Systems and assemblies for providing free rotational motion to a surgical accessory of robotic surgical systems

Abstract

A robotic surgical system includes a surgical port and a mount assembly. The surgical port defines a central longitudinal axis, and includes a seal housing, a seal cover, a cannula assembly, and a seal assembly. The mount assembly includes a coupling assembly including a first arm and a second arm, and transitionable between open and closed configurations. The first arm includes a first portion of a bearing ring, and the second arm includes a second portion of the bearing ring. In the closed configuration, the first and second arms pivot into a relatively more approximated relation with respect to one another. In the closed configuration, the first and second arms are configured to secure the surgical port to the robot arm such that the surgical port is rotatable within the first and second arms about the central longitudinal axis of the surgical port.

Description

SYSTEMS AND ASSEMBLIES FOR PROVIDING FREE ROTATIONAL MOTION TO A SURGICAL ACCESSORY OF ROBOTIC SURGICAL SYSTEMSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 572,985, filed April 2, 2024, the entire content of which is incorporated herein by reference.BACKGROUND

[0002] Robotic surgical systems are often used in minimally invasive medical procedures. Some robotic surgical systems include a robot arm having an instrument drive assembly coupled thereto for coupling surgical instruments to the robot arm, such as, for example, a pair of jaw members, electrosurgical forceps, cutting instruments, or any other endoscopic or open surgical devices, and a mount assembly coupled thereto for coupling surgical accessories to the robot arm, such as, for example, a trocar or surgical port (hereinafter “surgical port”), an optical device, or the like.

[0003] Prior to or during use of the robotic system, surgical instruments are selected and connected to the instrument drive assembly of each robot arm, where the instrument drive assembly can drive the actuation of an end effector of the surgical instrument. During a procedure, the end effector and / or a portion of the surgical instrument may be inserted through the surgical port, which may be inserted through a small incision in, or a natural orifice of a patient, to bring the end effector proximate a working site within the body of the patient. Such surgical ports may provide additional stability and act as a guide channel for the surgical instrument during insertion and actuation of the end effector.

[0004] Surgical ports are meant to provide an isolation barrier between the surgical instrument and the incision in, or the natural orifice of the patient, thereby preventing tissue damage. Additionally, surgical ports enable motion at a remote center of motion of the surgical instrument, while isolating all axial and radial side loads at the remote center of motion from the surgical instrument during manipulation. However, error between the actual and the theoretical remote center of motion may cause unwanted relative motion between the surgical port and the incision in, or the orifice of the patient, causing unintentional tissue trauma. Accordingly, there is a need for a mount assembly or surgicalport which isolates axial translation or rotation and therefore reduces potential tissue trauma.SUMMARY

[0005] Provided in accordance with aspects of this disclosure is surgical port for use with a robotic system. The surgical port includes a seal housing, a bearing, a seal cover, a cannula assembly, a seal assembly, and a cannula seal. The seal housing includes an engagement region disposed about an external radial surface thereof. The bearing is disposed on the engagement region of the seal housing and defines a central longitudinal axis therethrough. When the bearing of the surgical port is coupled to the robotic system, the seal housing is rotatable about the central longitudinal axis relative to the robotic system. The seal cover is connected to a distal portion of the seal housing, and the cannula assembly is connected to a distal portion of the seal cover. The surgical port includes a central lumen defined by an inner surface of each of the seal housing, the seal cover, and the cannula assembly. The seal assembly is coupled between the seal housing and the seal cover. The cannula seal is coupled between the seal cover and the cannula assembly. The seal assembly and the cannula seal are configured to maintain a fluidic seal within the central lumen of the surgical port.

[0006] In an aspect of this disclosure, the bearing may be at least one of a ball bearing, a rotary bearing, a needle bearing, a sleeve bearing, a spherical bearing a sliding bearing, a plain bearing, or a roller bearing.

[0007] In another aspect of this disclosure, the bearing may be coupled around the engagement region of the seal housing such that the seal housing is rotatable within the bearing.

[0008] In yet another aspect of this disclosure, the bearing may define an outer groove extending radially therearound.

[0009] In a further aspect of this disclosure, the engagement region may further include one or more ribs disposed thereon. Each rib of the one or more ribs may include a ramped surface which extends toward the bearing.

[0010] In an aspect of this disclosure, the ramped surface of each rib of the one or more ribs may be configured to guide a coupling assembly of a robot arm of the robotic system into engagement with the bearing.

[0011] In another aspect of this disclosure, the bearing may be removably coupled to the surgical port.

[0012] In yet another aspect of this disclosure, an outer surface of the bearing may be configured to engage a coupling assembly of a robot arm of the robotic system.

[0013] Also provided in accordance with aspects of the present disclosure is a mount assembly for use with a robotic system. The mount assembly includes a housing and a coupling assembly. The housing is configured to couple to a robot arm of a robotic system. The coupling assembly is supported by the housing and includes a first arm and a second arm. The first arm includes a first portion of a bearing ring, and the second arm includes a second portion of the bearing ring. The coupling assembly is transitionable between open and closed configurations. In the open configuration, the first and second arms pivot into a relatively more spaced apart relation with respect to one another. In the closed configuration, the first and second arms pivot into a relatively more approximated relation with respect to one another. In the closed configuration the first and second arms are configured to secure a surgical port to the robot arm.

[0014] In an aspect of this disclosure, the bearing ring may be configured to rotationally couple to an outer groove of the surgical port when the coupling assembly is in a closed configuration. The surgical port may be rotatable about a central longitudinal axis of the surgical port when coupled to the bearing ring.

[0015] In another aspect of this disclosure, the coupling assembly may further include a sterile drape including a first arm cover and a second arm cover. The first arm cover and the second arm cover may be configured to enclose at least a portion of each of the first arm and the second arm of the coupling assembly, respectively.

[0016] In yet another aspect of this disclosure, the first portion of the bearing ring may be disposed on the first arm cover of the sterile drape and the second portion of the bearing ring may be disposed on the second arm cover of the sterile drape.

[0017] In a further aspect of this disclosure, the bearing ring may be configured to rotationally couple to an outer groove of the surgical port when the coupling assembly is in a closed configuration. The surgical port may be rotatable about a central longitudinal axis of the surgical port when coupled to the bearing ring.

[0018] Further provided in accordance with aspects of the present disclosure is a robotic surgical system. The robotic surgical system includes a surgical port and a mountassembly. The surgical port defines a central longitudinal axis, and includes a seal housing, a seal cover, a cannula assembly, a seal assembly, and a cannula seal. The seal housing includes an engagement region disposed about an external radial surface thereof. The seal cover is connected to a distal portion of the seal housing, and the cannula assembly is connected to a distal portion of the seal cover. The surgical port includes a central lumen defined by an inner surface of each of the seal housing, the seal cover, and the cannula assembly. The seal assembly is coupled between the seal housing and the seal cover. The cannula seal is coupled between the seal cover and the cannula assembly. The seal assembly and the cannula seal are configured to maintain a fluidic seal within the central lumen of the surgical port. The mount assembly includes a housing and a coupling assembly. The housing is configured to couple to a robot arm of a robotic system. The coupling assembly is supported by the housing and includes a first arm and a second arm. The first arm includes a first portion of a bearing ring, and the second arm includes a second portion of the bearing ring. The coupling assembly is transitionable between open and closed configurations. In the open configuration, the first and second arms pivot into a relatively more spaced apart relation with respect to one another. In the closed configuration, the first and second arms pivot into a relatively more approximated relation with respect to one another. In the closed configuration the first and second arms are configured to secure a surgical port to the robot arm such that the surgical port is rotatable within the first and second arms about the central longitudinal axis of the surgical port.

[0019] In an aspect of this disclosure, the engagement region of the surgical port may further define an outer groove extending radially therearound.

[0020] In another aspect of this disclosure, an outer surface of the bearing ring of the coupling assembly may be configured to engage with the outer groove of the surgical port.

[0021] In yet another aspect of this disclosure, the coupling assembly may further include a sterile drape including a first arm cover and a second arm cover. The first arm cover and the second arm cover may be configured to enclose at least a portion of each of the first arm and the second arm of the coupling assembly, respectively.

[0022] In a further aspect of this disclosure, the first portion of the bearing ring may be disposed on the first arm cover of the sterile drape and the second portion of the bearing ring may be disposed on the second arm cover of the sterile drape.

[0023] In an aspect of this disclosure, an outer surface of the bearing ring may be configured to engage with the outer groove of the surgical port.

