laterally relative to the groove 420a both in the general direction of arrow "La" and distally in the general direction of arrow "Da". That is, when the pin 410 moves from the second part 424a of the path to the third part 426a of the path, the movement of the pin 410 includes a longitudinal motion component relative to the groove 420a and a lateral motion component relative to the groove 420a.

[0051] Now for reference Figure 8B A second embodiment of slot 420b is shown. Slot 420b is also J-shaped (including linear segments) and defines a path having an inlet or first portion 422b, a second portion 424b, and a final or third portion 426b. When engaged with pin 410, pin 410 initially travels from the first portion 422b to the second portion 424b, and then to the third portion 426b. Figure 8BIn the path, pin 410 is indicated by reference numeral 410b1 in the first part 422b, pin 410 is indicated by reference numeral 410b2 in the second part 424b, and pin 410 is indicated by reference numeral 410b3 in the third part 426b. When traveling from the first part 422b to the second part 424b, pin 410 moves proximally relative to groove 420b both in the general direction of arrow "Pb" and laterally in the general direction of arrow "Lb". That is, when pin 410 moves from the first part 422b to the second part 424b, the movement of pin 410 includes a longitudinal motion component relative to groove 420b and a lateral motion component relative to groove 420b.

[0052] Continue to refer to Figure 8B When traveling from the second part 424b of the path to the third part 426b of the path, the pin 410 moves laterally relative to the groove 420b both in the general direction of arrow "Lb" and distally in the general direction of arrow "Db". That is, when the pin 410 moves from the second part 424b of the path to the third part 426b of the path, the movement of the pin 410 includes a longitudinal motion component relative to the groove 420b and a lateral motion component relative to the groove 420b.

[0053] Although two illustrated embodiments of the slot 420 are shown, the slot 420 can define other shapes or paths, such as shapes including arcuate segments of different sizes and radii of curvature, shapes including linear segments of different sizes, or shapes combining arcuate and linear segments. Additionally, slots 420a and / or 420b can be disposed on the collar 220 of the housing 200, or on the proximal portion 310 of the elongated tubular portion 300. In embodiments where slots 420a and 420b are disposed on the collar 220 of the housing 200, a pin 410 is disposed on the proximal portion 310 of the elongated tubular portion 300. In embodiments where slots 420a and 420b are disposed on the proximal portion 310 of the elongated tubular portion 300, a pin 410 is disposed on the collar 220 of the housing 200.

[0054] Now for reference Figures 9 to 11 Another embodiment of the quick-connect assembly 400 is shown. Here, in addition to the pin 410 and slot 420, the quick-connect assembly 400 also includes a biasing element 430. Further, an O-ring 500 is disposed with... Figure 7 The embodiments shown are in different positions. Here, when the housing 200 engages with the elongated tubular portion 300, the biasing element 430 is positioned adjacent to and in contact with the proximal side 312 of the elongated tubular portion 300 and the shoulder 212 of the housing 200. In one embodiment, the biasing element 430 is fixed to the shoulder 212 of the housing 200.

[0055] The biasing element 430 is configured to push the elongated tubular portion 300 away from the shoulder 212 of the housing 200 (i.e., distally in the illustrated embodiment). The biasing element 430 can be a leaf spring, a compression spring, or any suitable biasing element that pushes the elongated tubular portion 300 away from the shoulder 212 of the housing 200. More specifically, the biasing element 430 is configured to push the pin 410 into the third portions 426a, 426b of the path of the slot 420 (e.g., along...). Figure 8A The arrow "Da" or Figure 8B (The direction of the arrow "Db" in the text). Further, the biasing element 430 is configured to hold the pin 410 in the third portion 426a, 426b of the path of the slot 420 to help prevent undesirable disengagement of the elongated tubular portion 300 from the housing 200.

[0056] In embodiments excluding the bias element 430, the O-ring 500 (e.g., its compressibility) can provide force to push the pin 410 into the third portion 426a, 426b of the path of the groove 420.

[0057] Special Reference Figure 11 In this embodiment, the O-ring 500 is shown positioned between the inner wall 222 of the collar 220 of the housing 200 and the outer wall 314 of the elongated tubular portion 300. More specifically, the O-ring 500 is partially positioned (or positionable) in a recess 223 in the inner wall 222 of the collar 220 and partially positioned (or positionable) in a recess 315 (e.g., an elongated recess) in the outer wall 314 of the elongated tubular portion 300. For example, the O-ring 500 helps prevent blown-in gas from traveling between the collar 220 and the elongated tubular portion 300 of the housing 200.

