Patent Description:
The disclosure relates generally to surgical devices. More specifically, the disclosure relates to surgical devices with a seal assembly to limit the amount of debris that can enter the surgical device during use.

Surgical instruments including powered devices for use in surgical procedures are known. To permit reuse of the handle assemblies of these surgical instruments and so that the handle assembly may be used with a variety of end effectors, adapter assemblies and extension assemblies have been developed for selective attachment to the handle assemblies and to a variety of end effectors. Additionally, following use, the adapter, end effector and/or extension assemblies may be thoroughly cleaned and/or sterilized for reuse. A surgical device with a seal assembly may be helpful to limit the debris that enters the surgical device during use, and thereby facilitate cleaning of the surgical device.

<CIT> relates to reusable surgical devices which comprise sealing means to facilitate thoroughly cleaning of the surgical devices.

<CIT> forms prior art according to Art. <NUM>(<NUM>) EPC and relates to surgical stapling devices and reload assemblies for surgical stapling devices that include a sealed configuration.

The disclosure relates to a surgical device including a handle assembly, an elongated portion configured to extend distally from the handle assembly and including an outer sleeve, an outer band assembly, an inner band assembly, a trocar assembly, and a seal assembly. At least a portion of the outer band assembly is disposed radially within the outer sleeve. At least a portion of the inner band assembly is disposed radially within the outer band assembly. The trocar assembly includes a trocar member. At least a portion of the trocar assembly is disposed radially within the inner band assembly. The seal assembly includes a first annular seal and a second annular seal. The first annular seal is disposed radially inward of the outer sleeve and radially outward of the outer band assembly. The second annular seal is disposed radially inward of the outer band assembly and radially outward of the inner band assembly.

In aspects, the seal assembly includes a third annular seal disposed radially inward of the inner band assembly and radially outward of the trocar member of the trocar assembly.

In aspects, the outer band assembly is longitudinally translatable relative to the outer sleeve of the elongated portion, and that the inner band assembly is longitudinally translatable relative to the outer band assembly and relative to the outer sleeve of the elongated portion. Further, in aspects, the inner band assembly is longitudinally translatable relative to the trocar member of the trocar assembly. In aspects, longitudinal movement of the outer band assembly relative to the outer sleeve of the elongated portion causes a corresponding longitudinal movement of the second annular seal relative to the outer sleeve.

Additionally, in aspects, the second annular seal is longitudinally translatable relative to the outer sleeve.

In aspects, the surgical device includes an end effector configured to operatively engage a distal portion of the elongated portion, and the end effector is configured to house fasteners therein. In aspects, that longitudinal movement of the outer band assembly relative to the outer sleeve of the elongated portion causes fasteners to be ejected from the end effector. In aspects, longitudinal movement of the inner band assembly relative to the outer sleeve of the elongated portion causes longitudinal movement of a knife of the end effector. In aspects, the end effector includes a cartridge assembly and an anvil assembly, and that longitudinal movement of a portion of the trocar assembly relative to the outer sleeve of the elongated portion causes longitudinal movement of the anvil assembly relative to the cartridge assembly.

In aspects, the first annular seal is between about <NUM> and about <NUM> from a distal-most end of the elongated portion, the second annular seal is between about <NUM> and about <NUM> from the distal-most end of the elongated portion, and the third annular seal is between about <NUM> and about <NUM> from the distal-most end of the elongated portion.

In aspects, the second annular seal is disposed at least partially within a recess of the outer band assembly. In further aspects, the third annular seal is disposed at least partially within a recess of the trocar member.

The disclosure also relates to a surgical device including an elongated portion having an outer sleeve, an outer band assembly, an inner band assembly, a trocar assembly, a seal assembly, and an end effector. The outer band assembly includes a first band and a second band, and at least a portion of the outer band assembly is disposed radially within the outer sleeve. The inner band assembly includes a first band and a second band, and at least a portion of the inner band assembly is disposed radially within the outer band assembly. The trocar assembly includes a trocar member, and at least a portion of the trocar assembly is disposed radially within the inner band assembly. The seal assembly includes a first seal, a second seal, and a third seal. The first seal is disposed radially inward of the outer sleeve and radially outward of the first band and the second band of the outer band assembly. The second seal is disposed radially inward of the first band and the second band of the outer band assembly and radially outward of the first band and the second band of the inner band assembly. The third seal is disposed radially inward of the first band and the second band of the inner band assembly and radially outward of the trocar member of the trocar assembly. The end effector is configured to operatively engage a distal portion of the elongated portion, and is configured to house fasteners therein. Distal movement of the outer band assembly relative to the outer sleeve causes fasteners to be ejected from the end effector, and distal movement of the inner band assembly relative to the outer sleeve causes distal movement of a knife of the end effector.