[0024] In another aspect of this disclosure, the engagement region of the surgical port may further include one or more ribs disposed thereon. Each rib of the one or more ribs may include a ramped surface which extends toward the outer groove.BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:

[0026] FIG. 1A is a schematic illustration of a medical work station and an operating console in accordance with the present disclosure;

[0027] FIG. IB is an exemplary illustration of a cart supporting a robot arm of the medical work station of FIG. 1A, the robot arm supporting a mount assembly and a surgical part at a distal end thereof;

[0028] FIG. 2 is a perspective view of a mount assembly in accordance with an embodiment of the present disclosure with a sterile drape and a surgical part uncoupled therefrom;

[0029] FIG. 3 is perspective view of the mount assembly of FIG. 2 with the sterile drape and the surgical part coupled therewith;

[0030] FIG. 4 is a perspective view of the mount assembly of FIG. 2, with parts separated;

[0031] FIG. 5 is a perspective view of the mount assembly of FIG. 2, with various parts removed;

[0032] FIG. 6 is a perspective view of an embodiment of a coupling assembly in accordance with the present disclosure of the mount assembly of FIG. 2, with parts separated;

[0033] FIG. 7 is a side perspective view of a movable arm of the coupling assembly of FIG. 6;

[0034] FIG. 8 is a side perspective view of a fixed arm of the coupling assembly of FIG. 6;

[0035] FIG. 9A is a front perspective view of the coupling assembly of FIG. 6, in a closed configuration, with the movable arm of FIG. 7 shown in phantom;

[0036] FIG. 9B is a front perspective view of the area of detail of FIG. 9A, with a latch plate of the coupling assembly of FIG. 6 in an engaged position;

[0037] FIG.10A is a front perspective view of the coupling assembly of FIG. 6, in an open configuration, with the movable arm of FIG. 7 shown in phantom;

[0038] FIG. 10B is a front perspective view of the area of detail of FIG. 10A, with the latch plate of the coupling assembly of FIG. 6 in a disengaged position;

[0039] FIG. 11A is a front perspective view of a distal portion of the mount assembly of FIG. 2, with a button of a communication assembly of the mount assembly in a first position;

[0040] FIG. 1 IB is a cross-sectional view of the mount assembly of FIG. 11A taken along section line 1 IB-1 IB of FIG. 11A;

[0041] FIG. 12A is a front perspective view of the distal portion of the mount assembly of FIG. 2, with the button of the communication assembly in a second position;

[0042] FIG. 12B is a cross-sectional view of the mount assembly of FIG. 12A taken along section line 12B-12B of FIG. 12A;

[0043] FIG. 13 is a perspective view of a surgical port in accordance with this disclosure;

[0044] FIG. 14 is a cross-sectional view of the surgical port of FIG. 13 taken along the section line 14-14 of FIG. 13;

[0045] FIG. 15 is a cross-sectional view of the mount assembly of FIG. 3 and the surgical port of FIG. 13 taken along section line 15-15 of FIG. 3;

[0046] FIG. 16 is a perspective view of another embodiment of a mount assembly with a surgical port including a bearing coupled therewith;

[0047] FIG. 17 is an enlarged view of the surgical port of FIG. 16;

[0048] FIG. 18 is a perspective view of another embodiment of a mount assembly with a sterile drape including a bearing ring and a surgical port including a bearing groove coupled therewith;

[0049] FIG. 19 is an enlarged view of the surgical port of FIG. 18 in accordance with this disclosure;

[0050] FIG. 20 is an enlarged view of the sterile drape of FIG. 18 in accordance with this disclosure; and

[0051] FIG. 21 is a view of the mount assembly of FIG. 18, showing the surgical port rotating about a central axis.DETAILED DESCRIPTION

[0052] Embodiments of the presently disclosed mount assembly and surgical port 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 is used in the art, the term “distal” refers to a position of an instrument, or portion thereof, which is farther from the user, and the term “proximal” refers to a position of an instrument, or portion thereof, which is closer to the user.

[0053] Referring initially to FIGS. 1A and IB, a medical work station is shown generally as work station 1 and generally includes a plurality of robot arms 2, 3; a control device 4; and an operating console 5 coupled with control device 4. Operating console 5 includes a display device 6, which is set up in particular to display three-dimensional images; and manual input devices 7, 8, by means of which a person (not shown), for example a surgeon, is able to telemanipulate robot arms 2, 3 in a first operating mode, as known in principle to a person skilled in the art.

[0054] Each of the robot arms 2, 3 may be supported by a respective cart “C”, and may include a plurality of members, which are connected through joints, and an instrument control unit “ICU”, to which may be attached, for example, an instrument drive assembly of a surgical instrument “SI”, the surgical instrument “SI” supporting an end effector (not shown) including, for example, a pair of jaw members, electrosurgical forceps, cutting instruments, or any other endoscopic or open surgical devices.

[0055] Robot arms 2, 3 may be driven by electric drives (not shown) that are connected to control device 4. Control device 4 (e.g., a computer) is set up to activate the drives, in particular by means of a computer program, in such a way that robot arms 2, 3, instrument control units “ICU”, and thus the surgical instruments “SI” execute a desired movement or articulation according to a movement defined by means of manual input devices 7, 8. Control device 4 may also be set up in such a way that it regulates the movement of robot arms 2, 3 and / or of the drives.

[0056] Medical work station 1 is configured for use on a patient 13 lying on a patient table 12 to be treated in an open surgery, or a minimally invasive manner, by means of surgical instrument “SI”. Medical work station 1 may also include more thantwo robot arms 2, 3, the additional robot arms likewise being connected to control device 4 and being telemanipulatable by means of operating console 5. An instrument control unit and a surgical instrument may also be attached to the additional robot arm. Medical work station 1 may include a database 14, in particular coupled to or with control device 4, in which pre-operative data from patient 13 and / or anatomical atlases, for example, may be stored.

[0057] Control device 4 may control a plurality of motors (e.g., “Ml” - “M6”). Motors “M” may be part of instrument control unit “ICU” and / or disposed externally of instrument control unit “ICU”. In use, as motors “M” are driven, movement and / or articulation of the instrument drive assembly of surgical instrument “SI”, and an end effector attached thereto, is controlled. It is further envisioned that at least one motor “M” receives signals wirelessly (e.g., from control device 4). It is contemplated that control device 4 coordinates the activation of the various motors (Motor l ...n) to coordinate an operation, movement, and / or articulation of robot arms 2, 3 and / or surgical instrument “SI”. It is envisioned that each motor may correspond to a separate degree of freedom of robot arms 2, 3, and / or surgical instrument “SI” engaged with instrument control unit “ICU”. It is further envisioned that more than one motor, including every motor (Motor 1 . . .n), is used for each degree of freedom.

[0058] With continued reference to FIG. IB, robot arm 2 may include a mount assembly coupled at a distal portion 2a of robot arm 2, whereby it should be appreciated that any of robot arms 2, 3 may alternatively or additionally include a respective mount assembly coupled thereto. As discussed herein, the mount assembly is configured to releasably couple a surgical accessory to robot arm 2. It should be appreciated that the mount assembly may be configured to releasably couple a variety of surgical accessories to robot arm 2, such as, for example a trocar, a surgical port, an optical device, or the like. For the sake of brevity, the mount assembly will be discussed herein with respect to a surgical port. It should be appreciated that if utilized with a surgical port, the mount assembly adds to the stability of a surgical instrument passed therethrough. During a surgical procedure, surgical instruments may undergo undesired reaction loading as a result of forces exerted upon the surgical instrument by a natural orifice or the surrounding tissue of an incision, such as, for example, an incision through an abdominal wall. By utilizing the mount assembly and a surgical port, the mount assembly will assist ininhibiting the transfer of such forces upon the surgical instrument minimizing instrument deflection.

[0059] With references to FIGS. 2-12B, an embodiment of a mount assembly will be described with reference to a mount assembly 100 which includes a housing 110, a coupling assembly 120, and a release assembly 190 (FIGS. 4-5 and 9A-10B). Housing 110 includes a first half 112 releasably coupled to a second half 114 such that, when coupled to one another, a cavity 116 is defined therebetween. A proximal portion 111 of first half 112 of housing 110 is releasably couplable to distal portion 2a of robot arm 2, such that mount assembly 100 is thereby releasably coupled to robot arm 2. Coupling assembly 120 is supported by a distal portion 113 of second half 114 of housing 110, disposed within cavity 116, and extends distally from a distal portion 115 of cavity 116. Release assembly 190 is supported by housing 110, is disposed within cavity 116, and extends therefrom through an opening 117 defined by first and second halves 112, 114 of housing 110.