[0058] For example, an elongated recess 315 in the outer wall 314 allows the elongated tubular portion 300 to move longitudinally relative to the O-ring 500 in response to a force provided by the biasing element 430. It is also envisioned that, instead of recess 315, recess 223 may be elongated, or that, in addition to recesses being elongated, recess 223 may be elongated. Furthermore, as used in conjunction with recesses 223 and 315, the term "elongated" means longer than the thickness of the O-ring 500, thereby allowing the O-ring 500 to move within the elongated recess.

[0059] Now for reference Figure 12The present disclosure illustrates a modular cannulation kit 600. The modular cannulation kit 600 includes a housing 200 and a plurality of elongated tubular portions 300a-300d. Each of the elongated tubular portions 300a-300d includes a portion of a quick-connect assembly 400 (e.g., pin 410) and is configured to releasably engage another portion of the quick-connect assembly 400 included on the housing 200 (e.g., slot 420). The modular cannulation kit 600 allows for the engagement of suitable elongated tubular portions 300a-300d with the housing 200 according to a specific surgical procedure and allows the user to quickly and reliably switch to different elongated tubular portions 300a-300d based on the length, diameter, surface structure, etc., of the elongated tubular portions 300a-300d that may be desired based on a specific surgical procedure or surgical step.

[0060] This disclosure also relates to a method of engaging a housing 200 of a modular cannulation assembly 100 with an elongated tubular portion 300 of the modular cannulation assembly 100. The method includes: moving the housing 200 toward the elongated tubular portion 300 such that a pin 410 of a quick-connect assembly 400 engages and partially travels through a slot 420 of the quick-connect assembly 400; rotating the housing 200 relative to the elongated tubular portion 300 such that the pin 410 of the quick-connect assembly 400 travels laterally within the slot 420 of the quick-connect assembly; and moving the housing 200 away from the elongated tubular portion 300 such that the pin 410 of the quick-connect assembly travels to an end or final position within the slot 420 of the quick-connect assembly.

[0061] The various embodiments disclosed herein can also be configured to work in conjunction with robotic surgical systems, commonly referred to as "remote surgery." Such systems employ a variety of robotic components to assist surgeons in the operating room and allow for remote (or partially remote) operation of surgical instruments. Various robotic arms, gears, cams, pulleys, electric motors, and mechanical motors can be used for this purpose and can be designed in conjunction with the robotic surgical system to assist the surgeon during the procedure or treatment. Such robotic systems can include remotely operable systems, automated flexible surgical systems, remote flexible surgical systems, remote articulated surgical systems, wireless surgical systems, modularly or selectively constructed remotely operated surgical systems, etc.

[0062] Robotic surgical systems can be used with one or more consoles located adjacent to the operating room or at a remote location. In this configuration, a team of surgeons or nurses can prepare a patient for surgery and construct the robotic surgical system using one or more of the instruments disclosed herein, while another surgeon (or a team of surgeons) remotely controls the instruments via the robotic surgical system. It is understood that a highly skilled surgeon can perform multiple procedures in multiple locations without leaving their remote console, which can be both cost-effective and productive for a single patient or a group of patients.

[0063] The robotic arm of a surgical system is typically coupled to a pair of master handles via a controller. The surgeon can move the handles to produce corresponding movements at the working end of any type of surgical instrument (e.g., end effector, gripper, scalpel, scissors, etc.), which can complement the use of one or more embodiments described herein. The movement of the master handles can be scaled such that the corresponding movement at the working end is different from, less than, or greater than the movement performed by the surgeon's operating hand. The scaling factor or transmission ratio can be adjustable, allowing the operator to control the resolution of the working end of one or more surgical instruments.

[0064] The main handle can include various sensors to provide surgeons with feedback related to various tissue parameters or conditions, such as tissue resistance caused by manipulation, cutting, or other treatments, pressure of instruments on tissue, tissue temperature, tissue impedance, etc. These sensors provide surgeons with enhanced tactile feedback that simulates actual operating conditions. The main handle can also include various actuators for fine tissue manipulation or treatment, further enhancing the surgeon's ability to mimic actual operating conditions.

[0065] refer to Figure 13 The surgical system (e.g., a robotic surgical system) is generally shown as surgical system 2000 and can be used with the modular cannulation assembly 100 or a portion thereof as disclosed herein. Surgical system 2000 generally includes multiple robotic arms 2002, 2003, a control unit 2004, and an operation console 2005 coupled to the control unit 2004. Operation console 2005 includes: a display device 2006 configured to specifically display three-dimensional images; and manual input devices 2007, 2008, which, for example, enable surgeons (not shown) to remotely manipulate the robotic arms 2002, 2003 in a first operating mode, as is known in principle to those skilled in the art.