In aspects, the first seal is between about <NUM> and about <NUM> from a distal-most end of the elongated portion, the second seal is between about <NUM> and about <NUM> from the distal-most end of the elongated portion, and the third seal is between about <NUM> and about <NUM> from the distal-most end of the elongated portion.

In aspects, distal movement of the outer band assembly relative to the outer sleeve of the elongated portion causes a corresponding distal movement of the second seal relative to the outer sleeve.

Aspects of the disclosure are described herein with reference to the accompanying drawings, wherein:.

Aspects of the disclosed surgical device with a seal assembly are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term "distal" refers to that portion of the seal assembly or surgical device, or component thereof, farther from the user, while the term "proximal" refers to that portion of the seal assembly or surgical device, or component thereof, closer to the user.

With reference to <FIG>, an adapter assembly in accordance with an aspect of the disclosure, shown generally as adapter assembly <NUM>, and an extension assembly according to an aspect of the disclosure, shown generally as extension assembly <NUM>, are configured for selective connection to a powered handheld electromechanical instrument shown, generally as surgical device <NUM>. As illustrated in <FIG>, surgical device <NUM> is configured for selective connection with adapter assembly <NUM>, and, in turn, adapter assembly <NUM> is configured for selective connection with an extension assembly <NUM>. Extension assembly <NUM> is configured for selective connection with a tool assembly or end effector, e.g. tool assembly <NUM> (<FIG>), including a loading unit, e.g. loading unit <NUM> (<FIG>), and an anvil assembly, e.g., anvil assembly <NUM> (<FIG>), for applying a circular array of staples (not shown) to tissue (not shown).

As illustrated in <FIG> and <FIG>, surgical device <NUM> includes a handle housing <NUM> having a lower housing portion <NUM>, an intermediate housing portion <NUM> extending from and/or supported on lower housing portion <NUM>, and an upper housing portion <NUM> extending from and/or supported on intermediate housing portion <NUM>. A distal half-section of upper housing portion <NUM> defines a nose or connecting portion 18a configured to accept a corresponding drive coupling assembly <NUM> (<FIG>) of adapter assembly <NUM>. For a detailed description of the structure and function of an exemplary electromechanical instrument, please refer to commonly owned <CIT>.

Adapter assembly <NUM> will now be described with reference to <FIG>. Referring initially to <FIG>, adapter assembly <NUM> includes a proximal end <NUM> configured for operable connection to connecting portion 18a (<FIG>) of surgical device <NUM> (<FIG>) and a distal end <NUM> configured for operable connection to extension assembly <NUM> (<FIG>). In accordance with the disclosure, adapter assembly <NUM> may be substantially or fully rigid along the entire length.

With specific reference to <FIG>, from proximal end <NUM> to distal end <NUM> of adapter assembly <NUM>, adapter assembly <NUM> includes drive coupling assembly <NUM>, a drive transfer assembly <NUM> operably connected to drive coupling assembly <NUM>, a first pusher assembly <NUM> operably connected to drive transfer assembly <NUM>, and a second pusher assembly <NUM> operably connected to drive transfer assembly <NUM>. Each of drive transfer assembly <NUM>, first pusher assembly <NUM> and second pusher assembly <NUM> are operably maintained within an outer sleeve <NUM> (<FIG>). A shaft <NUM> (<FIG>) extends longitudinally through adapter assembly <NUM> and is operably connected to drive transfer assembly <NUM>.

