Modular cannula assemblies

Abstract

A modular cannula assembly includes 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-shaped slot disposed on the other of the housing or the elongated tubular portion. The pin is configured to travel through the J- shaped slot.

Description

MODULAR CANNULA ASSEMBLIESCROSS-REFERENCE TO RELATED APPLICATION

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

[0002] This disclosure relates to cannula assemblies for use in surgical procedures. More particularly, this disclosure relates to modular cannula assemblies including an elongated tubular portion that is able to selectively engage a housing.

[0003] Surgical techniques and instruments have been developed that allow a surgeon to perform an increasing range of surgical procedures with minimal incisions into the skin and body tissue of a patient. Minimally-invasive surgery has become widely accepted in many medical specialties, often replacing traditional open surgery. Unlike open surgery, which typically requires a relatively large incision, minimally-invasive procedures, such as endoscopy or laparoscopy, are performed through one or more relatively small incisions.

[0004] In laparoscopic and endoscopic surgical procedures, a small "keyhole" incision or puncture is typically made in a patient's body, e.g., in the abdomen, to provide an entry point for a surgical access device which is inserted into the incision and facilitates the insertion of specialized instruments used in performing surgical procedures within an internal surgical site. The number of incisions may depend on the type of surgery. It is not uncommon for some abdominal operations, e.g., gallbladder surgery, to be performed through a single incision. In most patients, the minimally-invasive approach leads to decreased post-operative pain, a shorter hospital stay, a faster recovery, decreased incidence of wound-related and pulmonary complications, cost savings by reducing postoperative care, and, in some cases, a better overall outcome.

[0005] Minimally-invasive surgical procedures are performed throughout the body and generally rely on obtaining access to an internal surgical site through a relatively smallpathway, often less than one centimeter in diameter. One method of providing such a pathway is by inserting a trocar assembly through the skin of a patient. Commonly, to place the trocar assembly, the penetrating tip of the obturator of the trocar assembly is pushed through the skin and underlying tissue until the distal end of a cannula assembly is within the body cavity. Alternatively, some trocar devices have a blunt obturator tip for placing the cannula assembly through a previously-made incision, for example. Once the trocar has been properly positioned, the obturator is removed and the cannula assembly is then available as a pathway between the surgical site and the exterior of the patient's body through which the surgeon may introduce the various surgical instruments required to perform the desired procedures. Surgical instruments insertable through a cannula assembly include forceps, clamps, scissors, probes, flexible or rigid scopes, staplers and cutting instruments.

[0006] In some procedures, a wall of a body cavity is raised by pressurization of the body cavity to provide sufficient working space at the surgical worksite and / or to allow a trocar to penetrate the body cavity without penetrating an organ within the cavity. The process of distending the abdomen wall from the organs enclosed in the abdominal cavity is referred to as insufflation. During a laparoscopic procedure (endoscopy in the abdominal cavity), insufflation may be achieved by introducing an insufflation gas, such as carbon dioxide, nitrogen, nitrous oxide, helium, argon, or the like, through a Veress needle or other conduit inserted through the abdominal wall, to enlarge the area surrounding the target surgical site to create a larger, more accessible work area. The surgeon is then able to perform the procedure within the body cavity by manipulating the instruments that have been extended through the surgical access device(s). The manipulation of such instruments within the internal body is limited by both spatial constraints and the need to maintain the body cavity in an insufflated state.

[0007] Certain surgical procedures or situations may benefit from a modular cannula assembly including interchangeable components to simplify and reduce product usage, for instance.SUMMARY

[0008] This disclosure relates to a modular cannula 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- shaped slot disposed on the other of the housing or the elongated tubular portion. The pin is configured to travel from an entry portion of the J-shaped slot to a final portion of the J- shaped slot to connect the housing and the elongated tubular portion.

