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WO2009080399A2 - Dispositif chirurgical pour laparoscopie et endoscopie - Google Patents

Dispositif chirurgical pour laparoscopie et endoscopie Download PDF

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Publication number
WO2009080399A2
WO2009080399A2 PCT/EP2008/064982 EP2008064982W WO2009080399A2 WO 2009080399 A2 WO2009080399 A2 WO 2009080399A2 EP 2008064982 W EP2008064982 W EP 2008064982W WO 2009080399 A2 WO2009080399 A2 WO 2009080399A2
Authority
WO
WIPO (PCT)
Prior art keywords
lid
subassembly
surgical device
laparoscopy
closure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2008/064982
Other languages
English (en)
Other versions
WO2009080399A3 (fr
Inventor
Eduardo SÁNCHEZ DE BADAJOZ CHAMORRO
Adolfo JIMÉNEZ GARRIDO
Antonio SIMÓN MATA
Francisco GARCÍA VACAS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2009080399A2 publication Critical patent/WO2009080399A2/fr
Publication of WO2009080399A3 publication Critical patent/WO2009080399A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3498—Valves therefor, e.g. flapper valves, slide valves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B17/3431—Cannulas being collapsible, e.g. made of thin flexible material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00982—General structural features
    • A61B2017/00991—Telescopic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3443—Cannulas with means for adjusting the length of a cannula
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A61B2017/3449—Cannulas used as instrument channel for multiple instruments whereby the instrument channels merge into one single channel
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
    • A61B2017/3466—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals for simultaneous sealing of multiple instruments