[0060] With reference to FIGS. 4-8, coupling assembly 120 is configured to releasably engage a surgical port 1000 (FIGS. 13-21). Coupling assembly 120 may transition between a closed configuration (FIG. 9A), for engagement with the surgical port 1000, and an open configuration (FIG. 10A), for disengagement with surgical port 1000, such that the surgical port 1000 is releasably secured to robot arm 2. Coupling assembly 120 includes a fixed arm 122, a movable arm 132, and a latch plate 160. Fixed arm 122 includes a support portion 124 configured to reside within distal portion 113 of second half 114 of housing 110, and an engagement portion 126 extending distally therefrom. Movable arm 132 includes a support portion 134 configured to reside within distal portion 113 of second half 114 of housing 110, and an engagement portion 136 extending distally therefrom. It is envisioned that engagement portions 126, 136 of fixed and movable arms 122, 132 define a complementary shape with respect to an outer surface of surgical port 1000, as discussed herein, or any alternative surgical accessory which may be coupled to robot arm 2 via coupling assembly 120 of mount assembly 100. As an exemplary illustration, engagement portions 126, 136 may define generally arcuate inner surfaces 127, 137, respectively, such that a surgical port defining a generally circular outer profile may be received between fixed and movable arm 122, 132, in a clamping fashion, and come into abutment with engagement portions 126, 136. Engagement portions 126, 136may further include a flange 128, 138 extending therefrom, respectively, which is configured to engage a portion of surgical port 1000 positioned between fixed and movable arms 122, 132, as discussed further below, such that linear translation of surgical port 1000, with respect to fixed and movable arms 122, 132, is thereby inhibited.

[0061] With continued reference to FIGS. 6-8, support portion 134 of movable arm 132 is pivotably coupled to support portion 124 of fixed arm 122. Movable arm 132 includes a pivot bore 142 defined through support portion 136 thereof. Fixed arm 122 includes a bore 144 defined through support portion 126 thereof. A pivot pin 140 is disposed within pivot bore 142 defined through support portion 134 of movable arm 132, and within bore 144 defined through support portion 124 of fixed arm 122, and thus pivotably couples movable arm 132 to fixed arm 122 about pivot pin 140, pivot bore 142, and bore 144. As movable arm 132 pivots about pivot pin 140 engagement portion 136 of movable arm 132 is caused to transition between a position proximate engagement portion 126 of fixed arm 122, which corresponds to the closed configuration of coupling assembly 120 (FIG. 9A), and a position spaced away from engagement portion 126 of fixed arm 122, which corresponds to the open configuration of coupling assembly 120 (FIG. 10A).

[0062] With reference to FIGS. 9A and 10A, the transition of coupling assembly 120 between the closed and open configurations will be further discussed. It should be appreciated that through pivoting of movable arm 132, coupling assembly 120 is caused to transition between the closed configuration (FIG. 9A) and the open configuration (FIG. 10A). In the closed configuration of coupling assembly 120, engagement portion 136 of movable arm 132 is proximate engagement portion 126 of fixed arm 122 to achieve fixation of surgical port 1000 to robot arm 2, via coupling assembly 120 of mount assembly 100. In the open configuration of coupling assembly 120, engagement portion 136 of movable arm 132 is spaced away from engagement portion 126 of fixed arm 122 to receive or release surgical port 1000 therefrom. Thus, in the closed configuration of clamping assembly 120, surgical port 1000 is secured to robot arm 2, and in the open configuration of clamping assembly 120, surgical port 1000 is unsecured from robot arm 2.

[0063] Coupling assembly 120 may further include a biasing member 145 (FIGS. 5 and 6) coupled between support portion 134 of movable arm 132 and support portion 124 of fixed arm 122, such that engagement portion 136 of movable arm 132 is biased intoa position proximate to, or spaced away from, engagement portion 126 of fixed arm 122. Accordingly, biasing member 145 acts to bias coupling assembly 120 into one of the closed or open configurations.

[0064] With continued reference to FIGS. 6 and 9A-10B, movable arm 132 further includes a latch pin bore 146 defined through support portion 134 thereof, and fixed arm 122 further includes a cam slot 150 defined through support portion 124 thereof. A latch plate pin 148 is disposed within latch pin bore 146 of movable arm 132, and is slidably disposed within cam slot 150 of fixed arm 122. As movable arm 132 pivots about pivot pin 140, latch plate pin 148 is caused to slide within cam slot 150 of fixed arm 122.

[0065] Coupling assembly 120 includes a latch plate 160 having an engagement pin 162 extending from a first end portion 161 thereof, a pivot pin 164 extending from a second end portion 163 thereof, and a protrusion 166 disposed at a position between first and second end portions 161, 162. Engagement pin 162 is configured to engage a portion of release assembly 190, as discussed below, whereas pivot pin 164 is configured to pivotably couple latch plate 160 to support portion 124 of fixed arm 122.

[0066] Latch plate 160 is pivotably transitionable between an engaged position (FIG. 9B) and a disengaged position (FIG. 10B), whereby protrusion 166 of latch plate 160 engages latch plate pin 148 in the engaged position. Through actuation of release assembly 190, as discussed below, protrusion 166 transitions between positions for engagement with latch plate pin 148 and disengagement with latch plate pin 148. Accordingly, with protrusion 166 of latch plate 160 positioned for engagement with latch plate pin 148 (FIG. 9B), latch plate pin 148 is inhibited from sliding within cam slot 150 of fixed arm 122, and thus, movable arm 132 coupled to latch plate pin 148 is inhibited from pivoting. With protrusion 166 of latch plate 160 positioned for disengagement with latch plate pin 148 (FIG. 10B), latch plate pin 148 may freely slide within cam slot 150 of fixed arm 122, and thus, movable arm 132 coupled to latch plate pin 148 may freely pivot. As dictated by the position of latch plate 160, movable arm 132 is either inhibited from, or freely capable of, pivoting with respect to fixed arm 122. Thus, the position of latch plate 160 directs coupled assembly 120 into one of a locked or unlocked configuration, whereby in the locked configuration movable arm 132 is inhibited from pivoting and in the unlocked configuration movable arm 132 may freely pivot.

[0067] As discussed further below, through actuation of release assembly 190, release assembly 190 selectively transitions latch plate 160 between the engaged and disengaged positions, and thus, transitions coupling assembly 120 between the locked configuration and the unlocked configuration, via the engagement or disengagement of latch plate 160 and latch plate pin 148. With coupling assembly 120 in the locked configuration, coupling assembly 120 is inhibited from transitioning between the open and closed configurations, e.g., movable arm 132 is inhibited from pivoting with respect to fixed arm 122. With coupling assembly 120 in the unlocked configuration, coupling assembly 120 may freely transition between the open and closed configurations, e.g., movable arm 132 may freely pivot with respect to fixed arm 122.

[0068] With reference to FIGS. 4, 5, and 9A-10B, release assembly 190 includes a slide 192 disposed within cavity 116 of housing 110 and supported by second half 114 of housing 110. Slide 192 includes a latch plate recess 194 defined along a distal edge portion 193, an engagement portion 196 disposed on an external surface 195 thereof which is positioned externally of cavity 116 through port 117 of housing 110, and a bias member recess 197 extending from an internal surface 199 thereof. Latch plate recess 194 is configured to receive and engage engagement pin 162 of latch plate 160. Release assembly 190 further includes a biasing member 198 disposed within bias member recess 197 configured to engage a portion of housing 110.

[0069] Slide 192 of release assembly 190 is configured to slide between first and second positions along an axis “S” being transverse to a longitudinal axis “L” of housing 110 (FIG. 3). In the first position of slide 192, engagement portion 196 is positioned externally of cavity 116 of housing 110 (FIG. 9A). In the second position of slide 192, engagement portion 196 partially resides within cavity 116 of housing 110 (FIG. 10A). As slide 192 translates along axis “S” between first and second positions, it should be appreciated that latch plate recess 194 of slide 192 translates or slides along an axis being parallel to axis “S” As latch plate recess 194 slides parallel to axis “S”, engagement pin 162 of latch plate 160, being engaged with latch plate recess 194, is caused to translate along axis “S”, thus causing latch plate 160 to pivot.

[0070] As discussed above, as latch plate 160 pivots, protrusion 166 of latch plate 160 transitions between the engaged and disengaged positions, with respect to latch plate pin 148. Accordingly, as slide 192 translates along axis “S”, protrusion 166 of latch plate160 is brought into or out of the engaged and disengaged positions to engage or disengage latch plate pin 148. More particularly, with slide 192 in the first position, protrusion 166 of latch plate 160 is in the engaged position such that protrusion 166 obstructs or otherwise inhibits latch plate pin 148 from sliding within cam slot 150, and thus, movable arm 132 is inhibited from pivoting with respect to fixed arm 122, and coupling assembly 120 is in the locked configuration. As slide 192 translates along axis “S” from the first position towards the second position, latch plate recess 194 engages and drives engagement pin 162 of latch plate 160 such that latch plate 160 is caused to pivot. As latch plate 160 pivots, protrusion 166 of latch plate 160 is caused to pivot into the disengaged position. With protrusion 166 of latch plate 160 in the disengaged position, latch plate pin 148 is free to slide within cam slot 150, and thus, movable arm 132 is free to pivot with respect to fixed arm 122, such that coupling assembly 120 is in the unlocked configuration. Accordingly, through translation of slide 192, coupling assembly 120 is transitioned between the locked configuration and the unlocked configuration.

