Cannula attachment devices and methods for a surgical robotic system
A robotic surgical system may include a cannula attachment device or cannula mount having a locking mechanism configured to pivot between an unlocked position and a locked over-center position. The locking mechanism may actuate a clamp or other feature that is configured to move between a closed position and an open position. The clamp may include a locating structure with one or more tapered surfaces that is configured to mate with a corresponding structure disposed on a portion of a cannula when the cannula is positioned in the cannula attachment device. The locating structure may guide the cannula into the attachment device, as well as assist with orientating the cannula relative to the attachment device.
1. An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising:
a support;
a first clamp component configured to pivot between an open position and a closed position;
a second clamp component spaced from the first clamp component, the first and second clamp components defining a region configured to receive a portion of the cannula, the first and second clamp components configured to retain the portion of the cannula in the region when the first clamp component is in the closed position;
a locking component pivotably coupled to the support and slidably coupled to the first clamp component, wherein the locking component is configured to pivot at the support to slide a portion of the locking component along the first clamp component from an unlocked position to a locked position; and
a locating structure disposed on at least one of the first clamp component and the second clamp component configured to mate with a corresponding structure disposed on the portion of the cannula.
2. The apparatus of claim 1 , further comprising a sterile barrier configured to separate the first and second clamp components from the cannula when the portion of the cannula is received in the region.
3. The apparatus of claim 1 , wherein the locked position is a locked over-center position in which the portion of the locking component is on an opposite side of a dead-center position from when the locking component is in the unlocked position.
4. The apparatus of claim 3 , wherein the locking component is configured to lock the first clamp component in the closed position when the locking component is in the locked over-center position.
5. The apparatus of claim 3 , wherein the first clamp component has a slot formed therein, the slot extending along a partial length of the first clamp component.
6. The apparatus of claim 5 , wherein the locking component includes a first end and a second end, the first end including the portion of the locking component movable along a length of the slot formed in the first clamp component, the second end configured to be moved to pivot the locking component between the unlocked position and the locked over-center position.
7. The apparatus of claim 6 , wherein the portion of the locking component moves in a first direction along the slot when the locking component pivots from the unlocked position to the locked over-center position, and wherein the portion of the locking component moves in a second direction along the slot opposite to the first direction when the locking component pivots from the locked over-center position to the unlocked position.
8. The apparatus of claim 1 , wherein the locating structure includes at least one tapered surface configured to guide the portion of the cannula into the region between the first and second clamp components in a predefined orientation relative to the first and second clamp components.
9. The apparatus of claim 8 , wherein the locating structure is configured to latch into the structure disposed on the portion of the cannula and retain the portion of the cannula within the region defined by the first and second clamp components when the first clamp component is in the closed position.
10. The apparatus of claim 8 , wherein the locating structure includes two tapered surfaces forming a triangular protrusion.
11. The apparatus of claim 1 , wherein the locating structure is frusto-pyramidal.
12. The apparatus of claim 1 , further comprising a spring configured to bias the first clamp component in the closed position.
13. The apparatus of claim 1 , wherein the support is further coupled to the second clamp component.
14. A method, comprising:
positioning a locking component of an attachment apparatus for a cannula in an unlocked position, wherein the locking component is pivotably coupled to a support and slidably coupled to a first clamp component and configured to pivot the first clamp component between an open position and a closed position, and wherein the first clamp component is positioned in the open position when the locking component is positioned in the unlocked position;
inserting a portion of the cannula into a region between the first clamp component and a second clamp component; and
pivoting the locking component at the support to slide a portion of the locking component along the first clamp component from the unlocked position to a locked position to pivot the first clamp component to the closed position, the first and second clamp components configured to retain the portion of the cannula in the region when the first clamp component is in the closed position.
15. The method of claim 14 , wherein the locked position is a locked over-center position.
16. The method of claim 15 , wherein the locking component is biased toward the locked over-center position when the locking component is in the locked over-center position.
17. The method of claim 15 , wherein the locking component includes a first end and a second end, the first end including the portion of the locking component movable along a length of a slot formed in the first clamp component, the second end configured to be moved to pivot the locking component between the unlocked position and the locked position.
18. The method of claim 17 , wherein the portion of the locking component moves in a first direction along the slot when the locking component pivots from the unlocked position to the locked position, and wherein the portion of the locking component moves in a second direction along the slot opposite to the first direction when the locking component pivots from the locked position to the unlocked position.
19. The method of claim 14 , wherein the cannula is inserted into the region in a predefined orientation in which a locating structure disposed on at least one of the first clamp component and the second clamp component mates with a corresponding structure disposed on the portion of the cannula.
20. The method of claim 19 , wherein the locating structure includes a first tapered surface and a second tapered surface, the first and the second tapered surfaces forming a triangular protrusion, and wherein the triangular protrusion is configured to latch into the portion of the cannula and retain the portion of the cannula within the region defined by the first and second clamp components when the first clamp component is in the closed position.