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

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

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

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

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

[0014] In disclosed embodiments, the modular cannula assembly includes an O- ring positionable within the housing. In embodiments, 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. In embodiments, the O-ring is positioned between a shoulder of the housing and a proximal face of the elongated tubular portion when the housing is connected to the elongated tubular portion. In embodiments, the O-ring is positionedbetween an inner wall of the housing and an outer wall of the elongated tubular portion and when the housing is connected to the elongated tubular portion.

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

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

[0017] This disclosure additionally relates to a modular cannula 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 defines 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 of the elongated tubular portion and the housing, the pin travels in a first longitudinal direction from an entry portion of the slot, and in a second, opposite longitudinal direction to a final portion of the slot to connect the housing and the elongated tubular portion.

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

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

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

[0021] This disclosure additionally relates to a modular cannula kit including a housing, a first elongated tubular portion, and a second elongated tubular portion. The housing includes a J-shaped slot. The first elongated tubular portion includes a first pin. The first pin is configured to travel through the J-shaped slot of the housing for connecting the first elongated tubular portion with the housing. The second elongated tubular portion includes a second pin. The second pin is configured to travel through the J-shaped slot of the housing for connecting the second elongated tubular portion with the housing.

[0022] In disclosed embodiments, the modular cannula kit includes an O-ring positioned adjacent a shoulder of the housing. The O-ring is configured to contact a proximal face of the first elongated tubular portion when the first elongated tubular portion is connected to the housing. The O-ring is configured to contact a proximal face of the second elongated tubular portion when the second elongated tubular portion is connected to the housing.BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Embodiments of the disclosure are described in detail with reference to the drawing figures wherein like reference numerals identify similar or identical structural elements and:

[0024] FIG. 1 is a perspective view of a modular cannula assembly in accordance with embodiments of the disclosure, illustrating a housing of the modular cannula assembly engaged with an elongated tubular portion of the modular cannula assembly;

[0025] FIG. 2 is a perspective view of the modular cannula assembly of FIG. 1 illustrating a portion of the housing removed;

[0026] FIG. 3 is an exploded view of the modular cannula assembly of FIG. 2;

[0027] FIG. 4 is a side view of the modular cannula assembly of FIG. 1 illustrating the housing disengaged from the elongated tubular portion;

[0028] FIG. 5 is a side view of the modular cannula assembly of FIG. 1 illustrating the housing engaged with the elongated tubular portion;

[0029] FIG. 6 is a cross-sectional view of the modular cannula assembly taken along line 6-6 in FIG. 2;

[0030] FIG. 7 is an enlarged view of the area of detail indicated in FIG. 6;

[0031] FIG. 8A is an enlarged view of the area of detail indicated in FIG. 4 illustrating an embodiment of a slot of the housing of the modular cannula assembly of FIG. 1;

[0032] FIG. 8B is an enlarged view of another embodiment of a slot of the housing of the modular cannula assembly of FIG. 1 ;

[0033] FIG. 9 is an exploded view of a modular cannula assembly in accordance with another embodiment of the disclosure;

[0034] FIG. 10 is a cross-sectional view of the modular cannula assembly of FIG. 9 taken along line 10-10 in FIG. 2;

[0035] FIG. 11 is an enlarged view of the area of detail indicated in FIG. 10;

[0036] FIG. 12 is a perspective view of a modular cannula assembly kit in accordance with embodiments of the present disclosure; and

[0037] FIG. 13 is a schematic illustration of a robotic surgical system configured for use in accordance with the disclosure.DETAILED DESCRIPTION

[0038] Embodiments of the disclosed modular cannula assembly are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the modular cannula assembly, or component thereof, farther from the user, while the term “proximal” refers to that portion of the modular cannula assembly, or component thereof, closer to the user.

[0039] As will be described in greater detail below, the disclosure includes a modular cannula assembly including a housing, an elongated tubular portion, and a quick-connect assembly for facilitating a rapid, secure and selective connection between the housing and the elongated tubular portion.

