Actuated cannula seal

摘要

Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

主权项

1. A surgical system, comprising:
a controller; an arm coupled to the controller; a surgical instrument coupled to the arm and controlled by the controller, the surgical instrument including an instrument shaft; cannula, the instrument shaft being received through the cannula; a cannula seal coupled to the cannula, the cannula seal including a base portion that engages with the cannula and a seal portion coupled to the base portion, the seal portion being sized and shaped to slidably engage the instrument shaft; and an actuator coupled to the cannula seal, the actuator being configured to induce continuous rotation of the seal portion relative to the instrument shaft.