[0071] Biasing member 198 of release assembly 190 is configured to bias slide 192 into one of the first or second positions. With slide 192 biased into one of the first or second positions, slide 192 biases latch plate 160 into one of the engaged or disengages positions, via coupling of latch plate recess 194 of slide 192 and engagement pin 162 of latch plate 160. Thus, protrusion 166 of latch plate 160 is biased into one of the engaged or disengaged positions, with respect to latch plate pin 148. As a result thereof, release assembly 190 thereby biases the coupling assembly 120 into one of the locked or unlocked configurations.

[0072] With reference to FIGS. 1-10B, the coupling and uncoupling of a surgical port with mount assembly 100 will be described. With coupling assembly 120 in the closed and locked configurations (FIGS. 9A and 9B), release assembly 190 is actuated to transition coupling assembly 120 into the unlocked configuration. Slide 192 of release assembly 190 is translated along axis “S” from the first position towards the second position (FIG. 10A), such that latch plate 160 is caused to pivot, thus transitioning protrusion 166 of latch plate 160 from the engaged position into the disengaged position, with respect to latch plate pin 148 (FIG. 10B). With protrusion 166 in the disengaged position, latch plate pin 148 may slide within cam slot 150 and movable arm 132 may bepivoted. As movable arm 132 pivots, coupling assembly 120 may assume the open configuration.

[0073] With coupling assembly 120 in the open configuration, a surgical port (e.g., surgical port 1000) may be positioned between engagement portions 126, 136 of fixed and movable arms 122, 132. Once positioned between engagement portions 126, 136, movable arm 132 may be pivoted towards fixed arm 122 such that coupling assembly 120 assumes the closed configuration. With coupling assembly 120 in the closed configuration, slide 192 is translated along axis “S” from the second position towards the first position, thus transitioning coupling assembly 120 into the locked configuration. With coupling assembly 120 in the closed and locked configurations, surgical port 1000 is thereby secured to mount assembly 100. The surgical port 1000 is uncoupled from coupling assembly 120 in a similar manner, and may thus be uncoupled from mount assembly 100.

[0074] With reference to FIGS. 2-4, 6, and 9A-12B, mount assembly 100 may further include a communication assembly 200 configured to communicate with work station 1. More particularly, communication assembly 200 provides information to work station 1 regarding the open, closed, locked, and unlocked configuration status of coupling assembly 120, and further, provides an indication if a surgical accessory, e.g., a surgical port, is positioned between, or absent from, coupling assembly 120.

[0075] Communication assembly 200 and work station 1 may be configured for wired or wireless communication. In an embodiment, communication assembly 200 includes a first pin 202 in electrical communication therewith which is disposed on the proximal portion 111 of first half 112 of housing 110. Distal portion 2a of robot arm 2 includes a corresponding second pin (not shown) in communication with work station 1, via robot arm 2. With mount assembly 100 and robot arm 2 coupled, communication assembly 200 and work station 1 are communicatively coupled via engagement of first pin 202 and the second pin (not shown). In an embodiment, communication assembly 200 is configured for wireless communications with work station 1, whereby communication assembly 200 and work station 1 are communicatively coupled by any wireless communication method as is known in the art, such as, for example, BlueTooth, ZigBee, near field communication (“NFC”), WiFi, or the like.

[0076] As illustrated in FIG. 4, communication assembly 200 includes a control board 210 disposed in cavity 116 of housing 110 and supported by second half 114 of housing 110. Control board 210 includes a release assembly sensor switch 220, a presence sensor switch 230, and a repositioning sensor switch 240. Communication assembly 200 further includes a button 232 configured to engage presence sensor switch 230, and a repositioning button 242 configured to engage repositioning sensor switch 240, as discussed below. Communication assembly 200 may further include any number of additional switches and / or sensors, with any number of corresponding buttons, with or without corresponding audio and / or visual user signals (e.g., LED’s, buzzers, or the like), each of which may include or provide different or additional functionality.

[0077] With reference to FIGS. 9A and 10A, a switch protrusion 222 extending from slide 192 of release assembly 190 is configured to selectively engage release assembly sensor switch 220 of control board 210. As slide 192 translates along axis “S” between the first and second positions, corresponding to the locked and unlocked configurations of coupling assembly 120, as discussed above, switch protrusion 222 selectively engages, abuts, depresses, or otherwise closes release assembly sensor switch 220.

[0078] More particularly, with slide 192 in the first position, thus placing coupling assembly 120 in the locked configuration, switch protrusion 222 is in abutment to, and engaged with release assembly sensor switch 220, such that release assembly sensor switch 220 is depressed (FIG. 9A). With switch protrusion 222 engaged with release assembly sensor switch 220, communication assembly 200 provides an indication to work station 1 that coupling assembly 120 is in the locked configuration. Conversely, with slide 192 in the second position, thus placing coupling assembly 120 in the unlocked configuration, switch protrusion 222 is spaced away from, and disengaged with release assembly sensor switch 220, such that release assembly sensor switch 220 is no longer depressed (FIG. 10A). With switch protrusion 222 disengaged with release assembly sensor switch 220, communication assembly 200 provides an indication to work station 1 that coupling assembly 120 is in the unlocked configuration, and thus certain functionality of medical work station 1 may be activated or deactivated.

[0079] With reference to FIGS. 4, 6, 11A-12B, button 232 of communication assembly 200 is configured to selectively engage presence sensor switch 230 of controlboard 210. Buton 232 includes a pivot bore 234, a contact surface 236, and a switch surface 238. Buton 232 is supported by and pivotably coupled to fixed arm 122 of coupling assembly 120 via a pin 233 disposed within pivot bore 234 of buton 232 and a bore 235 defined in support portion 124 of fixed arm 122. Contact surface 236 is received within a cavity 237 of support portion 124 of fixed arm 122, whereby cavity 237 extends through support portion 124 such that contact surface 236 is positionable proximate engagement portion 126 of fixed arm 122. When positioning a surgical port 1000 proximate to and in abutment with fixed arm 122 of coupling assembly 120, the surgical port 1000 is thereby brought into abutment with contact surface 236 of buton 232 of communication assembly 200. Through abutment of surgical port 1000 with respect to inner surface 127 of engagement portion 126 of fixed arm 122 and contact surface 236 of buton 232, buton 232 is caused to pivot, with respect to fixed arm 122, through cavity 237 of support portion 124 of fixed arm 122.

[0080] More particularly, buton 232 is pivotable about pin 233 and bore 235 of fixed arm 122 between a first position (FIGS. 11A and 1 IB) and a second position (FIGS. 12A and 12B). In the first position of buton 232, contact surface 236 of buton 232 is positioned through cavity 237 of fixed arm 122 such that contact surface 236 extends through cavity 237 and past inner surface 127 of engagement portion 126 of fixed arm 122. As such, contact surface 236 protrudes from inner surface 127 of engagement portion 126 of fixed arm 122. In the second position of buton 232, contact surface 236 of buton 232 is positioned within cavity 237 of fixed arm 122, such that contact surface 236 is nearly flush with, or planar to inner surface 127 of engagement portion 126 of fixed arm 122. It should be appreciated that as a surgical port 1000 is brought into approximation with engagement portion 126 of fixed arm 122, and more particularly is brought into abutment with inner surface 127, the surgical port 1000 presses against contact surface 236 such that buton 232 is caused to pivot about pin 233 and bore 235 from the first position (FIG. 11A) towards the second position (FIG. 12A).

[0081] With buton 232 in the first position, switch surface 238 of buton 232 is spaced away from, or disengaged from presence sensor switch 230, such that presence sensor switch 230 is not depressed (FIG. 1 IB). With buton 232 in the first position, and presence sensor switch 230 not depressed, communication assembly 200 provides an indication to work station 1 that there is no surgical port positioned between fixed andmovable arms 122, 132 of coupling assembly 120, and / or that a surgical port is incorrectly positioned therebetween. With button 232 in the second position, switch surface 238 of button 232 engages, abuts, depresses, or otherwise closes presence sensor switch 230 (FIG. 12B). With switch surface 238 of button 232 engaged with presence sensor switch 230, communication assembly 200 provides an indication to work station 1 that a surgical port is positioned proximate to and in abutment with coupling assembly 120.

