Articulated tool positioner and system employing same

Inventors

Robert, Rene • ZITNICK, David Allen • CAMERON, Peter John Kenneth • Faria, Leonard M. • Bajo, Andrea

Assignees

Covidien LP • Ximedica LLC

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 apparatus for performing laparoscopic surgery that includes a movable platform and a gross positioning mechanism supported on the movable platform. The gross positioning mechanism includes a vertical post extending upwardly and defining a longitudinal axis, with pivot arms coupled to the vertical post and a head movably or pivotably coupled to the distal end of the pivot arms. A tool coupler supported on the head connects a plurality of tool controllers for movement therewith, providing tool assemblies that are configured for off-axis articulation relative to the longitudinal axis of coupled guides.

Each tool controller includes a rigid conduit and a tool assembly supported at a distal end of the rigid conduit. The tool assembly includes a plurality of coupled guides that define a longitudinal axis and are configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the coupled guides, with first, second, and third articulating sections enabling sequential articulation relative to the rigid conduit and each preceding articulating section. An end effector is supported at a distal end of the plurality of coupled guides, and the end effector includes a pair of opposing jaws.

The apparatus further includes a camera assembly with a support tube defining a longitudinal axis extending parallel to the longitudinal axis of the rigid conduit of the first tool controller and extending parallel to the longitudinal axis of the rigid conduit of the second tool controller. A camera is movably supported on a distal end of the support tube, and dependent configurations specify that the camera can be axially translatable relative to the first and second tool controllers upon axial reciprocation of the support tube. The head and tool controller arrangement supports pitch/yaw relationships described as varying at least one of pitch or yaw of the tool assembly longitudinal axis relative to a longitudinal axis of a pivot arm.

Claims Coverage

The partial content includes three independent claims, each directed to an apparatus for laparoscopic surgery with a movable platform, a gross positioning mechanism, multiple tool controllers with off-axis articulated tool assemblies, opposing-jaw end effectors, and a camera assembly supported on a parallel support tube.

Across the independent claims, the shared inventive coverage centers on a laparoscopic surgery apparatus that combines a gross positioning mechanism with a head carrying a tool coupler, plural tool controllers with off-axis articulation using first, second, and third articulating sections within coupled guides, opposing-jaw end effectors at distal ends of the coupled guides, and a camera assembly supported on a parallel, movable support tube, with dependent configurations further constraining head pitch/yaw and camera motion via axial translatability upon support-tube reciprocation.

Stated Advantages

Documented Applications