[0066] Each of the robotic arms 2002 and 2003 comprises multiple components connected by joints. System 2000 also includes an instrument drive unit 2200 connected to the distal end of each of the robotic arms 2002 and 2003. According to any of the embodiments disclosed herein, surgical instruments, modular cannulation assembly 100, or portions thereof, may be attached to the instrument drive unit 2200, as will be described in more detail below.

[0067] Robotic arms 2002 and 2003 can be driven by an electrical actuator (not shown) connected to a control unit 2004. The control unit 2004 (e.g., a computer) is configured, particularly by means of a computer program, to enable the actuators such that the robotic arms 2002 and 2003, their instrument drive unit 2200, and therefore the surgical gripper 500 (including the end effector 530) perform desired movements according to movements defined by means of manual input devices 2007 and 2008. The control unit 2004 can also be configured to regulate the movements of the robotic arms 2002 and 2003 and / or the actuators.

[0068] The surgical system 2000 is configured for a patient 2013 lying on a patient table 2012 to receive minimally invasive treatment using a surgical clamp applicator 100. The surgical system 2000 may also include more than two robotic arms 2002, 2003, the additional robotic arms also being connected to a control unit 2004 and remotely operated via an operating console 2005.

[0069] For a detailed discussion of the construction and operation of the Surgical System 2000, please refer to U.S. Patent No. 8,828,023 entitled “MedicalWorkstation,” the entire contents of which are incorporated herein by reference.

[0070] It should be understood that the foregoing description is for illustrative purposes only. Those skilled in the art can devise various alternatives and modifications without departing from this disclosure. Therefore, this disclosure is intended to cover all such alternatives, modifications, and variations. The embodiments described with reference to the accompanying drawings are presented only to illustrate certain examples of this disclosure. Other elements, steps, methods, and techniques that are not substantially different from those described in the foregoing and / or appended claims are also intended to fall within the scope of this disclosure.

[0071] Example 1. A modular cannulation assembly includes: a housing; an elongated tubular portion configured to be selectively connected to the housing; and a quick-connect assembly including a pin disposed on one of the housing or the elongated tubular portion and a J-shaped groove disposed on the other of the housing or the elongated tubular portion, the pin being configured to travel from an inlet portion of the J-shaped groove to a final portion of the J-shaped groove to connect the housing and the elongated tubular portion.

[0072] Example 2. The modular cannulation assembly according to Example 1, wherein the J-shaped groove defines a first arcuate path and a second arcuate path.

[0073] Example 3. A modular cannulation assembly according to Example 1, wherein the J-shaped groove defines a first linear path, a second linear path, and a third linear path.

[0074] Example 4. The modular cannulation assembly according to Example 1, wherein the J-groove and the pin are configured such that during the connection of the elongated tubular portion and the housing, the pin moves proximally relative to a first portion of the J-groove and distally relative to a second portion of the J-groove.

[0075] Example 5. The modular cannulation assembly according to Example 1, wherein the pin is disposed on the proximal portion of the elongated tubular portion, and the J-groove is disposed on the collar of the housing.

[0076] Example 6. The modular cannulation assembly according to Example 1, wherein the quick-connect assembly includes a second slot, and the pin is configured to engage the second slot.

[0077] Example 7. The modular cannulation assembly according to Example 6, wherein the quick-connect assembly includes a second pin configured to engage the J-groove and the second groove one at a time.

[0078] Example 8. The modular cannulation assembly according to Example 1, the modular cannulation assembly further includes an O-ring that can be positioned within the housing.

[0079] Example 9. A modular cannulation assembly according to Example 8, wherein the O-ring provides a fluid seal between the housing and the elongated tubular portion when the elongated tubular portion is connected to the housing.

[0080] Example 10. A modular cannulation assembly according to Example 8, wherein the O-ring is positioned between the shoulder of the housing and the proximal side of the elongated tubular portion when the housing is connected to the elongated tubular portion.

[0081] Example 11. A modular cannulation assembly according to Example 8, wherein the O-ring is positioned between the inner wall of the housing and the outer wall of the elongated tubular portion when the housing is connected to the elongated tubular portion.

[0082] Example 12. The modular cannulation assembly according to Example 1 further includes a biasing element configured to bias the elongated tubular portion away from the housing.

[0083] Example 13. The modular cannulation assembly according to Example 12, wherein the biasing element is positioned between the shoulder of the housing and the proximal side of the elongated tubular portion when the housing is connected to the elongated tubular portion.

[0084] Example 14. The modular cannulation assembly according to Example 11, the modular cannulation assembly further includes a biasing element configured to bias the elongated tubular portion away from the housing, wherein the biasing element is positioned between a shoulder of the housing and a proximal side of the elongated tubular portion when the housing is connected to the elongated tubular portion.