Definitions

  • Laparoscopy is one of the endoscopic procedures that has developed the most in the last quarter of the 20th century. This progress has been both at the level of surgical techniques and of materials and technology. It has also prepared the ground for telesurgery and the application of robotics to surgery.
  • laparoscopy derives from its Greek roots “lapara”, which means abdomen, and “skopein", to examine. In the strict sense, it defines a diagnostic procedure by which to examine the intraperitoneal cavity. Currently it is not limited to examination of the abdomen, but is also extended to minimally invasive abdomen surgery performed with the aid of an optical system.
  • the surgical device of this invention is the result of all the work and studies performed for years in the field of endoscopy. It is more than an instrument, since it can be used as a system for the entry of several instruments, including optics, into a single sheath or casing which can in turn adopt many diameters and shapes. It can also be used as a system to open space in order to maintain the surgical field. All this is performed through a mini-incision. Plus it is applicable to all surgical specialities. All these features make the surgical device which is the object of this invention a new concept in minimally invasive surgery.
  • Several laparoscopic or related devices are known in the state of the art, such as those described in documents EP1066798, EP1131009 or EP1248572; however, there are no documents in the state of the art including the features described in the present invention.
  • the present invention relates to a surgical device for laparoscopy and endoscopy comprising the following components:
  • shutoff cock a body, joined to the previous casing, into which a shutoff cock is inserted that allows gas to be supplied in order to provide a suitable atmosphere in the operation area, and tissue separation to be achieved, if necessary
  • the previous lid assembly is formed by three main parts:
  • the inner lid a first part, called the inner lid, which is fitted onto the body
  • the outer lid a second part, called the outer lid, which is mounted onto the previous lid, the union between the inner lid and the outer lid using several screws so that it is removable,
  • each of the subassemblies with double closing systems of the lid assembly is formed by:
  • a guiding body in the shape of a tube with a circular or oval-shaped section that makes up the central part
  • a tubular guide made in a rigid material that provides rigidity to the guiding body of the subassembly with a double closing system and serves as the support for a second closure, for which it has a countersink on one end
  • a second conical closure manufactured in an elastomeric material, that is arranged on the end of the guiding body opposite the first closure, and provides a second seal when an instrument is introduced into the subassembly with a double closing system
  • each subassembly with a double closing system also has a membrane approximately in the central position, with a flange that fits with interference into a housing on the lid assembly, said housing having the shape of a toric cavity.
  • the surgical device for laparoscopy and endoscopy described in the present invention has the tubular casing, with a circular section and a fixed depth of penetration into the tissues.
  • This casing is interchangeable, for which it has a closing joint inside the body of the device that guarantees it to be sealed.
  • the casing of the device is telescopic, having an adjustable depth L formed in this case by two parts that are fixed by means of an elastic ring device.
  • the joining of the lid assembly and the body of the surgical device for laparoscopy and endoscopy described by the present invention is materialized with a fast-action mechanism, preferably using a thread with several entries and actuated by a fraction of a turn, the thread being cut into the body, which together with a nut, which turns free with respect to the lid, forms the joining mechanism.
  • the inner lid and the outer lid of the lid assembly can be joined by a non-removable or semi-removable system of the cliptype.
  • the inner lid and the outer lid of the lid assembly are formed from a single piece.
  • the invention also describes a procedure for the use of the surgical device for laparoscopy and endoscopy described, wherein the operation performed is the following:
  • the incision is performed on the patient and then the casing is introduced together with the body and it is then stitched to the patient's body, - the lid assembly is then coupled to the body with a longitudinal movement and the nut is then screwed onto the body in order to ensure correct assembly and to guarantee the seal,
  • the cock is opened with a turn in order to introduce gas inside the surgical device, - the instruments are introduced through the different subassemblies with double closing systems.
  • Figure 1 shows the appearance of the surgical device in elevation view, plan view and an overview.
  • Figure 2 shows a section of the inside of the surgical device.
  • Figure 3 shows the arrangement of the surgical device during a surgical operation.
  • Figure 4 shows different configurations of the casing.
  • Figure 5 shows an overview of the body and lid subassemblies, assembled (left) or disassembled (right).
  • Figure 6 shows the section of the assembly of the body and lid subassemblies in detail.
  • Figure 7 shows the scanning area of the subassembly with a double closing system, as well as two different configurations regarding the possible number of subassemblies with double closing systems.
  • Figure 8 shows different views of the shape and components forming the subassembly with a double closing system in detail.
  • Figure 9 shows different views of the operation of the subassembly with a double closing system when inserting an instrument.
  • Figure 10 shows, in several images, the sequence of operations to be performed in order to place the surgical device.
  • FIG. 1 and Figure 2 show an overview of the invention.
  • the surgical device has several parts. On the one hand it has the casing (1 ), the purpose of which is to separate the tissues in order to access the surgical field; joined to this casing is the body (5), into which a shutoff cock (2) is inserted that allows supplying gas in order to provide a suitable atmosphere in the operation area, as well as to achieve tissue separation if necessary.
  • the surgical device is attached to the patient via the braces (6), that allow fast disassembly if necessary for cleaning, in the event of an emergency, etc.
  • a lid assembly (4) (or simply a lid (4)) is joined to the body (5), and a series of subassemblies (3) with a double closing system are assembled on said lid (4).
  • the purpose of the subassemblies (3) with double closing systems is to provide support and access to the instruments (8) required to perform the operation (camera (7), forceps, stapling device, etc.), guaranteeing gas sealing as well as the mobility required by said instruments (8).
  • Figure 3 shows the section of the preferred arrangement of the surgical device during an operation.
  • the purpose is to access the surgical field (12), which requires performing a mini-incision on the outer tissue layers (10) and (1 1 ) and introducing the surgical device up to the inner tissue layer (9). Gas is then introduced via the shutoff cock (2) in order to broaden the cavity ( Figures 1 and 2).
  • the camera (7) provides the required vision of the surgical field, and the instruments (8) are those used in the handling required for the operation.
  • Figure 4 shows different configurations of the casing (1 ).
