Patent ID: 11883066
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 14:
15. An instrument access device of a teleoperated surgical system, the instrument access device comprising:
an envelope comprising a distal opening;
a clamp in the distal opening of the envelope; and
a plurality of ports coupled to the envelope, the plurality of ports being proximal to the clamp and the distal opening of the envelope, each of the plurality of ports including a seal, and each of the seals of the plurality of ports being sized and shaped to seal against an outer surface of a cannula extending through the envelope and to fix a position of the cannula relative to a port of the plurality of ports and the envelope,
wherein on condition that the envelope is pressurized with insufflation gas, the envelope comprises a substantially spherical shape.