[0082] By utilizing release assembly sensor switch 220 and presence sensor switch 230 of communication assembly 200, work station 1 may determine the operational status and state of mount assembly 100, and provide such information to a user. As noted above, release assembly sensor switch 220 provides work station 1 an indication regarding the locked and unlocked state of coupling assembly 120 of mount assembly 100. Presence sensor switch 230 provides work station 1 an indication regarding the presence, or absence of a surgical port, with respect to coupling assembly 120 of mount assembly 100, and may further provide an indication of incorrect, partial, or misaligned mounting between the surgical port and the fixed and movable arms 122, 132 of coupling assembly 120. Upon indication from communication assembly 200, work station 1 may determine if a safe operational condition is present and permit, for example, articulation of robot arm 2, actuation of surgical instrument “SI,” and / or other actions performed during a surgical procedure. Conversely, work station 1 may determine if an unsafe operational condition is present and may, for example, inhibit movement of robot arm 2, inhibit continuation of a procedure, prevent actuation or articulation of surgical instrument “SI”, and / or initiate a warning to a user, via audible or visual indicia utilizing operating console 5.

[0083] For example, upon indication from communication assembly 200 that a surgical port is not positioned between coupling assembly 120, via presence sensor switch 230, and coupling assembly 120 is in either the locked or unlocked configuration, via release assembly sensor switch 220, it may be determined that robot arm 2 is not in use and / or is safe to move. Upon indication from communication assembly 200 that a surgical port is positioned between coupling assembly 120, via presence sensor switch 230, and coupling assembly 120 is in the locked configuration, via release assembly sensor switch 220, it may be determined that robot arm 2 is in use, the surgical port is properly engaged with and secured to the coupling assembly 120, and thus, robot arm 2 is ready for the surgical procedure. Further, upon indication from communication assembly 200 that asurgical port is positioned between coupling assembly 120, via presence sensor switch 230, and coupling assembly 120 is in the unlocked configuration, via release assembly sensor switch 220, it may be determined that robot arm 2 is in use, the surgical port may be improperly engaged with the coupling assembly 120, coupling assembly 120 may not be in a fully closed or locked configuration, and thus, robot arm 2 is not ready for the surgical procedure and requires attention prior to proceeding. In such a situation, for example, a warning may be issued to the user, movement of robot arm 2 may be inhibited, or actuation of the surgical instrument “SI” may be forestalled.

[0084] With reference to FIGS. 2, 3, and 4, repositioning sensor switch 240 and repositioning button 242 will be discussed. Repositioning button 242 is disposed in cavity 116 of housing 110 and supported by second half 114 of housing 110. Repositioning button 242 is translatably disposed within a bore 244 defined through first half 112 of housing 110, such that repositioning button 242 may be engaged by a user. Repositioning button 242 translates between a first position, disengaged from reposition sensor switch 240, and a second position, engaged with reposition sensor switch 240. In the second position, reposition button 242 engages, abuts, depresses, or otherwise closes reposition sensor switch 240.

[0085] With reposition button 242 in the second position, and reposition sensor switch 240 depressed, robot arm 2 may be articulated, moved, or otherwise repositioned. More particularly, in the second position of reposition button 242, communication assembly 200 directs the motors and controllers associated with robot arm 2 to accept manual manipulation from a clinician, or automated instructions from work station 1. It is envisioned that as robot arm 2 undergoes manipulation, with reposition button 242 in the second position, robot arm 2 receives electro-mechanical assisted motion, such that repositioning of robot arm 2 may be facilitated. It should be appreciated that with reposition button 242 in the first position, motors and controllers associated with robot arm 2 maintain a stop, hold, or break condition, such that manipulation of robot arm 2 is inhibited.

[0086] In an embodiment, communication assembly 200 may incorporate one or more non-contact sensors, rather than mechanical switches, such as, for example, a proximity sensor, an optical sensor, a hall-effect sensor, a magnetic sensor or magnetic registration, an induction sensor, a Radio-Frequency Identification (“RFID”) sensor,combinations thereof, and the like. In such an embodiment, any one or more of: release assembly sensor switch 220 and switch protrusion 222 of slide 192; presence sensor switch 230 and switch surface 238 of button 232; or repositioning sensor switch 240 and button 242, may be configured for non-contact electrical communication therebetween. Accordingly, rather than engaging, depressing, abutting or otherwise closing a respective release assembly sensor switch 220, presence sensor switch 230, or repositioning sensor switch 240, the respective switch protrusion 222, switch surface 238, or button 242 is merely required to come into close proximity with the respective switch and / or communication assembly 200, whereby communication assembly 200 provides the associated signal to work station 1 and / or robot arm 2.

[0087] With reference to FIGS. 2 and 3, mount assembly 100 may be further configured for a sterile drape 50 to enshroud or enclose a portion thereof, such that a sterile barrier is positioned and maintained between mount assembly 100, coupling assembly 120 associated therewith, and the surgical accessory coupled thereto. Sterile drape 50 is configured to enshroud or enclose all of or a portion of housing 110 of mount assembly 100, and / or all of or a portion of fixed or movable arms 122, 132 of coupling assembly 120. Further, sterile drape 50 may be positioned about mount assembly 100 in either the closed or open configurations of coupling assembly 120. It is envisioned that sterile drape 50 may define a flexible, deformable, or stretchable material, such that during actuation and operation of coupling assembly 120, the structural integrity of sterile drape 50 is maintained, and further, that the actuation and operation of coupling assembly 120 is uninhibited by sterile drape 50. Sterile drape 50 may include any biocompatible material as is known in the art such that a sterile barrier is maintained, and may include, for example, an elastomer, a silicone, a polyethylene, a polyvinylchloride, a polyurethane, a polylactide, combinations thereof, and the like.

[0088] Turning now to FIGS. 13-21, embodiments of surgical ports in accordance with this disclosure will be discussed herein below. It should be appreciated that the following embodiments of surgical ports are compatible with mount assembly 100 and coupling assembly 120. The surgical ports disclosed herein are configured to receive a surgical instrument “SI” therethrough; provide access into a patient cavity through either a natural orifice or an incision in tissue; maintain a fluidic seal between the patient cavity and the external environment, with or without a surgical instrument “SI” disposed throughthe surgical port; redirect and transfer external forces exerted against or upon the surgical instrument “SI” to robot arm 2, via mount assembly 100 resulting from the natural orifice or the surrounding tissue of an incision; increase the load bearing capability upon the surgical port and / or surgical instrument “SI” without compromising the fluidic seal integrity; provide mechanical lead-in for automated insertion of un-supported surgical instruments “SI” therethrough; work collaboratively with surgical drape 50 and the like; provide a minimal footprint to minimize obstruction of the surgical field; and / or provide expeditious coupling and uncoupling to robot arm 2, via mount assembly 100, and the corresponding coupling assembly 120.

[0089] With reference to FIGS. 13-21, an embodiment of a surgical port 1000 includes a seal housing 1100, a seal assembly 1200, a seal cover 1300, a cannula seal 1400, and a cannula assembly 1500. An interior surface of each of seal housing 1100, seal cover 1300, and cannula assembly 1500 define a central lumen 1002 of surgical port 1000. Central lumen 1002 is configured to receive a portion of surgical instrument “SI” therethrough, such that a distal portion of surgical instrument “SI” may access an internal body cavity, as described herein.

[0090] As discussed below, mount assembly 100 is configured to selectively engage with, and affix to a portion of seal housing 1100, such that surgical port 1000 is thereby affixed to mount assembly 100, and thus robot arm 2. Seal housing 1100 is couplable to seal cover 1300 in such a manner that seal assembly 1200 is coupled therebetween. Seal cover 1300 is couplable to cannula assembly 1500 in such a manner that cannula seal 1400 is coupled therebetween.

[0091] With reference to FIGS. 13-15, surgical port 1000 is configured for expeditious and secure fixation with mount assembly 100. More particularly, seal housing 1100 of surgical port 1000 is configured for secure fixation with coupling assembly 120 of mount assembly 100. In an embodiment, seal housing 1100 includes an engagement region 1120 disposed about an external radial surface thereof, where engagement region 1120 includes a plurality of ribs 1122 disposed thereon. Engagement region 1120 is configured to mate with engagement portions 126, 136 of fixed and movable arms 122, 132 of coupling assembly 120. More particularly, engagement region 1120, together with ribs 1122, are configured to correspond to an outer profile of engagement portions 126, 136 of fixed and movable arms 122, 132 of coupling assembly 120 such that abutment andfixation therebetween may be achieved. It should be appreciated that the generally circular cross-sectional profile of engagement region 1120, and the corresponding arcuate profile of fixed and movable arms 122, 132, and first and second arms 310, 312, provide surgical port 1000 with a rotational degree of freedom, about a longitudinal axis defined along central lumen 1002.