  • the preferred design of the casing (1 ) is tubular with a circular section and a fixed depth L of penetration into the tissues.
  • the casing (1 ) is interchangeable in order to provide the surgical device with great versatility. To this end it has a closing joint (element (24) of Figure 6) inside the body that guarantees the seal; it is therefore assembled by introducing a distance D into the body of the surgical device.
  • the casing is telescopic (top right drawing in Figure 4), formed in this case by two parts (13) and (15) that are fixed by means of an elastic ring device (14); the depth L is therefore adjustable.
  • the shape of the casing section can also vary (oval or other shapes) (16) in order to adapt to the surgical field and therefore reduce the size of the incision.
  • FIG. 5 and Figure 6 show detailed views of the preferred structure of the body (5) and lid (4) subassembly.
  • the first of these parts is the body (5), which is attached to the patient with stitches fastened to the braces (6) and which, together with the lid (17), ensure that it does not move.
  • the shutoff cock (2) is inserted onto the body (5).
  • the surgical device may be extracted immediately at any time by cutting off the stitches.
  • the second part is the lid (4), which is removable from the body (5).
  • the subassemblies (3) with double closing systems are inserted on the lid (4) in order to introduce the instruments (8).
  • the lid (4) and the body (5) are joined by a fast-action mechanism, which can preferably be a thread with several entries and actuated by a fraction of a turn.
  • a thread (19) has thus been cut into the body (5), which together with the nut (18), which turns free with respect to the lid (4), forms the joining mechanism.
  • Any other mechanism is possible, such as a harpoon type or the like, as long as it complies with the requirement of being fast. This allows the establishment of an immediate access for cleaning, an emergency situation, etc.
  • Figure 6 shows a section of the body (5) and the lid (4) that shows the inside of both elements in detail.
  • the radial housings of the joints (23) prevent them from falling accidentally.
  • the lid (4) is formed by three parts.
  • a first part is the inner lid (22) which is fitted onto the body (5).
  • a second part is the outer lid (21 ) which is mounted onto the previous lid.
  • Both parts (22) and (21 ) are perforated to allow the passage of the subassemblies (3) with double closing systems.
  • each perforation creates a housing in the shape of a toric cavity (25) with an approximately circular section that can house and seal the subassemblies (3) with double closing systems. Since these housings are independent they guarantee that when moving any of the instruments (8) this does not affect the position of the adjacent instruments (8).
  • the joining of the inner lid (22) and the outer lid (21 ) is performed with several screws (20), in such a way that everything can be disassembled.
  • the third part is a nut (18) that assembles the lid (4) on the body (5).
  • the inner lid (22) and the outer lid (21 ) can be joined by a non-removable or semi-removable system of the clip type or the like, and they can even form a single piece in the event that they are manufactured by casting procedures.
  • Figure 7 shows the distribution of the subassemblies (3) with double closing systems on the surgical device, allowing several configurations. Said distribution will preferably be with a subassembly (3) in the centre of the lid (4) where the camera (7) will be inserted and several subassemblies (3) around this, in a sufficient number to effectively access and manipulate the surgical field.
  • the subassembly (3) is fixed to the lid (4) by means of a membrane (element (35) of Figure 8) that allows it to move, thus covering the volume (27) defined inside the casing (1 ). Therefore, any instrument (8) has sufficient mobility to access the exploratory field.
  • FIG. 8 shows several views of a detailed representation of the composition of the subassemblies (3).
  • Each subassembly (3) is a double closing system: one is the closure (33) in its inoperative position, and the other is the one formed when the instrument (8) is introduced through the conical closure (30).
  • Each subassembly (3) is formed by four essential components.
  • the central part of each subassembly (3) is the guiding body (31 ), which is basically a tube with a circular section with a membrane (35) approximately in the central position and with one end open and the other end closed, manufactured in elastomeric material.
  • the membrane (35) has a double purpose: on the one hand, it provides each subassembly (3) with sufficient mobility for the instrument (8) introduced therein, and on the other hand and at the same time, it ensures that the gas is sealed inside the surgical device.
  • the membrane (35) has a flange (34) that fits with interference in the housing (25) ( Figure 6) of the lid (4).
  • each subassembly (3) is a tubular guide (29) made in a rigid material, the purpose of which is double: on the one hand, to provide rigidity to the body of each subassembly (3), and on the other hand, to serve as the support for the second closure (30), for which it has a countersink on one end.
  • a third part is a conical closure (30), manufactured in an elastomeric material and arranged on the end of the guiding body (31 ) opposite the closure (33).
  • the conical closure (30) provides a second seal when the instrument (8) is introduced into the subassembly (3), since the first closure (33) opens.
  • the conical shape is necessary to ensure the adaptability of the seal to the different diameters of the instruments (8).
  • each subassembly (3) is a cylindrical tubular ring (28) that adjusts to the inside of the conical closure (30).
  • This ring also has a double purpose: on the one hand to prevent the conical closure (30) from folding upon itself and, on the other hand, to generate an adjustment with interference between the tubular guide (29) and the conical closure (30), that therefore allows them to be assembled to one another.
  • Figure 9 shows, from left to right, the operation sequence of the subassembly (3) when an instrument is introduced therein, like the camera (7), for example.
  • the atmospheric pressure P A that acts on the inside, and on the outside part, inside the surgical device, the pressure of the gas is Pi, where P I >P A -
  • Both pressures have been represented by a series of vectors, where those corresponding to Pi are longer than those for P A for greater clarity.
  • area (37) there is inner pressure Pi on both sides, there is therefore equilibrium and the body of the subassembly (3) does not deform.
  • the groove deforms and generates open areas (43) through which the gas circulates, which increases the pressure inside the subassembly (3). But the gas does not escape outside because it is confined in the area (42) by the second seal, where the difference in pressure between Pi and P A again favours closure.
  • Figure 10 shows the insertion of the surgical device during the operation sequence.
  • a first step the incision is performed on the patient (not shown in the figure), and then the casing (1 ) is introduced together with the body (5), which is then stitched to the patient's skin.
  • the lid (4) is then coupled on the body (5) with a longitudinal movement (44).
  • the nut (18) is then screwed (45) onto the body (5) in order to ensure correct assembly and to guarantee the seal in a second step.
  • the third step consists in opening the cock (2) with a twisting motion (46) in order to introduce gas inside the surgical device.
  • the fourth and final step consists in introducing (47) the instruments (8) and the camera (7) through the subassemblies (3).

