Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure describes cannula devices for use with computer-assisted teleoperated surgery systems. The cannula devices can facilitate enlargement of a minimally invasive surgical workspace by creating a tissue tent. The devices and methods described herein can be used in conjunction with computer-assisted teleoperated surgery systems that use either hardware-constrained remote centers of motion or software-constrained remote centers of motion.

A surgical device that provides a suction force against a patient's body. The device includes a handle and a suction head pivotally attached to the handle. The suction head includes an open-ended suction chamber having a rim positioned to engage the patient's skin. An actuator on the handle operates a pump to draw a negative pressure in the suction chamber, causing the rim to seal against the patient's skin via the suction force. Once the suction force is initiated, the user may lift the handle away from the patient's body to lift tissue. The lifted tissue provides a site for insertion of a trocar or Veress needle for a laparoscopic procedure in some embodiments. A gimbal disposed between the handle and the suction head provides at least two degrees of freedom such that the handle can be rotated and pivoted to optimize the direction of applied lifting force.

A system and method for performing surgical procedures within a body cavity, e.g. abdomen, uses a magnetized device is utilized to allow a surgeon to control intra-abdominal organs and objects. The system and method allows a surgeon to perform an intra-abdominal procedure without the need to position surgical tools inside of the body cavity. Additional surgical ports are not necessary as the magnetized device allows the surgeon to retract or position various objects within the abdomen.

The various embodiments disclosed herein relate to procedural space maintenance devices, medical device positioning devices, and devices that provide both procedural space maintenance and device positioning. Further embodiments relate to medical device insertion and/or retraction devices.

Methods for protecting a peritoneum or other tissue during a surgical procedure are disclosed. In some embodiments, a protective lining is applied to the peritoneum or other tissue before an active surgical intervention, such as before tissue dissection, tissue approximation, and/or other surgical act. In some embodiments, the protective lining includes a protective film applied to the peritoneum or other tissue via a delivery balloon or via a spray instrument.

A surgical device that provides a suction force against a patient's body. The device includes a stem having a proximate end and a distal end, the stem disposed about a channel, a suction head extending from the stem and defining a suction chamber in fluid communication with the channel, the suction head having a contact surface, and an articulating joint disposed between the contact surface of the suction head and the distal end of the stem. The articulating joint may be an annular joint and a living hinge. The surgical device may also include a handle disposed about the channel directly or may be disposed about the stem which is disposed about the channel. The handle may include a plurality of ribs extending outward which form a profile matching a profile of a user's hand.

A computer-assisted system includes a manipulator assembly configured to couple to a cannula at a distal portion of the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. A cannula axis is aligned with the cannula when the cannula is coupled to the manipulator assembly. An instrument axis is aligned with the instrument when the instrument is coupled to the manipulator assembly. A controller coupled to the manipulator assembly is configured to receive an indication to reposition a remote center of motion (RCM) for the manipulator assembly while the RCM is positioned at a first location relative to the distal portion along an axis, wherein the axis is aligned with the cannula axis or the instrument axis; and in response to receiving the indication, cause the RCM to be positioned at a second location relative to the distal portion along the axis.

A trocar set includes a handle portion, a first sleeve, a second sleeve, and a gasbag. The handle portion includes a grip, a connection part, and a first gas valve. The connection part extends from the grip and includes an assembling channel. The first gas valve is connected to the connection part and communicates with the assembling channel. An assembling end of the first sleeve is assembled to the connection portion. A sleeving end of the first sleeve is provided with a first opening. The second sleeve is retractably connected to the sleeving end of the first sleeve. A sleeve wall of the second sleeve is provided with a second opening. The gasbag is connected to an end of the second sleeve away from the sleeving end and corresponds to the second opening. The design of the retractable sleeves is benefit to perform operation.

A trocar set includes a handle portion, a first sleeve, a second sleeve, and a gas tight assembly. The handle portion includes a grip, a connection part, and a second gas valve. The connection part extends from the grip and includes an assembling channel. The second gas valve is connected to the connection part and communicates with the assembling channel. An assembling end of the first sleeve is assembled to the connection part. The second sleeve includes a receiving end, wherein the sleeving end is inserted into the receiving end. The gas tight assembly is fixed to the second sleeve and includes a gas tight sleeve and a gas tight ring. The gas tight sleeve encloses the receiving end, and the gas tight ring is pressed by the gas tight sleeve to be tightly attached to the first sleeve.

A surgical instrument includes a housing, a shaft, an end effector, and a cleaning assembly. The housing includes a proximal face. The shaft extends distally from the housing and defines a channel. The end effector is disposed adjacent a distal end of the shaft and is configured to manipulate tissue. The cleaning assembly is disposed at least partially within the housing and defines a fluid path extending between the proximal face of the housing and the channel of the shaft.