[0085] Example 15. A modular cannulation assembly comprising: a housing; an elongated tubular portion configured to be selectively connected to the housing, the elongated tubular portion defining a longitudinal axis; and a quick-connect assembly including a pin disposed on one of the housing or the elongated tubular portion and a slot disposed on the other of the housing or the elongated tubular portion, the slot and the pin being configured such that during connection of the elongated tubular portion and the housing, the pin travels from an inlet portion of the slot in a first longitudinal direction and in an opposite second longitudinal direction to a final portion of the slot to connect the housing and the elongated tubular portion.

[0086] Example 16. A modular cannulation assembly according to Example 15, wherein the pin is configured to move laterally through the slot to connect the housing and the elongated tubular portion.

[0087] Example 17. The modular cannulation assembly according to Example 15 further includes an O-ring positioned between the shoulder of the housing and the proximal side of the elongated tubular portion when the housing is connected to the elongated tubular portion.

[0088] Example 18. A modular cannulation assembly according to Example 15, wherein the slot is J-shaped.

[0089] Example 19. A modular cannulation kit comprising: a housing including a J-groove; a first elongated tubular portion including a first pin configured to travel through the J-groove of the housing to connect the first elongated tubular portion to the housing; and a second elongated tubular portion including a second pin configured to travel through the J-groove of the housing to connect the second elongated tubular portion to the housing.

[0090] Example 20. The modular cannulation kit according to Example 19 further includes an O-ring positioned adjacent to the shoulder of the housing, the O-ring being configured to contact the proximal side of the first elongated tubular portion when the first elongated tubular portion is connected to the housing, and the O-ring being configured to contact the proximal side of the second elongated tubular portion when the second elongated tubular portion is connected to the housing.

Claims

1. A modular cannulation assembly, comprising: case; An elongated tubular portion, which is configured to selectively engage the housing; as well as A quick-connect assembly includes a pin disposed on one of the housing or the elongated tubular portion and a J-shaped groove disposed on the other of the housing or the elongated tubular portion, the pin being configured to travel from an inlet portion of the J-shaped groove to a final portion of the J-shaped groove to connect the housing and the elongated tubular portion.

2. The modular cannulation assembly according to claim 1, wherein, The J-shaped groove defines a first arc path and a second arc path.

3. The modular cannulation assembly according to claim 1, wherein, The J-shaped groove defines a first linear path, a second linear path, and a third linear path.

4. The modular cannulation assembly according to any one of the preceding claims, wherein, The J-groove and the pin are configured such that during the connection of the elongated tubular portion and the housing, the pin moves proximally relative to a first portion of the J-groove and distally relative to a second portion of the J-groove to connect the housing and the elongated tubular portion.

5. The modular cannulation assembly according to any one of the preceding claims, wherein, The pin is disposed on the proximal portion of the elongated tubular section, and the J-shaped groove is disposed on the collar of the housing.

6. The modular cannulation assembly according to any one of the preceding claims, wherein, The quick-connect assembly includes a second slot, and the pin is configured to engage the second slot.

7. The modular cannulation assembly according to claim 6, wherein, The quick-connect assembly includes a second pin configured to engage the J-groove and the second groove one at a time.

8. The modular cannulation assembly according to any one of the preceding claims, the modular cannulation assembly further comprising an O-ring capable of being positioned within the housing.

9. The modular cannulation assembly according to claim 8, wherein, The O-ring provides a fluid seal between the housing and the elongated tubular portion when the elongated tubular portion is connected to the housing.

10. The modular cannulation assembly according to any one of the preceding claims, wherein, The O-ring is positioned between the shoulder of the housing and the proximal side of the elongated tubular portion when the housing is connected to the elongated tubular portion.

11. The modular cannulation assembly according to any one of claims 1 to 9, wherein, The O-ring is positioned between the inner wall of the housing and the outer wall of the elongated tubular portion when the housing is connected to the elongated tubular portion.

12. The modular cannulation assembly according to any one of the preceding claims, the modular cannulation assembly further comprising a biasing element configured to bias the elongated tubular portion away from the housing.

13. The modular cannulation assembly according to claim 12, wherein, The biasing element is a leaf spring.

14. The modular cannulation assembly according to claim 12 or claim 13, wherein, The biasing element is positioned between the shoulder of the housing and the proximal side of the elongated tubular portion when the housing is connected to the elongated tubular portion.

15. The modular cannulation assembly according to any one of claims 1 to 11, further comprising a biasing element configured to bias the elongated tubular portion away from the housing, wherein, The biasing element is positioned between the shoulder of the housing and the proximal side of the elongated tubular portion when the housing is connected to the elongated tubular portion.

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