[0040] FIGS. 1-12 illustrate embodiments of a modular cannula assembly in accordance with embodiments of the disclosure, which are generally referred to as modular cannula assembly 100. Generally, the modular cannula assembly 100 includes a housing 200, an elongated tubular portion 300 that is selectively engageable or connectable with 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] With reference to FIGS. 1 and 2, the housing 200, the elongated tubular portion 300, and the quick-connect assembly 400 of the modular cannular assembly 100 are shown. Additionally, an optional adapter assembly 250 is shown in FIG. 1 engaged with the housing 200 for connection to or reception of another surgical instrument, for example. Further, the housing 200 may include at least one seal therein for hindering the escape of a solid, liquid or gas from the surgical site, for example, while a surgical instrument is within the housing 200 and / or when there is no surgical instrument within the housing 200. These seals are omitted from the figures for clarity, but may be included in the modular cannula assembly 100.

[0042] With continued reference to FIGS. 1 and 2, the housing 200 includes a body portion 210, and a collar 220 disposed adjacent a distal end of the body portion 210. The elongated tubular portion 300 includes a proximal portion 310 which is configured to engage the collar 220 of the housing 200, and includes a distal portion 320 which is configured for positioning adjacent tissue or for insertion into tissue. Additionally, the elongated tubular portion 300 defines a longitudinal axis “X-X” extending therethrough. When the housing 200 is engaged with the elongated tubular portion 300, a channel 350 is defined therethrough. The channel 350 is configured for reception of at least a portion of a surgical instrument.

[0043] Referring now to FIGS. 2 and 3, the quick-connect assembly 400 is shown. The quick-connect assembly 400 includes at least one pin 410 and at least one slot 420. As shown in FIG. 3, 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 pin410 and more than one slot 420. For clarity, the at least one pin 410 is referred to herein as pin 410, and the at least one slot 420 is referred to herein as slot 420.

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

[0045] Generally, a full engagement between the pin 410 and the slot 420 connects the housing 200 and the elongated tubular portion 300 of the modular cannula assembly 100. Disengagement between the pin 410 and the slot 420 allows the housing 200 to disconnect from the elongated tubular portion 300, and allows for a different elongated tubular portion (e.g., any of the other elongated tubular portions 300a-300d in FIG. 12) to connect with the housing 200.

[0046] With reference to FIGS. 4 and 5, two steps of a full engagement of the pin 410 and the slot 420 are shown. Initially, as shown in FIG. 4, the elongated tubular portion 300 is moved toward the housing 200 (or vice versa) in the general direction of arrow “A” until the pin 410 engages the slot 420. Next, as shown in FIG. 5, the elongated tubular portion 300 is rotated in the general direction of arrow “B” about the longitudinal axis “X-X” relative to the housing 200 (or vice versa), such that the pin 410 follows the path defined by the slot 420. As indicated by the shape of the slot 420, and as discussed in further detail below, this rotation also includes a longitudinal component, generally indicated by arrow “C” in FIG. 5. Additionally, while arrow “B” indicates one direction of rotation (e.g., counter-clockwise), the disclose also includes a 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] Referring now to FIGS. 3, 6 and 7, a seal or O-ring 500 is shown. The O- ring 500 is positionable between the elongated tubular portion 300 and the housing 200 to help prevent insufflation gas from travelling therebetween, for example. More particularly, in the embodiment shown in FIG 7, the O-ring 500 is positioned adjacent and in contact with a proximal face 312 of the elongated tubular portion 300 and a shoulder212 of the housing 200. In embodiments, the O-ring 500 is adhered to the shoulder 212 of the housing 200 for ease of use.