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un dispositif chirurgical de laparoscopie et d'endoscopie qui peut être utilisé dans des opérations avec une incision unique. Le dispositif chirurgical comprend un boîtier (1) qui est introduit dans le tissu à travers l'incision, sur lequel un corps (5) est fixé, et sur ce corps (5) un couvercle (4) est fixé sur lequel un nombre variable de sous-ensembles (3) sont insérés, dont l'objectif est de fournir un accès et un support aux instruments (7, 8) requis pour l'opération, en même temps que le système de fermeture garantit la fermeture du système. Il possède un orifice d'entrée du gaz avec un robinet d'arrêt (2) à travers lequel il est possible d'introduire tout gaz requis de manière à fournir une atmosphère adaptée dans la zone de fonctionnement.
PCT/EP2008/064982 2007-12-20 2008-11-05 Dispositif chirurgical pour laparoscopie et endoscopie Ceased WO2009080399A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP200703382 2007-12-20
ES200703382A ES2324267B1 (es) 2007-12-20 2007-12-20 Aparato quirurgico de laparoscopia y endoscopia.

Publications (2)

Publication Number Publication Date
WO2009080399A2 true WO2009080399A2 (fr) 2009-07-02
WO2009080399A3 WO2009080399A3 (fr) 2009-09-11

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Application Number Title Priority Date Filing Date
PCT/EP2008/064982 Ceased WO2009080399A2 (fr) 2007-12-20 2008-11-05 Dispositif chirurgical pour laparoscopie et endoscopie

Country Status (2)

Country Link
ES (1) ES2324267B1 (fr)
WO (1) WO2009080399A2 (fr)

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GB2469083A (en) * 2009-04-01 2010-10-06 Surgical Innovations Ltd Laparoscopic surgical apparatus with ball joint ports
WO2011060054A3 (fr) * 2009-11-13 2011-09-01 Intuitive Surgical Operations, Inc. Elément d'orifice chirurgical
CN102217958A (zh) * 2011-06-09 2011-10-19 张朋飞 单孔腹腔镜用多通道装置
US8465476B2 (en) 2009-09-23 2013-06-18 Intuitive Surgical Operations, Inc. Cannula mounting fixture
CN103300897A (zh) * 2013-06-06 2013-09-18 中国人民解放军南京军区南京总医院 带通气阀的腹腔镜多通道固定支架
US8545515B2 (en) 2009-09-23 2013-10-01 Intuitive Surgical Operations, Inc. Curved cannula surgical system
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
US8888746B2 (en) 2008-03-03 2014-11-18 Covidien Lp Single port device with multi-lumen cap
US9254178B2 (en) 2009-09-23 2016-02-09 Intuitive Surgical Operations, Inc. Curved cannula surgical system
WO2019148346A1 (fr) * 2018-01-31 2019-08-08 三雷斯医疗科技（深圳）有限公司 Système d'accès chirurgical
US10617858B2 (en) 2017-01-24 2020-04-14 Intuitive Surgical Operations, Inc. Surgical port features with electrically conductive portions, related devices, and related methods

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ES2538428B1 (es) * 2013-12-19 2016-04-14 Servicio Andaluz De Salud Dispositivo endoscópico para el abordaje perineal del cáncer de recto

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US9549759B2 (en) 2008-03-03 2017-01-24 Covidien Lp Single port device with multi-lumen cap
US9033928B2 (en) 2008-03-03 2015-05-19 Covidien Lp Single port device with multi-lumen cap
US8888746B2 (en) 2008-03-03 2014-11-18 Covidien Lp Single port device with multi-lumen cap
GB2469083A (en) * 2009-04-01 2010-10-06 Surgical Innovations Ltd Laparoscopic surgical apparatus with ball joint ports
US8545515B2 (en) 2009-09-23 2013-10-01 Intuitive Surgical Operations, Inc. Curved cannula surgical system
US10842579B2 (en) 2009-09-23 2020-11-24 Intuitive Surgical Operations, Inc. Curved cannula surgical system
US8465476B2 (en) 2009-09-23 2013-06-18 Intuitive Surgical Operations, Inc. Cannula mounting fixture
US8551115B2 (en) 2009-09-23 2013-10-08 Intuitive Surgical Operations, Inc. Curved cannula instrument
US8623028B2 (en) 2009-09-23 2014-01-07 Intuitive Surgical Operations, Inc. Surgical port feature
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
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