Articulated tool positioner and system employing same
Inventors
Robert, Rene • ZITNICK, David Allen • CAMERON, Peter John Kenneth • Faria, Leonard M. • Bajo, Andrea
Assignees
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Publication Number
US-11369353-B2
Publication Date
2022-06-28
Expiration Date
Abstract
A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.
Core Innovation
The invention relates to an articulated laparoscopic surgical apparatus that includes a tool positioner capable of being articulated, with a central opening extending along the length of the tool positioner. A tool holder is disposed at a distal end of the tool positioner, and the tool holder defines a bore therethrough axially aligned with the central opening. Coupled guides extend proximally from the tool holder such that, during articulation, pairs of axially extending projections slide at least partially into and/or out of immediately adjacent pairs of axially extending receptacles to permit relative axial translation between adjacent coupled guides.
The coupled guides are defined by diametrically opposed axially extending projections and diametrically opposed axially extending receptacles, including embodiments where one projection is substantially rectangular and embodiments where distal and/or proximal facing surfaces are oriented at acute or obtuse angles with respect to a central axis of each guide. In the articulated condition, adjacent coupled guides pivot relative to one another while maintaining a common-plane relationship between the projection axis and the receptacle axis such that an angle between the projection axis and the receptacle axis varies during articulation.
A flexible portion of a control link extends through the tool positioner and through the tool holder, couples a distal end of the control link to an end effector, and permits positioning and actuation of at least a first movement of the end effector during a surgical operation. The apparatus further supports a conduit and a coupler arrangement in which a control link is routed through axially spaced cylinders, and a conduit can be positioned within the central opening with a distal end coupled to the end effector.
The disclosed system is integrated with a gross positioning head for single-incision laparoscopic surgery and includes a camera/delivery tube assembly for monitoring. The end effector positioning is stated to provide approximately 5 degrees of freedom plus an additional translational degree in an alternative coupler embodiment, with stated tool actuation including gripper jaws and tool rotation about a longitudinal axis.
Claims Coverage
The provided independent claims include clm-00001, clm-00015, and clm-00017, which share a common articulated tool positioner architecture while differing in how the coupled guides constrain motion. Across these independent claims, at least two principal inventive features are repeatedly claimed: coupled guides with mutually interfitting projection/receptacle structures and a flexible control link that extends through the tool positioner and tool holder to actuate end-effector movement.
Articulated tool positioner with aligned central opening and distal tool holder bore
A tool positioner capable of being articulated, the tool positioner having a central opening extending along a length thereof, and a tool holder disposed at a distal end of the tool positioner defining a bore therethrough axially aligned with the central opening; the tool holder is coupled to an end effector at a distal end of the tool holder.
Coupled guides with diametrically opposed axially extending projections and receptacles permitting relative axial translation
A plurality of coupled guides extending proximally from the tool holder, each coupled guide including diametrically opposed axially extending projections and diametrically opposed axially extending receptacles such that, during articulation, the projections of one immediately adjacent coupled guide slide at least partially into or out of the receptacles of the adjacent coupled guide for relative axial translation therebetween.
Flexible control link extending through the tool positioner and tool holder to actuate end-effector movement
A control link extending through the tool positioner and through the tool holder, the control link having a distal end coupled to the end effector, the control link having a flexible portion at least at a distal end thereof to permit the tool positioner to move to position the end effector during a surgical operation, the control link being operable to actuate at least a first movement of the end effector.
Multiple coupled guide stages extending proximally from a first plurality
A tool positioner wherein a first plurality of coupled guides extends proximally from the tool holder, and a second plurality of coupled guides extends proximally from the first plurality, each including diametrically opposed axially extending projections and receptacles that slide at least partially into or out of receptacles or projections of an immediately adjacent coupled guide during articulation.
Coupled guides with surface angle constraint and common-plane projection and receptacle axes
Each coupled guide defines a distal facing surface and a proximal facing surface, wherein at least a portion of at least one of the distal facing surface or proximal facing surface is oriented at an obtuse angle with respect to a central axis of the respective guide, and adjacent coupled guides pivot relative to one another such that the projection axis and the receptacle axis remain in a common plane while pivoting relative to one another, such that an angle between the projection axis and the receptacle axis varies during the articulation.
The independent claims cover an articulated surgical tool apparatus in which an articulated tool positioner with a central opening and aligned distal bore supports an end effector actuated by a flexible control link extending through the tool positioner and tool holder. The claim scope is further defined by coupled guides using diametrically opposed, axially extending projection/receptacle pairs that slide during articulation, with embodiments that add additional coupled-guide stage structure and geometric constraints that govern how the projection and receptacle axes relate while articulation occurs.
Stated Advantages
Simpler assembly compared with spring-based prior art.
A shared positioner can be used for different tool types.
Left and right tool access through one incision.
Tool rotation about a longitudinal axis.
Documented Applications
Single-incision laparoscopic surgery using an integrated gross positioning head and tool positioning apparatus.
Monitoring during laparoscopic procedures using a camera/delivery tube assembly.
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