Turning now to <FIG>, extension assembly <NUM> for operably connecting adapter assembly <NUM> (<FIG>) with a circular loading unit, e.g. loading unit <NUM> (<FIG>) and an anvil assembly, e.g., anvil assembly <NUM> (<FIG>) will be described. In particular, a proximal end <NUM> of extension assembly <NUM> operably connects with distal end <NUM> (<FIG>) of adapter assembly <NUM> (<FIG>). A distal end <NUM> of extension assembly <NUM> operably connects with loading unit <NUM> and anvil assembly <NUM>. As shown, extension assembly <NUM> provides a slight curvature between the proximal end <NUM> and the distal end <NUM>. In an alternative aspect, extension assembly <NUM> may be straight or may include a greater or smaller curvature. In accordance with the disclosure, extension assembly <NUM> may be substantially or fully rigid along its entire length.

Although extension assembly <NUM> will be shown and described as being used to connect loading unit <NUM> and anvil assembly <NUM> to adapter assembly <NUM> (<FIG>), it is envisioned that the aspects of the disclosure may be modified for use with various loading units, anvil assemblies, and adapter assemblies. Exemplary loading units and anvil assemblies are described in commonly-owned <CIT>,<CIT>, <CIT>. Additional exemplary surgical devices including flexible band assemblies are described in commonly-owned <CIT> (now <CIT>).

Extension assembly <NUM> includes an inner flexible band assembly <NUM> (<FIG>), an outer flexible band assembly <NUM> (<FIG>) slidably disposed about inner flexible band assembly <NUM>, a frame assembly <NUM> (<FIG>) for supporting inner and outer flexible band assemblies <NUM>, <NUM>, and a trocar assembly <NUM> (<FIG>) operably received through inner and outer flexible band assemblies <NUM>, <NUM>. An outer sleeve <NUM> (<FIG>) is received about frame assembly <NUM> and trocar assembly <NUM>, and inner and outer flexible band assemblies <NUM>, <NUM>, respectively, are slidably received through outer sleeve <NUM>. Extension assembly <NUM> may include a drive shaft <NUM> (<FIG>) operably connected to trocar assembly <NUM> and extending through proximal end <NUM> of extension assembly <NUM>.

With reference to <FIG>, inner flexible band assembly <NUM> includes first and second inner flexible bands <NUM>, <NUM>, a support ring <NUM>, a support base <NUM>, and first and second connection extensions <NUM>, <NUM>. Proximal ends 212a, 214a of respective first and second inner flexible bands <NUM>, <NUM> are laterally spaced apart and securely attached to support ring <NUM>. Distal ends 212b, 214b of first and second inner flexible bands <NUM>, <NUM> are laterally spaced apart and securely attached to a proximal end 218a of support base <NUM>. Each of first and second inner flexible bands <NUM>, <NUM> may be attached to support ring <NUM> and/or support base <NUM> in any suitable manner, including, for example, by press-fitting, welding, adhesives, and/or with mechanical fasteners. Inner flexible band assembly <NUM> is configured to be slidably received about trocar assembly <NUM> (<FIG>) and within outer flexible band assembly <NUM> (<FIG>) and outer sleeve <NUM> (<FIG>).

With reference now to <FIG>, outer flexible band assembly <NUM> is substantially similar to inner flexible band assembly <NUM> and includes first and second flexible bands <NUM>, <NUM> laterally spaced and connected on proximal ends 232a, 234a to a support ring <NUM> and on distal ends 234b, 234b to a proximal end 238a of a support base <NUM>. Each of first and second outer flexible bands <NUM>, <NUM> may be attached to support ring <NUM> and support base <NUM> in any suitable manner, including, for example, by press-fitting, welding, adhesives, and/or with mechanical fasteners. Outer flexible band assembly <NUM> is configured to receive trocar assembly <NUM> (<FIG>) therethrough.

First and second connection extensions <NUM>, <NUM> of outer flexible band assembly <NUM> extend proximally from support ring <NUM> and operably connect outer flexible band assembly <NUM> with a pusher member of the first pusher assembly <NUM> (<FIG>) of adapter assembly <NUM> (<FIG> and <FIG>). First and second connection extensions <NUM>, <NUM> may be integrally formed with support ring <NUM>, or attached thereto in any suitable manner.

