公开(公告)号：US20220338901A1

公开(公告)日：2022-10-27

申请号：US17764902

申请日：2020-09-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey R. Roeder ,  Erasmo A. Lopez Calleros

IPC: A61B17/34

Abstract: Disclosed are medical devices for surgical procedures, especially procedures that involve the manipulation of surgical instrument end effectors close to the skin surface at an incision site. In accordance with some embodiments, an instrument access device is configured to couple to a wound retractor at a distal end of the device and to receive a multiple instrument entry guide in a port at the proximal end of the instrument access device, with an envelope between the distal and proximal ends defining a sealed cavity for maintaining insufflation pressure. Various embodiments provide means for rotating an assistant port in the envelope about a port that receives the instrument entry guide without twisting the envelope. Also disclosed are various envelope shapes. Also disclosed is an instrument entry guide that aligns surgical instrument shafts.