Tools and methods for vaginal access
Trocar components and methods of use are described, wherein the trocar components are configured to provide access to intraperitoneal space via the rectouterine pouch to surgical tools, which optionally include one or more surgical robot members. The surgical tools are optionally 5 mm or more in diameter. In some embodiments, a cannula part has a lumen sized to provide to a plurality of the surgical tools simultaneous transvaginal access to the intraperitoneal space via the rectouterine pouch. In some embodiments, an incision sized to receive a distal aperture of the cannula is created, optionally using one or two dilators. The dilators are sized to create (optionally starting from a puncture by a needle 2 mm in diameter or less) an oblong aperture. In some embodiments, the oblong aperture is at least twice as wide across a long diameter as across a short diameter.
1. A kit for setting a position of a robotic arm system along a longitudinal axis of a cannula inserted to a body orifice, wherein the robotic arm system comprises a motor unit and at least one robotic arm extending, when positioned, distally from the motor unit along the longitudinal axis, the motor unit and the at least one robotic arm extending distally from the motor unit to a predetermined distance from a stopper-receiving portion of the motor unit; the kit comprising:
the cannula, including a cannula body configured for insertion to the body orifice;
a mounting block, configured for attachment to the cannula; and
an assembly attached to the mounting block and comprising a spacing arm and an aligning arm, and movable between a stowed position and a deployed position;
wherein the deployed position of the assembly places elements of the aligning arm where they indicate a predetermined position along the longitudinal axis;
wherein a distal end of the at least one robotic arm aligns with a distal end of the cannula when the at least one robotic arm is inserted to the cannula, and a stopper portion of the aligning arm contacts the stopper-receiving portion of the motor unit to prevent longitudinal advance of the motor unit.
2. The kit of claim 1 , wherein the mounting block attaches to the cannula by connecting to an access device having a lumen sized to fittingly accept the cannula therewithin.
3. The kit of claim 1 , wherein the spacing arm and the aligning arm deploy by hinging around a plurality of stopped hinges, each stopped hinge defining at least a stopped deployed position, and a stopped stowed position.
4. The kit of claim 3 , wherein each stopped hinge comprises a plurality of projections and respective notches; wherein moving said projections out of said respective notches allows said spacing arm to rotate freely.
5. The kit of claim 1 , comprising an arm sheath with a lumen sized to accept the at least one robotic arm, and an outer surface sized to fit within the cannula.
6. The kit of claim 5 , further comprising a gasket attached to a proximal end of said arm sheath, the gasket comprising a fitted hole for said at least one robotic arm to be passed therethrough.
7. The kit of claim 1 , wherein a transverse cross-section of an inner lumen of the cannula transverse to the longitudinal axis of the cannula has a long axis long enough to allow simultaneous insertion of at least two cylindrical members, each at least 8 mm in diameter.
8. The kit of claim 1 , wherein the cannula comprises a distal aperture which is slanted relative to the longitudinal axis of the cannula.
9. The kit of claim 1 , wherein the cannula is constructed from stainless steel.
10. The kit of claim 1 , wherein said cannula is sized for transvaginal insertion.
11. The kit of claim 1 , wherein said spacing arm is telescoping.
12. The kit of claim 11 , comprising a control button for releasing and/or locking of said telescoping spacing arm.
13. A kit for setting a position of a robotic arm system along a longitudinal axis of a cannula inserted to a body orifice, wherein the robotic arm system comprises a motor unit and at least one robotic arm extending, when positioned, distally from the motor unit along the longitudinal axis, the kit comprising:
the cannula, including a cannula body configured for insertion to the body orifice;
a mounting block, configured for attachment to the cannula; and
an assembly attached to the mounting block and comprising a spacing arm and an aligning arm, and movable between a stowed position and a deployed position;
wherein the deployed position of the assembly places elements of the aligning arm where they indicate a predetermined position along the longitudinal axis;
wherein the spacing arm and the aligning arm deploy by hinging around a plurality of stopped hinges, each stopped hinge defining at least a stopped deployed position, and a stopped stowed position; wherein each stopped hinge comprises a plurality of projections and respective notches; wherein moving said projections out of said respective notches allows said spacing arm to rotate freely.
14. The kit of claim 13 , wherein the mounting block attaches to the cannula by connecting to an access device having a lumen sized to fittingly accept the cannula therewithin.
15. The kit of claim 13 , wherein the motor unit and the at least one robotic arm extend distally from the motor unit to a predetermined distance from a stopper-receiving portion of the motor unit;
wherein a distal end of the at least one robotic arm aligns with a distal end of the cannula when the at least one robotic arm is inserted to the cannula, and a stopper portion of the aligning arm contacts the stopper-receiving portion of the motor unit to prevent longitudinal advance of the motor unit.
16. The kit of claim 13 , comprising an arm sheath with a lumen sized to accept the at least one robotic arm, and an outer surface sized to fit within the cannula.
17. The kit of claim 16 , further comprising a gasket attached to a proximal end of said arm sheath, the gasket comprising a fitted hole for said at least one robotic arm to be passed therethrough.
18. The kit of claim 13 , wherein a transverse cross-section of an inner lumen of the cannula transverse to a longitudinal axis of the cannula has a long axis long enough to allow simultaneous insertion of at least two cylindrical members, each at least 8 mm in diameter.
19. The kit of claim 13 , wherein the cannula comprises a distal aperture which is slanted relative to the longitudinal axis of the cannula.
20. The kit of claim 13 , wherein the cannula is constructed from stainless steel.
21. The kit of claim 13 , wherein said cannula is sized for transvaginal insertion.
22. The kit of claim 13 , wherein said spacing arm is telescoping.
23. The kit of claim 22 , comprising a control button for releasing and/or locking of said telescoping spacing arm.