With reference to <FIG>, trocar assembly <NUM> of extension assembly <NUM> includes an outer housing <NUM>, a trocar member <NUM> slidably disposed within tubular outer housing <NUM>, and a drive screw <NUM> operably received within trocar member <NUM> for axially moving trocar member <NUM> relative to outer housing <NUM>. In particular, trocar member <NUM> includes a proximal end 274a having an inner threaded portion <NUM> which engages a threaded distal portion 276b of drive screw <NUM>. As drive screw <NUM> is rotated within trocar member <NUM>, engagement between inner threaded portion <NUM> of trocar member <NUM> and threaded distal portion 276b of drive screw <NUM> causes longitudinal movement of trocar member <NUM> relative to the outer housing <NUM> of trocar assembly <NUM>. Rotation of drive screw <NUM> in a first direction causes distal advancement of trocar member <NUM> and rotation of drive screw <NUM> in a second direction causes proximal retraction of trocar member <NUM>. A distal end 274b of trocar member <NUM> is configured to selectively engage anvil assembly <NUM> (<FIG>).

After extension assembly <NUM> is operably engaged with adapter assembly <NUM>, and adapter assembly <NUM> is operably engaged with surgical device <NUM> (<FIG>), loading unit <NUM> (<FIG>) of end effector <NUM> (<FIG>) may be attached to extension assembly <NUM> and an anvil assembly <NUM> (<FIG>) may be attached to or engaged with a distal end 274b of trocar member <NUM> of extension assembly <NUM> in a conventional manner. During actuation of loading unit <NUM> and anvil assembly <NUM>, longitudinal advancement of a pusher member of second pusher assembly <NUM> of adapter assembly <NUM>, as described above, and as indicated by arrows "C" in <FIG>, causes longitudinal advancement of outer flexible band assembly <NUM> of extension assembly <NUM>. Longitudinal advancement of the pusher member of the first pusher assembly <NUM>, and as indicated by arrows "D" in <FIG>, causes longitudinal advancement of inner flexible band assembly <NUM>. Rotation of drive shaft <NUM> in a first direction, and as indicated by arrow "E" in <FIG>, causes advancement of the trocar member <NUM> of extension assembly <NUM>. Conversely, proximal retraction of the pusher member of the second pusher assembly <NUM> causes proximal retraction of outer flexible band assembly <NUM>, and proximal retraction of the pusher member of the first pusher assembly <NUM> causes proximal retraction of inner flexible band assembly <NUM>. Additionally, rotation of drive shaft <NUM> in a second direction causes retraction of the trocar member <NUM> of extension assembly <NUM>.

Inner flexible band assembly <NUM> is operably connected to a knife assembly (not show) of loading unit <NUM> of end effector <NUM> (<FIG>), outer flexible band assembly <NUM> is operably connected to a staple driver assembly (not shown) of loading unit <NUM>, and trocar member <NUM> is operably connected to anvil assembly <NUM> of end effector <NUM> (<FIG>). In this manner, longitudinal movement of inner flexible band assembly <NUM> causes longitudinal movement of the knife assembly (e.g., to cut tissue), longitudinal movement of outer flexible band assembly <NUM> causes longitudinal movement of the staple driver assembly (e.g., to emplace fasteners into tissue), and longitudinal movement of trocar member <NUM> causes longitudinal movement of anvil assembly <NUM> relative to loading unit <NUM> (e.g., to grasp tissue therebetween).

Referring now to <FIG>, a seal assembly <NUM> for use with surgical device <NUM>, adapter assembly <NUM>, and/or extension assembly <NUM> of the disclosure is shown. Seal assembly <NUM> is configured to facilitate thoroughly cleaning debris (e.g., surgical debris) from surgical device <NUM> following use, prior to use, and/or prior to reuse, for instance. Further, seal assembly <NUM> is configured to prevent or minimize fluid, soil and debris from travelling proximally beyond the seal assembly <NUM> after the fluid, soil and debris has entered the surgical device <NUM> from at or near a distal end thereof. That is, since the seal assembly <NUM> is located relatively close to the distal end of the surgical device <NUM>, the area of the surgical device <NUM> (e.g., within the outer sleeve <NUM>) that is exposed to fluid, soil and debris is relatively small and easily cleaned. Additionally, while seal assembly <NUM> is shown and described for use a particular type of surgical device <NUM>, seal assembly <NUM> is usable with various types of surgical instruments (e.g., reusable) where cleaning and/or sterilization may be desired.