[0092] As coupling assembly 120 transitions from the open configuration (FIG. 10A) to the closed configuration (FIGS. 3, 9A, and 15), engagement portions 126, 136 of coupling assembly 120 come into abutment with and clamp about engagement region 1120 of seal housing 1100. A ramped surface 1124 of each respective rib 1122 aids, guides, and directs engagement portions 126, 136 into secure fixation with engagement region 1120 of seal housing 1100. More specifically, ramped surface 1124 provides a lead-in geometry for orientation and alignment during fixation of seal housing 1100 and mount assembly 100. Accordingly, with coupling assembly 120 in the closed configuration, fixed and movable arms 122, 132 of coupling assembly 120 may be accurately aligned with, and securely affixed to, engagement region 1120 of seal housing 1100.

[0093] In further embodiments, seal housing 1100 of surgical port 1000 may include a chamfered surface 1130 disposed along an interior surface 1132 of seal housing 110, whereby interior surface 1132 delineates a proximal portion 1004 of central lumen 1002 of surgical port 1000 from a distal portion thereof. Chamfered surface 1130 is configured to facilitate insertion (e.g., manual and / or automated) of surgical instruments “SI” through central lumen 1002 of surgical port 1000. More particularly, during insertion of surgical instrument “SI” through central lumen 1002 of surgical port 1000, as a distal portion of surgical instrument “SI” approximates seal housing 1100, a distal end of surgical instrument “SI” may come into abutment with, and ride along, chamfered surface 1130. As surgical instrument “SI” rides along chamfered surface 1130, surgical instrument “SI” is directed into and through central lumen 1002, such that chamfered surface 1130 serves as a lead-in geometry to assist and facilitate alignment and orientation of surgical instrument “SI” through central lumen 1002 of surgical port 1000.

[0094] As should be appreciated, with a distal portion 1504 of cannula assembly 1500 positioned within a cavity of a patient, central lumen 1002 of surgical port 1000 creates a pathway for the passage of surgical instruments “SI” therethrough. During sucha procedure, seal assembly 1200 and cannula seal 1400 act as a fluidic seal to maintain the internal pressures of the cavity of a patient. Further still, seal assembly 1200 and cannula seal 1400 are configured as one-way valves of central lumen 1002, such that internal pressure of the cavity is maintained whether a surgical instrument “SI” is positioned within central lumen 1002, or absent therefrom. More particularly, each of seal assembly 1200 and cannula seal 1400 are configured to deform as a surgical instrument “SI” is passed therethrough, and positioned within central lumen 1002, such that each of seal assembly 1200 and cannula seal 1400 create a fluid tight seal about a portion of the surgical instrument “SI”. Seal assembly 1200 and / or cannula seal 1400 may be fabricated from a resilient material, e.g., rubber, where seal assembly 1200 may include one or more layers of resilient material and cannula seal 1400 may generally define a duck bill shape. As discussed further below, surgical port 1000 is configured to create and maintain a robust fluid tight seal within central lumen 1002, between seal assembly 1200 and cannula seal 1400, between seal cover 1300 and cannula assembly 1500, and between a surgical instrument “SI” inserted therein.

[0095] Referring to FIGS. 16-21, mount assembly 100 may further include a means by which surgical port 1000 may freely rotate within coupling assembly 120 of mount assembly 100. The means for rotation may be located on any of surgical port 1000, coupling assembly 120, or sterile drape 50. As shown in FIGS. 16 and 21, surgical port 1000 may rotate about an axis “A-A” corresponding to a central longitudinal axis of surgical port 1000. Providing an additional means of rotation between surgical port 1000 and coupling assembly 120 provides redundant rotation of surgical port 1000 with respect to a patient about a natural orifice or incision in tissue of the patient. Should robot arm 2 or 3, mount assembly 100, or coupling assembly 120 require rotation to accommodate a surgical instrument “SI” through surgical port 1000, using the additional means of rotation, robot arm 2 or 3, mount assembly 100, or coupling assembly 120 may freely rotate about axis “A-A” without causing surgical port 1000 itself to rotate, which may impart friction to the natural orifice or incision in tissue of the patient.

[0096] Turning to FIGS. 16 and 17, a first configuration of mount assembly 100 including an additional means of rotation is shown, including a bearing 500 disposed on surgical port 1000. While the additional means of rotation is described as bearing 500 below, bearing 500 may instead be a ball bearing, a rotary bearing, a needle bearing, asleeve bearing including one or more rotational sleeve layers or journals, a spherical bearing permitting mild levels of angulation, a sliding bearing, a plain bearing, a roller bearing, a simple ring, or any mechanism or structure permitting free rotation of surgical port 1000. Bearing 500 may be included as a part of engagement region 1120 of surgical port 1000, and may be configured to mate with engagement portions 126, 136 of fixed and movable arms 122, 132 of coupling assembly 120. In particular, an outer profile of bearing 500 is configured to correspond to an outer profile of engagement portions 126, 136 of fixed and movable arms 122, 132 such that abutment and fixation therebetween may be achieved. With bearing 500 secured to fixed and movable arms 122, 132 via engagement portions 126, 136, an outside portion of bearing 500 may remain stationary within coupling assembly 120 while an inside portion of bearing 500 may permit rotation of surgical port 1000 within bearing 500 about axis “A-A.”

[0097] Bearing 500 may be disposed on the plurality of ribs 1122 of engagement region 1120 of surgical port 1000. Specifically, bearing 500 may be disposed above the ramped surface 1124 of each respective rib 1122. An inner profile of bearing 500 may abut each rib 1122 of the plurality of ribs 1122. The ramped surface 1124 of each respective rib 1122 may be configured to direct engagement portions 126, 136 into fixation with bearing 500 such that, with coupling assembly 120 in the closed configuration, the fixed and movable arms 122, 132 of coupling assembly 120 may be accurately aligned with, and securely affixed to, bearing 500. In aspects, engagement region 1120 may not include a plurality of ribs 1122 disposed thereon. Instead, bearing 500 may be disposed about engagement region 1120, and bearing 500 may be shaped such that bearing 500 includes a ramped surface configured to direct engagement portions 126, 136 into attachment with bearing 500. Alternatively, engagement region 1120 of surgical port 1000 may be substantially cylindrical, and may not include a ramped surface configured to direct engagement portions 126, 136 into attachment with bearing 500. Lubrication may be applied between bearing 500 and engagement region 1120 to lower friction during rotation about axis “A-A.” It is contemplated that bearing 500 may be removably couplable to surgical port 1000.

[0098] In certain embodiments, sterile drape 50 may enshroud all of or a portion of fixed or movable arms 122, 132 of coupling assembly 120, and therefore may engage with bearing 500 instead of fixed or movable arms 122, 132 alone. A portion of sterile drape 50which shields engagement portions 126, 136 of fixed and movable arms 122, 132, or any other suitable portion of sterile drape 50, may be affixed to bearing 500 such that an outer profile of the portion of sterile drape 50 corresponds to the outer profile of bearing 500. For example, as will be later described with reference to FIG. 20, a fixed arm cover 52 of sterile drape 50 may enclose fixed arm 122, and a movable arm cover 62 of sterile drape 50 may enclose movable arm 132. In particular, engagement portions 54, 64 of sterile drape 50, each of which matches a profile of engagement portions 126, 136 of fixed and movable arms 122, 132, respectively, may therefore couple to bearing 500.

[0099] In further aspects, bearing 500 may include a memory, such as an electrically erasable programmable read-only memory (“EEPROM”), flash memory, or other storage chip or memory package, embedded within or disposed on a surface of bearing 500. The memory of bearing 500 many include identifying information regarding surgical port 1000. A corresponding sensor or reader may be located on any of robot arms 2, 3, in particular, on mount assembly 100 of robot arms 2, 3. The memory and the sensor or reader may communicate to identify a type of surgical port 1000 mounted to mount assembly 100 via coupling assembly 120. The sensor or reader may communicate with work station 1 to relay information identifying surgical port 1000. The sensor or reader may be a part of communication assembly 200, and may communicate that surgical port 1000 includes bearing 500. The memory of bearing 500 and the sensor or reader may communicate via RFID or by any wireless communication method known in the art, such as, for example, BlueTooth, ZigBee, NFC, WiFi, or the like.

[0100] With reference to FIGS. 18 through 21, a second configuration of mount assembly 100 is shown, including an integrated bearing 600 to permit free rotation of surgical port 1000 about axis “A-A.” Integrated bearing 600 includes an integrated groove 610 of surgical port 1000, as well as an integrated bearing ring 620 as a part of sterile drape 50. As shown in FIG. 19, integrated groove 610 may be integral to engagement region 1120 of surgical port 1000, and may include a concave profile to accommodate integrated bearing ring 620 of sterile drape 50, as will be later described. It is contemplated that integrated groove 610 may instead include a convex profile, or any profile shaped to allow rotation of surgical port 1000 while coupled to integrated bearing ring 620. At various locations about engagement region 1120, ramped surfaces 1124 may extend radially outwards from integrated groove 610. The ramped surfaces 1124 areconfigured to aid portions of the sterile drape 50 into engagement with integrated groove 610.

