EP-4734863-A1 - ROUNDED TRIANGULAR CANNULA TROCAR

Abstract

A trocar having three radially-shaped walls and three radially-shaped comers coupling the three radially-shaped walls to form a cannula body of a cannula. Each of the three radially-shaped corners has a radius and the radius may correspond to a radius of a support tube of a camera or instrument for a surgical robotic device. The cannula body of the trocar may receive three support tubes in each of the three radially-shaped corners.

Inventors

• BRETON, Alexander
• COPE, Jason Philip

Assignees

• Vicarious Surgical Inc.

Dates

Publication Date

20260506

Application Date

20240701

Claims (18)

1. 1. A trocar comprising three radially-shaped walls and three radially-shaped corners coupling the three radially-shaped walls to form a cannula body of a cannula.
2. 2. The trocar of claim 1, wherein each of the three radially-shaped walls has a first radius and each of the three radially-shaped comers has a second radius.
3. 3. The trocar of claim 2, wherein the first radius and the second radius reduce pulling of the trocar against an incision.
4. 4. The trocar of claim 1, wherein the cannula further comprises a tapered distal section.
5. 5. The trocar of claim 1, further comprising an obturator having a distal insertion tip, the obturator insertable at least partially within the cannula.
6. 6. The trocar of claim 1, wherein the cannula is configured to receive at least three support tubes extending through the cannula parallel to a longitudinal axis of the cannula, each of the support tubes having a substantially circular cross section.
7. 7. The trocar of claim 6, wherein each of the radially-shaped comers has a radius similar to a radius of one of the support tubes.
8. 8. The trocar of claim 7, wherein the trocar is configured to receive a surgical robotic device component when one or more support tubes is fitted to a respective one or more of the radially-shaped comers.
9. 9. The trocar of claim 1, wherein a first of the radially-shaped comers extends between a first and a second of the three radially-shaped walls, a second of the radially-shaped corners extends between a second and a third of the three radially-shaped walls, and a third of the radially-shaped comers extends between the first and the third of the three radially-shaped walls.
10. 10. The trocar of claim 1, wherein each of the three radially-shaped walls has a radius relative to a central longitudinal axis of the cannula.
11. 11. A surgical robotic system comprising: a robot support system; a camera unit including a camera support tube, a camera connection interface at a first end of the camera support tube, and a camera pill at a second end of the camera support tube opposite the first end of the camera support tube; a first robotic arm including a first robotic arm support tube, a first robotic arm connection interface at a first end of the first robotic arm support tube, and a first end effector at a second end of the camera support tube opposition the first end of the camera support tube; a second robotic arm including a second robotic arm support tube, a second robotic arm connection interface at a first end of the second robotic arm support tube, and a second end effector at a second end of the camera support tube opposition the first end of the camera support tube; and a trocar comprising three radially-shaped walls and three radially-shaped comers coupling the three radially-shaped walls to form a cannula body of a cannula.
12. 12. The surgical robotic system of claim 11, wherein each of the three radially-shaped comers is configured to receive a portion of one of the camera support tube, the first robotic arm support tube, or the second robotic arm support tube.
13. 13. The surgical robotic system of claim 11, wherein the trocar is configured to permit each of the camera pill, the first end effector, and the second end effector to pass through the cannula body of the trocar.
14. 14. The surgical robotic system of claim 12, wherein the cannula body has a size and shape to receive the second end effector while the camera support tube and the first robotic arm support tube are fitted to respective radially-shaped corners.
15. 15. A method for assembling a surgical robotic system to be introduced via a trocar comprising a cannula body having three radially-shaped walls and three radially-shaped comers, the method comprising: feeding a camera pill attached to a camera support tube through the hollow tube; and feeding the camera support tube partially through the cannula body and permitting a section of the camera support tube to rest against a first of the radially-shaped corners.
16. 16. The method of claim 15, further comprising: feeding a first end effector attached to a first robotic arm support tube through the cannula body by passing the first end effector through the cannula body proximate the camera support tube; and feeding the first robotic arm support tube at least partially through the hollow tube and permitting a section of the first robotic arm support tube to rest against a second of the radially-shaped comers.
17. 17. The method of claim 16, further comprising: feeding a second end effector attached to a second robotic arm support tube through the cannula body by passing the second end effector through the tube proximate the camera support tube and the first robotic arm support tube; and feeding the second robotic arm support tube at least partially through the cannula body and permitting a section of the second robotic arm support tube to rest against a third of the radially-shaped corners.
18. 18. The method of claim 15, further comprising inserting the trocar into an incision before feeding any of the camera pill, the first end effector, or the third end effector through the cannula body.