Seal assembly <NUM> includes a first seal <NUM>, a second seal <NUM>, and a third seal <NUM>. The first seal <NUM> is an annular seal and is positioned between the outer sleeve <NUM> and the outer flexible band assembly <NUM>, and is configured to hinder or prevent fluid from travelling between the outer sleeve <NUM> and the outer flexible band assembly <NUM> to a location that is proximal of the first seal <NUM>. More particularly the first seal <NUM> is positioned radially inwardly of the outer sleeve <NUM> (or portions thereof), and radially outwardly of the outer flexible band assembly <NUM> (or portions thereof) of the extension assembly <NUM>. Further the outer sleeve <NUM> includes a recess or notch 106a therein configured to help prevent the first seal <NUM> from moving distally relative to the outer sleeve <NUM>.

The second seal <NUM> of the seal assembly <NUM> is positioned between the outer flexible band assembly <NUM> of the extension assembly <NUM>, and the inner flexible band assembly <NUM> of the extension assembly <NUM>, and is configured to hinder or prevent fluid from travelling between the inner flexible band assembly <NUM> and the outer flexible band assembly <NUM> to a location that is proximal of the second seal <NUM>. More particularly the second seal <NUM> is positioned radially inwardly of the outer flexible band assembly <NUM>, and radially outwardly of the inner flexible band assembly <NUM>. Further the outer flexible band assembly <NUM> includes a recess 230a therein configured to retain the second seal <NUM> at least partially therein in response to movement between the inner flexible band assembly <NUM> and the outer flexible band assembly <NUM>.

The third seal <NUM> of the seal assembly <NUM> is positioned between the inner flexible band assembly <NUM> of the extension assembly <NUM> and the outer housing <NUM> of the trocar assembly <NUM>, and is configured to hinder or prevent fluid from travelling between the inner flexible band assembly <NUM> and the outer housing <NUM> of the trocar assembly <NUM> to a location that is proximal of the third seal <NUM>. More particularly the third seal <NUM> is positioned radially inwardly of the inner flexible band assembly <NUM>, and radially outwardly of the outer housing <NUM> of the trocar assembly <NUM>. Further the outer housing <NUM> of the trocar assembly <NUM> includes a recess 272a therein configured to retain the third seal <NUM> at least partially therein in response to movement between the inner flexible band assembly <NUM> and the outer housing <NUM> of the trocar assembly <NUM>.

As noted above, the relative distal location of the first seal <NUM>, the second seal <NUM>, and the third seal <NUM> of the seal assembly <NUM> help ensure that any fluid, soil and debris that enters the distal end of the surgical device <NUM> is a relatively small amount and easily cleaned. While the particular distances that first seal <NUM>, the second seal <NUM>, and the third seal <NUM> are spaced from a distal-most end 10d of the surgical device <NUM> may vary without departing from the scope of the disclosure, it is envisioned that, prior to the surgical device <NUM> being actuated, the first seal <NUM> is between about <NUM> and <NUM> from a distal-most end 200d of the extension assembly <NUM> (<FIG> and <FIG>), the second seal <NUM> is between about <NUM> and <NUM> from the distal-most end 200d of the extension assembly <NUM>, and the third seal <NUM> is between about <NUM> and <NUM> from the distal-most end 200d of the extension assembly <NUM>.

During use of the surgical device <NUM>, the second seal <NUM> of the seal assembly <NUM> is configured to move longitudinally. In particular, when the outer flexible band assembly <NUM> translates longitudinally relative to the outer sleeve <NUM> and/or relative to the inner flexible band assembly <NUM> (e.g., to cause staples to be ejected from the surgical device <NUM>), as discussed above, the second seal <NUM>, which is retained by the recess 230a of the outer flexible band assembly <NUM>, also translates longitudinally. Due to the engagement between the second seal <NUM> and the inner flexible band assembly <NUM>, the sealed relationship between the outer flexible band assembly <NUM> and the inner flexible band assembly <NUM>, created by the second seal <NUM>, is maintained during longitudinal translation of the outer flexible band assembly <NUM> relative to the inner flexible band assembly <NUM>. Further, the sealed relationship between the outer flexible band assembly <NUM> and the outer sleeve <NUM>, created by the first seal <NUM>, is maintained during longitudinal translation of the outer flexible band assembly <NUM> relative to the inner flexible band assembly <NUM>.