[0101] Turning to FIG. 20, sterile drape or jaw cover 50, including integrated bearing ring 620, is shown. As previously described, fixed arm cover 52 of sterile drape 50 may encompass fixed arm 122 and movable arm cover 62 of sterile drape 50 may enclose movable arm 132. Engagement portion 54 may enclose engagement portion 126 of fixed arm 122, while engagement portion 64 may enclose engagement portion 136 of movable arm 132. Integrated bearing ring 620 may include a first ring portion 620a supported on fixed arm 52, and a second ring portion 620b supported on movable arm 62. In particular, first ring portion 620a may protrude from engagement portion 54 and second ring portion 620b may protrude from engagement portion 64. Integrated bearing ring 620 may be disposed on any portion of sterile drape 50 capable of engaging with integrated groove 610 of surgical port 1000. Integrated bearing ring 620 may be a split bearing or a partial journal bearing ring, split between engagement portions 54 and 64. It is contemplated that integrated bearing ring 620 may be any variety of bearing capable of permitting rotation of surgical port 1000 when integrated bearing ring 620 is in engagement with integrated groove 610. Integrated bearing ring 620 may act as a track or rail about which surgical port 1000 may rotate via integrated groove 610. Integrated bearing ring 620 may be fabricated from a highly lubricious material to permit smooth rotation of surgical port 1000 relative to fixed and movable arms 122, 132. For example, integrated bearing ring 620 may be constructed from nylon, PVC, a low friction polymer or the like, or may include a coating of the same.

[0102] When movable arm 132 is closed around surgical port 1000, thus closing a portion of sterile drape 50 around surgical port 1000, integrated bearing ring 620 may be guided along ramped surfaces 1124 to abut integrated groove 610. An outer profile of integrated bearing ring 620 may correspond to the outer profile of integrated groove 610 such that integrated bearing ring 620 is aligned with integrated groove 610 when coupling assembly 120 is in a fully closed position. In the fully closed position, surgical port 1000 is rotatable within integrated bearing ring 620 via integrated groove 610, and integrated bearing ring 620 retains integrated groove 610, and therefore surgical port 1000, both axially and radially. As noted above, lubrication or similar materials may be applied tointegrated bearing 600, particularly between integrated groove 610 and integrated bearing ring 620, to permit low-friction rotation of surgical instrument 1000 about axis “A-A.”

[0103] While integrated bearing ring 620 is shown and described as a component of sterile drape 50, it is contemplated that integrated bearing ring 620 may instead be included as a part of coupling assembly 120. As shown in FIG. 21, as opposed to protruding from each of engagement portions 54, 64 of sterile drape 50, integrated bearing ring 620 may be partially disposed on each of engagement portions 126, 136 of coupling assembly 120. It is contemplated that integrated bearing ring 620 may instead be disposed on other suitable locations of coupling assembly 120.

[0104] In aspects, integrated bearing 600 may include a memory (EEPROM, flash memory, or other suitable memory type) embedded within or disposed on a portion of integrated bearing 600. The memory may be a part of integrated groove 610, or may be included in integrated bearing ring 620. As earlier described, the memory of integrated bearing ring 620 may include identifying information regarding surgical port 1000, and a sensor or reader configured to communicate with the memory may be located on any of robot arms 2, 3, particularly on mount assembly 100 of robot arms 2, 3. The memory and the sensor or reader may communicate to the type of surgical port 1000 mounted to mount assembly 100, and the sensor or reader may communicate information identifying surgical port 1000 to work station 1. The sensor or reader may be a part of communication assembly 200, and may communicate whether surgical port 1000 includes integrated bearing 600. The memory of integrated bearing 600 and the sensor or reader may communicate via RFID or by any wireless communication method known in the art (BlueTooth, ZigBee, NFC, WiFi, or the like).

[0105] FIG. 21 shows a surgical instrument “SI” advancing toward surgical port 1000. With mounting assembly 100 coupled to surgical port 1000 via integrated bearing 600, mounting assembly may rotate around axis “A-A” as required to permit a portion of surgical instrument “SI” through surgical port 1000. In certain cases, surgical port 1000 may be partially inserted into an incision in tissue of a patient when surgical instrument “SI” is advanced therethrough. Due to redundant rotational motion between integrated bearing 600 and mounting assembly 100, if mounting assembly 100 must rotate, surgical port 1000 is able to remain still within the incision in tissue, thus preventing tissue trauma. In cases in which surgical port 1000 is not anchored within a patient, surgical port 1000may rotate freely about axis “A-A,” for example, in the same or an opposing direction to which mounting assembly 100 may rotate about axis “A-A.”

[0106] Additionally, or alternatively, with reference to FIGS. 16 and 21, surgical port 1000 may include a sleeve 1600 rotatably supported about the distal portion 1504 of cannula assembly 1500 such that sleeve 1600 rotates relative to the distal portion 1504 of cannula assembly 1500 and about a longitudinal axis of the cannula assembly 1500. The sleeve 1600 may include grip enhancing features (e.g., ribs, nubs, teeth, knurling, etc.) projecting radially outward therefrom to increase the friction between the sleeve 1600 and the tissue of a patient when the surgical port 1000 is being used.

[0107] It will be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.

[0108] The following examples are illustrative of the techniques described herein.

[0109] Example 1. A surgical port for use with a robotic system, including: a seal housing having an engagement region disposed about an external radial surface thereof; a bearing disposed on the engagement region of the seal housing and defining a central longitudinal axis therethrough, wherein when the bearing of the surgical port is coupled to the robotic system, the seal housing is rotatable about the central longitudinal axis relative to the robotic system; a seal cover connected to a distal portion of the seal housing; a cannula assembly connected to a distal portion of the seal cover, wherein the surgical port includes a central lumen defined by an inner surface of each of the seal housing, the seal cover, and the cannula assembly; a seal assembly coupled between the seal housing and the seal cover; and a cannula seal coupled between the seal cover and the cannula assembly, the seal assembly and the cannula seal configured to maintain a fluidic seal within the central lumen of the surgical port.

[0110] Example 2. The surgical port according to Example 1, wherein the bearing is at least one of a ball bearing, a rotary bearing, a needle bearing, a sleeve bearing, a spherical bearing, a sliding bearing, a plain bearing, or a roller bearing.

[0111] Example 3. The surgical port according to Example 1, wherein the bearing is coupled around the engagement region of the seal housing such that the seal housing is rotatable within the bearing.

[0112] Example 4. The surgical port according to Example 1, wherein the bearing defines an outer groove extending radially therearound.

[0113] Example 5. The surgical port according to Example 1, wherein the engagement region further includes one or more ribs disposed thereon, wherein each rib of the one or more ribs includes a ramped surface which extends toward the bearing.

[0114] Example 6. The surgical port according to Example 5, wherein the ramped surface of each rib of the one or more ribs is configured to guide a coupling assembly of a robot arm of the robotic system into engagement with the bearing.

[0115] Example 7. The surgical port according to Example 1, wherein the bearing is removably coupled to the surgical port.

[0116] Example 8. The surgical port according to Example 1, wherein an outer surface of the bearing is configured to engage a coupling assembly of a robot arm of the robotic system.

[0117] Example 9. A mount assembly for use with a robotic surgical system, the mount assembly including: a housing configured to couple to a robot arm of a robotic surgical system; and a coupling assembly supported by the housing and including a first arm and a second arm, wherein the first arm includes a first portion of a bearing ring and the second arm includes a second portion of the bearing ring, the coupling assembly transitionable between open and closed configurations, wherein in the open configuration first and second arms pivot into a relatively more spaced apart relation with respect to one another, and in the closed configuration first and second arms pivot into a relatively more approximated relation with respect to one another, wherein in the closed configuration the first and second arms are configured to secure a surgical port to the robot arm.

[0118] Example 10. The mount assembly according to Example 9, wherein the bearing ring is configured to rotationally couple to an outer groove of the surgical port when the coupling assembly is in a closed configuration, and wherein the surgical port is rotatable about a central longitudinal axis of the surgical port when coupled to the bearing ring.

[0119] Example 11. The mount assembly according to Example 9, wherein the coupling assembly further comprises a sterile drape including a first arm cover and a second arm cover, wherein the first arm cover and the second arm cover are configured to enclose at least a portion of each of the first arm and the second arm of the coupling assembly, respectively.

[0120] Example 12. The mount assembly according to Example 11, wherein the first portion of the bearing ring is disposed on the first arm cover of the sterile drape and the second portion of the bearing ring is disposed on the second arm cover of the sterile drape.