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

[0049] Referring now to FIGS. 8 A and 8B, various embodiments of the slot 420 are shown. In FIG. 8A, the slot is referred to as slot 420a, and in FIG. 8B, the slot is referred to as slot 420b. With initial regard to FIG. 8A, the slot 420a resembles a J-shape (including curved or arcuate segments) and defines a path having an entry 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. In FIG. 8 A, the pin 410 is indicated in the first portion 422a of the path by reference character 410al, the pin 410 is indicated in the second portion 424a of the path by reference character 410a2, and the pin 410 is indicated in the third portion 426a of the path as reference character 410a3. When traveling from the first portion 422a of the path to the second portion 424a of the path, the pin 410 moves both proximally in the general direction of arrow “Pa” and laterally in the general direction of arrow “La” relative to the slot 420a. That is, when the pin 410 moves from the first portion 422a of the path to the second portion 424a of the path, the movement of the pin 410 includes a longitudinal component of motion relative to the slot 420a, and a lateral component of motion relative to the slot 420a.

[0050] With continued reference to FIG. 8A, when traveling from the second portion 424a of the path to the third portion 426a of the path, the pin 410 moves both and laterally in the general direction of arrow “La” and distally in the general direction of arrow “Da” relative to the slot 420a. That is, when the pin 410 moves from the second portion 424a of the path to the third portion 426a of the path, the movement of the pin 410 includes a longitudinal component of motion relative to the slot 420a, and a lateral component of motion relative to the slot 420a.

[0051] Referring now to FIG. 8B, the second embodiment of the slot 420b is shown. The slot 420b also resembles a J-shape (including linear segments) and defines a path having an entry or first portion 422b, a second portion 424b, and a final or third portion 426b. When engaged with the pin 410, the pin 410 initially travels from the first portion 422b, to the second portion 424b, and then to the third portion 426b. In FIG. 8B, the pin 410 is indicated in the first portion 422b of the path by reference character 41 Obi, the pin 410 is indicated in the second portion 424b of the path by reference character 410b2, and the pin 410 is indicated in the third portion 426b of the path as reference character 410b3. When traveling from the first portion 422b of the path to the second portion 424b of the path, the pin 410 moves both proximally in the general direction of arrow “Pb” and laterally in the general direction of arrow “Lb” relative to the slot 420b. That is, when the pin 410 moves from the first portion 422b of the path to the second portion 424b of the path, the movement of the pin 410 includes a longitudinal component of motion relative to the slot 420b, and a lateral component of motion relative to the slot 420b.

[0052] With continued reference to FIG. 8B, when traveling from the second portion 424b of the path to the third portion 426b of the path, the pin 410 moves both and laterally in the general direction of arrow “Lb” and distally in the general direction of arrow “Db” relative to the slot 420b. That is, when the pin 410 moves from the second portion 424b of the path to the third portion 426b of the path, the movement of the pin 410 includes a longitudinal component of motion relative to the slot 420b, and a lateral component of motion relative to the slot 420b.

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

[0054] Referring now to FIGS. 9-11, another embodiment of the quick-connect assembly 400 is shown. Here, in addition to the pin 410 and the slot 420, the quickconnect assembly 400 also includes a biasing element 430. Further, the O-ring 500 is provided in a different location than the embodiment shown in FIG. 7. Here, when the housing 200 is engaged with the elongated tubular portion 300, the biasing element 430 is positioned adjacent and in contact with the proximal face 312 of the elongated tubular portion 300 and with the shoulder 212 of the housing 200. In embodiments, the biasing element 430 is secured to the shoulder 212 of the housing 200.

[0055] The biasing element 430 is configured to urge 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 may be a leaf spring, a compression spring, or any suitable biasing element that urges the elongated tubular portion 300 away from the shoulder 212 of the housing 200. More particularly, the biasing element 430 is configured to urge the pin 410 into the third portion 426a, 426b of the path of the slot 420 (e.g., in the direction of arrow “Da” in FIG. 8A, or arrow “Db” in FIG. 8B). Further, the biasing element 430 is configured to maintain the pin 410 in the third portion 426a, 426b of the path of the slot 420 to help prevent undesired decoupling of the elongated tubular portion 300 from the housing 200.

[0056] In embodiments that do not include the biasing element 430, the O-ring 500 (e.g., its compressibility) may provide the force to urge the pin 410 into the third portion 426a, 426b of the path of the slot 420.