Additionally, when the inner flexible band assembly <NUM> translates longitudinally relative to the outer housing <NUM> of the trocar assembly <NUM> (e.g., to cause tissue to be severed), as discussed above, the third seal <NUM>, which is retained by the recess 272a of the outer housing <NUM>, remains in its longitudinal position. Due to the engagement between the third seal <NUM> and the inner flexible band assembly <NUM>, created by the third seal <NUM>, the sealed relationship between the inner flexible band assembly <NUM> and the outer housing <NUM> of the trocar assembly <NUM> is maintained during longitudinal translation of the inner flexible band assembly <NUM> relative to the outer housing <NUM> of the trocar assembly <NUM>.

Surgical devices such as those described herein may also be configured to work with robotic surgical systems and what is commonly referred to as "Telesurgery. " Such systems employ various robotic elements to assist the surgeon and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc..

The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prep the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another surgeon (or group of surgeons) remotely control the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the aspects described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).

The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon's ability to mimic actual operating conditions.

Referring to <FIG>, a medical work station is shown generally as work station <NUM> and generally may include a plurality of robot arms <NUM>, <NUM>; a control device <NUM>; and an operating console <NUM> coupled with control device <NUM>. Operating console <NUM> may include a display device <NUM>, which may be set up in particular to display three-dimensional images; and manual input devices <NUM>, <NUM>, by means of which a person (not shown), for example a surgeon, may be able to telemanipulate robot arms <NUM>, <NUM> in a first operating mode.

Each of the robot arms <NUM>, <NUM> may include a plurality of members, which are connected through joints, and an attaching device <NUM>, <NUM>, to which may be attached, for example, a surgical tool "ST" supporting an end effector <NUM>, in accordance with any one of several aspects disclosed herein, as will be described in greater detail below.

Robot arms <NUM>, <NUM> may be driven by electric drives (not shown) that are connected to control device <NUM>. Control device <NUM> (e.g., a computer) may be set up to activate the drives, in particular by means of a computer program, in such a way that robot arms <NUM>, <NUM>, their attaching devices <NUM>, <NUM> and thus the surgical tool (including end effector <NUM>) execute a desired movement according to a movement defined by means of manual input devices <NUM>, <NUM>. Control device <NUM> may also be set up in such a way that it regulates the movement of robot arms <NUM>, <NUM> and/or of the drives.

Medical work station <NUM> may be configured for use on a patient <NUM> lying on a patient table <NUM> to be treated in a minimally invasive manner by means of end effector <NUM>. Medical work station <NUM> may also include more than two robot arms <NUM>, <NUM>, the additional robot arms likewise being connected to control device <NUM> and being telemanipulatable by means of operating console <NUM>. A medical instrument or surgical tool (including an end effector <NUM>) may also be attached to the additional robot arm. Medical work station <NUM> may include a database <NUM>, in particular coupled to with control device <NUM>, in which are stored, for example, pre-operative data from patient/living being <NUM> and/or anatomical atlases.

Reference is made herein to <CIT>, entitled "Medical Workstation," for a more detailed discussion of the construction and operation of an exemplary robotic surgical system.

Any of the components described herein may be fabricated from either metals, plastics, resins, composites or the like taking into consideration strength, durability, wearability, weight, resistance to corrosion, ease of manufacturing, cost of manufacturing, and the like.

Claim 1:
A surgical device (<NUM>) comprising:
a handle assembly;
an elongated portion (<NUM>) configured to extend distally from the handle assembly and including an outer sleeve (<NUM>);
an outer band assembly (<NUM>), at least a portion of the outer band assembly disposed radially within the outer sleeve (<NUM>);
an inner band assembly (<NUM>), at least a portion of the inner band assembly disposed radially within the outer band assembly (<NUM>);
a trocar assembly (<NUM>) including a trocar member (<NUM>), at least a portion of the trocar assembly disposed radially within the inner band assembly (<NUM>); and
a seal assembly (<NUM>) including a first annular seal (<NUM>) and a second annular seal (<NUM>), the first annular seal disposed radially inward of the outer sleeve (<NUM>) and radially outward of the outer band assembly (<NUM>), the second annular seal (<NUM>) disposed radially inward of the outer band assembly (<NUM>) and radially outward of the inner band assembly (<NUM>),
characterised in that the second annular seal (<NUM>) is longitudinally translatable relative to the outer sleeve (<NUM>).