[0121] Example 13. The mount assembly according to Example 12, wherein the bearing ring is configured to rotationally couple to an outer groove of the surgical port when the coupling assembly is in a closed configuration, and wherein the surgical port is rotatable about a central longitudinal axis of the surgical port when coupled to the bearing ring.

[0122] Example 14. A robotic surgical system comprising: a surgical port configured to receive a surgical instrument therethrough, the surgical port defining a central longitudinal axis, the surgical port including: a seal housing having an engagement region disposed about an external radial surface thereof; a seal cover connected to a distal portion of the seal housing; a cannula assembly connected to a distal portion of the seal cover, wherein the surgical port includes a central lumen defined by an inner surface of each of the seal housing, the seal cover, and the cannula assembly; a seal assembly coupled between the seal housing and the seal cover; and a cannula seal coupled between the seal cover and the cannula assembly, the seal assembly and the cannula seal configured to maintain a fluidic seal within the central lumen of the surgical port; and a mount assembly configured to couple to a robot arm of the robotic system, the mount assembly including: a housing configured to couple to a robot arm of a robotic system; and a coupling assembly supported by the housing and including a first arm and a second arm, wherein the first arm includes a first portion of a bearing ring and the second arm includes a second portion of the bearing ring, the coupling assembly transitionable between open and closed configurations, wherein in the open configuration first and second arms pivot into a relatively more spaced apart relation with respect to one another, and in the closed configuration first and second arms pivot into a relatively more approximated relation withrespect to one another, wherein in the closed configuration the first and second arms are configured to secure the surgical port to the robot arm such that the surgical port is rotatable within the first and second arms about the central longitudinal axis of the surgical port.

[0123] Example 15. The robotic surgical system according to Example 14, wherein the engagement region of the surgical port further defines an outer groove extending radially therearound.

[0124] Example 16. The robotic surgical system according to Example 15, wherein an outer surface of the bearing ring of the coupling assembly is configured to engage with the outer groove of the surgical port.

[0125] Example 17. The robotic surgical system according to Example 15, wherein the coupling assembly further comprises a sterile drape including a first arm cover and a second arm cover, wherein the first arm cover and the second arm cover are configured to enclose at least a portion of each of the first arm and the second arm of the coupling assembly, respectively.

[0126] Example 18. The robotic surgical system according to Example 17, wherein the first portion of the bearing ring is disposed on the first arm cover of the sterile drape and the second portion of the bearing ring is disposed on the second arm cover of the sterile drape.

[0127] Example 19. The robotic surgical system according to Example 18, wherein an outer surface of the bearing ring is configured to engage with the outer groove of the surgical port.

[0128] Example 20. The robotic surgical system according to Example 15, wherein the engagement region of the surgical port further includes one or more ribs disposed thereon, wherein each rib of the one or more ribs includes a ramped surface which extends toward the outer groove.

Claims

CLAIMS:What is claimed is:

1. A surgical port for use with a robotic system, including: a seal housing having an engagement region disposed about an external radial surface thereof; a bearing disposed on the engagement region of the seal housing and defining a central longitudinal axis therethrough, wherein when the bearing of the surgical port is coupled to the robotic system, the seal housing is rotatable about the central longitudinal axis relative to the robotic system; a seal cover connected to a distal portion of the seal housing; a cannula assembly connected to a distal portion of the seal cover, wherein the surgical port includes a central lumen defined by an inner surface of each of the seal housing, the seal cover, and the cannula assembly; a seal assembly coupled between the seal housing and the seal cover; and a cannula seal coupled between the seal cover and the cannula assembly, the seal assembly and the cannula seal configured to maintain a fluidic seal within the central lumen of the surgical port.

2. The surgical port according to claim 1, wherein the bearing is at least one of a slip ring, a rotary bearing, a sliding bearing, a plain bearing, or a roller bearing.

3. The surgical port according to any of the preceding claims, wherein the bearing is coupled around the engagement region of the seal housing such that the seal housing is rotatable within the bearing.

4. The surgical port according to any of the preceding claims, wherein the bearing defines an outer groove extending radially therearound.

5. The surgical port according to any of the preceding claims, wherein the engagement region further includes one or more ribs disposed thereon, wherein each rib of the one or more ribs includes a ramped surface which extends toward the bearing.

6. The surgical port according to claim 5, wherein the ramped surface of each rib of the one or more ribs is configured to guide a coupling assembly of a robot arm of the robotic system into engagement with the bearing.

7. The surgical port according to any of the preceding claims, wherein the bearing is removably coupled to the surgical port.

8. The surgical port according to any of the preceding claims, wherein an outer surface of the bearing is configured to engage a coupling assembly of a robot arm of the robotic system.

9. A mount assembly for use with a robotic system, the mount assembly including: a housing configured to couple to a robot arm of a robotic system; and a coupling assembly supported by the housing and including a first arm and a second arm, wherein the first arm includes a first portion of a bearing ring and the second arm includes a second portion of the bearing ring, the coupling assembly transitionable between open and closed configurations, wherein in the open configuration first and second arms pivot into a relatively more spaced apart relation with respect to one another, and in the closed configuration first and second arms pivot into a relatively more approximated relation with respect to one another, wherein in the closed configuration the first and second arms are configured to secure a surgical port to the robot arm.

10. The mount assembly according to claim 9, wherein the bearing ring is configured to rotationally couple to an outer groove of the surgical port when the coupling assembly is in a closed configuration, and wherein the surgical port is rotatable about a central longitudinal axis of the surgical port when coupled to the bearing ring.

11. The mount assembly according to any one of claims 9 to 10, the coupling assembly further comprising a sterile drape including a first arm cover and a second arm cover, wherein the first arm cover and the second arm cover are configured to enclose at least a portion of each of the first arm and the second arm of the coupling assembly, respectively.

12. The mount assembly according to claim 11, wherein the first portion of the bearing ring is disposed on the first arm cover of the sterile drape and the second portion of the bearing ring is disposed on the second arm cover of the sterile drape.

13. The mount assembly according to claim 12, wherein the bearing ring is configured to rotationally couple to an outer groove of the surgical port when the coupling assembly is in a closed configuration, and wherein the surgical port is rotatable about a central longitudinal axis of the surgical port when coupled to the bearing ring.

14. A robotic surgical system comprising: a surgical port configured to receive a surgical instrument therethrough, the surgical port defining a central longitudinal axis, the surgical port including: a seal housing having an engagement region disposed about an external radial surface thereof; a seal cover connected to a distal portion of the seal housing; a cannula assembly connected to a distal portion of the seal cover, wherein the surgical port includes a central lumen defined by an inner surface of each of the seal housing, the seal cover, and the cannula assembly; a seal assembly coupled between the seal housing and the seal cover; and a cannula seal coupled between the seal cover and the cannula assembly, the seal assembly and the cannula seal configured to maintain a fluidic seal within the central lumen of the surgical port; and a mount assembly configured to couple to a robot arm of the robotic surgical system, the mount assembly including: a housing configured to couple to a robot arm of a robotic surgical system; and a coupling assembly supported by the housing and including a first arm and a second arm, wherein the first arm includes a first portion of a bearing ring and the second arm includes a second portion of the bearing ring, the coupling assembly transitionable between open and closed configurations, wherein in the open configuration first and second arms pivot into a relatively more spaced apart relation with respect to oneanother, and in the closed configuration first and second arms pivot into a relatively more approximated relation with respect to one another, wherein in the closed configuration the first and second arms are configured to secure the surgical port to the robot arm such that the surgical port is rotatable within the first and second arms about the central longitudinal axis of the surgical port.

15. The robotic surgical system according to claim 14, wherein the engagement region of the surgical port further defines an outer groove extending radially therearound.

16. The robotic surgical system according to any one of claims 13 to 14, wherein an outer surface of the bearing ring of the coupling assembly is configured to engage with the outer groove of the surgical port.

17. The robotic surgical system according to claim 15, wherein the coupling assembly further comprises a sterile drape including a first arm cover and a second arm cover, wherein the first arm cover and the second arm cover are configured to enclose at least a portion of each of the first arm and the second arm of the coupling assembly, respectively.

18. The robotic surgical system according to claim 17, wherein the first portion of the bearing ring is disposed on the first arm cover of the sterile drape and the second portion of the bearing ring is disposed on the second arm cover of the sterile drape.

19. The robotic surgical system according to claim 18, wherein an outer surface of the bearing ring is configured to engage with the outer groove of the surgical port.

20. The robotic surgical system according to claim 15, wherein the engagement region of the surgical port further includes one or more ribs disposed thereon, wherein each rib of the one or more ribs includes a ramped surface which extends toward the outer groove.

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