[0057] With particular reference to FIG. 11, in this embodiment, the O-ring 500 is shown positioned between an inner wall 222 of the collar 220 of the housing 200 and an outer wall 314 of the elongated tubular portion 300. More particularly, 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. The O-ring 500 helps prevent insufflation gas from travelling between the collar 220 of the housing 200 and the elongated tubular portion 300, for example.

[0058] The 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 the force provided by the biasing element 430, for example. It is also envisioned that the recess 223 is elongated instead of or in addition to the recess 315 being elongated. Further, as used in connection with the 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] Referring now to FIG. 12, a modular cannula kit 600 of the disclosure is shown. The modular cannula kit 600 includes the housing 200 and a plurality of elongated tubular portions 300a-300d. Each of the elongated tubular portions 300a-300d includes part of the quick-connect assembly 400 (e.g., the pin 410) and is configured to releasably engage the other part of the quick-connect assembly 400 (e.g., the slot 420) which is included on the housing 200. The modular cannula kit 600 allows an appropriate elongated tubular portion 300a-300d to engage the housing 200 depending on a particular procedure, and allows the user to quickly and reliably switch to a different elongated tubular portion 300a-300d based on the length, diameter, surface structure, etc., of the elongated tubular portion 300a-300d that may be desired for a particular procedure or step of a procedure.

[0060] The present disclosure also relates to a method of engaging the housing 200 of the modular cannula assembly 100 with the elongated tubular portion 300 of the modular cannula assembly 100. The method includes moving the housing 200 toward the elongated tubular portion 300 such that the pin 410 of the quick-connect assembly 400 engages and travels partially through the 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 quickconnect 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 may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the surgeon in the operating theater and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include, remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

[0062] The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prepare the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another surgeon (or group of surgeons) remotely control the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his / her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

[0063] The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce acorresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).

[0064] The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon’s ability to mimic actual operating conditions.

[0065] With reference to FIG. 13, a surgical system, such as, for example, a robotic surgical system is shown generally as surgical system 2000 and is usable with the modular cannula assembly 100, or portions thereof, of the disclosure. Surgical system 2000 generally includes a plurality of robotic arms 2002, 2003, a control device 2004, and an operating console 2005 coupled with control device 2004. Operating console 2005 includes a display device 2006, which is set up in particular to display three-dimensional images; and manual input devices 2007, 2008, by means of which a person (not shown), for example a surgeon, is able to telemanipulate robotic arms 2002, 2003 in a first operating mode, as known in principle to a person skilled in the art.

[0066] Each of the robotic arms 2002, 2003 is composed of a plurality of members, which are connected through joints. System 2000 also includes an instrument drive unit 2200 connected to distal ends of each of robotic arms 2002, 2003. A surgical instrument, the modular cannula assembly 100, or portions thereof, may be attached to the instrument drive unit 2200, in accordance with any one of several embodiments disclosed herein, as will be described in greater detail below.

[0067] Robotic arms 2002, 2003 may be driven by electric drives (not shown) that are connected to control device 2004. Control device 2004 (e.g., a computer) is set up to activate the drives, in particular by means of a computer program, in such a way that robotic arms 2002, 2003, their instrument drive units 2200 and thus the surgical grasping device 500 (including the end effector 530) execute a desired movement according to a movement defined by means of manual input devices 2007, 2008. Control device 2004 may also be set up in such a way that it regulates the movement of robotic arms 2002, 2003 and / or of the drives.

[0068] Surgical system 2000 is configured for use on a patient 2013 lying on a patient table 2012 to be treated in a minimally invasive manner by means of the surgical clip applier 100. Surgical system 2000 may also include more than two robotic arms 2002, 2003, the additional robotic arms likewise being connected to control device 2004 and being telemanipulatable by means of operating console 2005.

