公开(公告)号：US09687302B2

公开(公告)日：2017-06-27

申请号：US14149535

申请日：2014-01-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel T. Crews ,  Andrew Crews ,  Edward P. Donlon ,  Craig Gerbi ,  Kenneth L. Gong ,  Karnarnadakala D. Krishnanand ,  Peling Lee ,  Theodore W. Rogers ,  John Ryan Steger ,  Charles E. Swinehart

IPC: A61B17/00 ,  A61B19/00 ,  A61B17/34 ,  A61B34/30 ,  A61B17/29

CPC classification number: A61B34/30 ,  A61B17/3421 ,  A61B2017/00845 ,  A61B2017/2926 ,  Y10T29/49826

Abstract: A surgical apparatus includes a cannula and a surgical instrument. The cannula includes a curved longitudinal axis along at least a portion of its length. The surgical instrument includes an elongated shaft having a distal end and a proximal end, and an end effector coupled to the distal end of the elongated shaft. At least a portion of the end effector is configured to contact an inner surface of the cannula during insertion of the surgical instrument into the curved cannula. A threshold galling stress between the portion of the end effector and an inner surface of the curved cannula is at least 10,000 pounds per square inch.