Description

ROUNDED TRIANGULAR CANNULA TROCAR Cross-Reference To Related Application This application claims the benefit of U.S. Provisional Patent Application Serial No. 63/524,439, filed June 30, 2023 and entitled “Rounded Triangular Cannula Trocar,” the contents of which is hereby incorporated by reference in its entirety. Background Surgical robotic systems permit a surgeon (also described herein as an “operator” or a “user”) to perform an operation using robotically-controlled instruments to perform tasks and functions during a surgical procedure. In order to perform the surgical procedure, cameras, instruments, and possibly other portions of the surgical robotic system must be introduced into a body of a patient. The cameras and instruments may be connected to the surgical robotic system through support tubes. In order to introduce the components, a trocar may be used. Generally, a trocar is a sharp-pointed surgical instrument fitted with a cannula and an obturator and used especially to insert the cannula into a body cavity. A cannula is a tube for insertion into a body cavity. The surgeon or another medical provider may make an incision and then insert the trocar and cannula into the incision and into the body cavity. After withdrawal of the obturator, the cannula may provide access to a body cavity for the components of the surgical robotic system. A cannula with a radius that is small may lack sufficient space to receive the cameras, instruments, related support tubes, or other components of the surgical robotic system. A cannula with a radius that is large may require an excessively large incision to introduce the trocar to the body or may apply excessive force to the incision. Summary In one embodiment, the present disclosure is directed to a trocar having three radially- shaped walls and three radially-shaped corners coupling the three radially-shaped walls to form a cannula body of a cannula. Each of the three radially-shaped walls may have a first radius and each of the three radially-shaped comers may have a second radius. The first radius and the second radius may reduce pulling of the trocar against an incision. The cannula may include a tapered distal section. The trocar may include an obturator having a distal insertion tip. The obturator may be insertable at least partially within the cannula. The cannula may be configured to receive at least three support tubes extending through the cannula parallel to a longitudinal axis of the cannula. Each of the support tubes may have a substantially circular cross section. Each of the radially-shaped corners may have a radius similar to a radius of one of the support tubes. The trocar may be configured to receive a surgical robotic device component when one or more support tubes is fitted to a respective one or more of the radially-shaped corners. The trocar may include a trocar cap connected to and substantially concentric with the cannula body, the trocar cap including an aperture connected to an aperture of the cannula body. A first of the radially-shaped corners may extend between a first and a second of the three radially-shaped walls. A second of the radially-shaped comers may extend between a second and a third of the three radially-shaped walls. A third of the radially-shaped corners may extend between the first and the third of the three radially-shaped walls. Each of the three radially-shaped walls may have a radius relative to a central longitudinal axis of the cannula. The present disclosure is also directed to a surgical robotic system including a robot support system; a camera unit including a camera support tube, a camera connection interface at a first end of the camera support tube, and a camera pill at a second end of the camera support tube opposite the first end of the camera support tube. The surgical robotic system may also include a first robotic arm including a first robotic arm support tube. The surgical robotic system may also include a first robotic arm connection interface at a first end of the first robotic arm support tube. The surgical robotic system may also include a first end effector at a second end of the camera support tube opposition the first end of the camera support tube. The surgical robotic system may also include a second robotic arm including a second robotic arm support tube. The surgical robotic system may also include a second robotic arm connection interface at a first end of the second robotic arm support tube. The surgical robotic system may also include a second end effector at a second end of the camera support tube opposition the first end of the camera support tube. The surgical robotic system may also include a trocar including three radially-shaped walls and three radially-shaped comers coupling the three radially-shaped walls to form a cannula body of a cannula. Each of the three radially-shaped comers may be configured to receive a portion of one of the camera support tube, the first robotic arm