[0069] Reference may be made to U.S. Patent No. 8,828,023, entitled “Medical Workstation,” the entire content of which is incorporated herein by reference, for a detailed discussion of the construction and operation of surgical system 2000.

[0070] It should be understood that the foregoing description is only illustrative of the disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the disclosure. Accordingly, this disclosure is intended to embrace all such alternatives, modifications and variances. The embodiments described with reference to the attached drawing figures are presented only to demonstrate certain examples of the disclosure. Other elements, steps, methods and techniques that are insubstantially different from those described above and / or in the appended claims are also intended to be within the scope of the disclosure.

[0071] Example 1. A modular cannula assembly, comprising: a housing; an elongated tubular portion configured to selectively connect to the housing; and a quickconnect assembly including a pin disposed on one of the housing or the elongated tubular portion, and a J-shaped slot disposed on the other of the housing or the elongated tubular portion, the pin configured to travel from an entry portion of the J-shaped slot to a final portion of the J-shaped slot to connect the housing and the elongated tubular portion.

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

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

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

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

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

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

[0078] Example 8. The modular cannula assembly according to Example 1, further including an O-ring positionable within the housing.

[0079] Example 9. The modular cannula 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. The modular cannula assembly according to Example 8, wherein the O-ring is positioned between a shoulder of the housing and a proximal face of the elongated tubular portion when the housing is connected to the elongated tubular portion.

[0081] Example 11. The modular cannula assembly according to Example 8, wherein 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 connected to the elongated tubular portion.

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

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

[0084] Example 14. The modular cannula assembly according to Example 11, further including 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 face of the elongated tubular portion when the housing is connected to the elongated tubular portion.

[0085] Example 15. A modular cannula assembly, comprising: a housing; an elongated tubular portion configured to selectively connect 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 are configured such that, during connection of the elongated tubular portion and the housing, the pin travels in a first longitudinal direction from an entry portion of the slot, and in a second, opposite longitudinal direction to a final portion of the slot to connect the housing and the elongated tubular portion.

[0086] Example 16. The modular cannula 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 cannula assembly according to Example 15, further including an O-ring positioned between a shoulder of the housing and a proximal face of the elongated tubular portion when the housing is connected to the elongated tubular portion.

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

[0089] Example 19. A modular cannula kit, comprising: a housing including a J- shaped slot; a first elongated tubular portion including a first pin, the first pin configured to travel through the J-shaped slot of the housing for connecting the first elongated tubular portion with the housing; and a second elongated tubular portion including a second pin, the second pin configured to travel through the J-shaped slot of the housing for connecting the second elongated tubular portion with the housing.

[0090] Example 20. The modular cannula kit according to Example 19, further including an O-ring positioned adjacent a shoulder of the housing, the O-ring configured to contact a proximal face of the first elongated tubular portion when the first elongated tubular portion is connected to the housing, the O-ring configured to contact a proximal face of the second elongated tubular portion when the second elongated tubular portion is connected to the housing.

Claims

WHAT IS CLAIMED IS:

1. A modular cannula assembly, comprising: a housing; an elongated tubular portion configured to selectively engage 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 slot disposed on the other of the housing or the elongated tubular portion, the pin configured to travel from an entry portion of the J- shaped slot to a final portion of the J-shaped slot to connect the housing and the elongated tubular portion.

2. The modular cannula assembly according to claim 1, wherein the J-shaped slot defines a first arcuate path and a second arcuate path.

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

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

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

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

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

8. The modular cannula assembly according to any of the preceding claims, further including an O-ring positionable within the housing.

9. The modular cannula 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 cannula assembly according to any of the preceding claims, wherein the O-ring is positioned between a shoulder of the housing and a proximal face of the elongated tubular portion when the housing is connected to the elongated tubular portion.

11. The modular cannula assembly according to any of claims 1-9, wherein 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 connected to the elongated tubular portion.

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

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

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

15. The modular cannula assembly according to any of claims 1-11, further including 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 face of the elongated tubular portion when the housing is connected to the elongated tubular portion.

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