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, comprising:
a body defining a region to receive a cannula;
a latch rotatably coupled to the body;
a link rotatably coupled to the body at a first end and slidable along the latch at a second end to rotate the latch from an open position to a closed position in which a latch portion of the latch is disposed within the region;
a lever coupled to the link to cause the link to rotate and the latch to rotate to the open position; and
a gear system including an input gear coupled to the lever and an output gear coupled to the link, wherein the gear system includes a gear ratio greater than 1.
2. The apparatus of claim 1 , wherein the latch includes a recess configured to receive a protrusion disposed on the cannula.
3. The apparatus of claim 1 further comprising a biasing element coupled to the latch to bias the latch to the closed position.
4. The apparatus of claim 3 , wherein the biasing element includes a torsion spring.
5. The apparatus of claim 1 , wherein the latch has a near over-center alignment in the closed position such that the latch resists rotation when a pulling force is exerted on the cannula.
6. The apparatus of claim 1 , wherein the link slides along the latch in a first direction when the latch rotates from the open position to the closed position, and wherein the link slides along the latch in a second direction when the latch rotates from the closed position to the open position.
7. The apparatus of claim 1 , wherein the region includes at least one tapered surface shaped to guide the cannula into the region.
8. The apparatus of claim 1 , wherein the latch includes a magnet.
9. The apparatus of claim 8 further comprising a sensor to detect a location of the magnet.
10. A surgical robotic system, comprising:
an attachment device including
a body defining a region,
a latch rotatably coupled to the body, and
a link rotatably coupled to the body, wherein the link includes a link portion slidable along the latch to rotate the latch from an open position to a closed position in which a latch portion of the latch is disposed within the region;
a lever coupled to the link to cause the link to rotate and the latch to rotate to the open position;
a gear system including an input gear coupled to the lever and an output gear coupled to the link, wherein the gear system includes a gear ratio greater than 1; and
a cannula including a portion shaped to insert into the region.
11. The surgical robotic system of claim 10 , wherein the portion of the cannula includes a protrusion, and wherein the latch includes a recess configured to receive the protrusion.
12. The surgical robotic system of claim 10 further comprising a biasing element coupled to the latch to bias the latch to the closed position.
13. The surgical robotic system of claim 10 , wherein the link portion slides along the latch in a first direction when the latch rotates from the open position to the closed position, and wherein the link portion slides along the latch in a second direction when the latch rotates from the closed position to the open position.
14. The surgical robotic system of claim 10 , wherein the region includes at least one tapered surface shaped to guide the portion of the cannula into the region.
15. A method, comprising:
inserting a portion of a cannula into a region defined by a body of an attachment device; and
rotating a link coupled to the body to cause a latch coupled to the body to rotate from an open position to a closed position in which a latch portion of the latch is disposed within the region, and wherein a lever coupled to the link causes the link to rotate and the latch to rotate to the open position, and a gear system including an input gear is coupled to the lever and an output gear is coupled to the link, wherein the gear system includes a gear ratio greater than 1.
16. The method of claim 15 , wherein a link portion slides along the latch in a first direction when the latch rotates from the open position to the closed position, and wherein the link portion slides along the latch in a second direction when the latch rotates from the closed position to the open position.