Apparatus and method for cannula attachment for surgical robotic systems

摘要

The robotic surgical system can include a cannula attachment or cannula attachment having a locking mechanism configured to pivot between the unlocked position and the locked over-center position. The locking mechanism can actuate a clamp or other feature configured to move between the closed and open positions. The clamp can include a positioning structure having one or more tapered surfaces configured to mate with a corresponding structure disposed on a portion of the cannula when the cannula is positioned within the cannula attachment device. The positioning structure can not only guide the cannula into the attachment device, but can also help orient the cannula relative to the attachment device.