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-11607206-B2
Publication Date
2023-03-21
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 for performing laparoscopic surgery that uses a movable platform and a gross positioning mechanism. The gross positioning mechanism supports a head and a tool coupler, and the tool coupler connects a plurality of tool controllers for movement with the head.
Each tool controller includes a substantially rigid conduit with a distal end, and a tool assembly supported at the distal end. The tool assembly includes a plurality of coupled guides defining a longitudinal axis, where the coupled guides permit off-axis articulation of the tool assembly relative to the longitudinal axis through first, second, and third articulating sections, and an end effector with a tool is supported at the distal end.
The apparatus further supports selective connection of multiple tool controllers to the same tool coupler on the head, and camera support aligned with the tool-controller conduits. In the disclosed configurations, camera assemblies and camera positioning are coupled to the overall head and positioning architecture, enabling a camera assembly to be movably supported and, in some configurations, axially translatable relative to the tool controllers.
Claims Coverage
The independent claim coverage is provided by three independent claims, each centered on a laparoscopic surgery apparatus with a head-mounted tool coupler that selectively connects multiple tool controllers, where each tool controller includes a rigid conduit and a multi-section coupled-guide tool assembly that enables off-axis articulation, ending in an end effector at the distal end. Across the three independent claims, the gross positioning mechanism structure differs, while the core tool-assembly articulation architecture remains a shared inventive theme.
Two-stage pivot-arm gross positioning with head-mounted tool coupler and multi-section coupled-guide tool articulation
A movable platform; a gross positioning mechanism supported on the movable platform, including a vertical post extending upwardly defining a longitudinal axis, a first pivot arm pivotally connected to the vertical post, a second pivot arm pivotally connected to the first pivot arm, and a head movably coupled to a distal end of the second pivot arm. A tool coupler supported on the head for movement therewith, configured to connect a plurality of tool controllers to the head. Each tool controller includes a substantially rigid conduit and a tool assembly with coupled guides permitting off-axis articulation through first, second, and third articulating sections, ending in an end effector including a tool.
Rotatable head over pivot arms with head-mounted tool coupler and multi-section coupled-guide tool articulation
A movable platform; a gross positioning mechanism supported on the movable platform, including a vertical post extending upwardly defining a longitudinal axis, a plurality of pivot arms extending from the vertical post, and a head rotatably coupled to a distal end of the plurality of pivot arms. A tool coupler supported on the head for movement therewith, configured to connect a plurality of tool controllers to the head. Each tool controller includes a substantially rigid conduit and a tool assembly with coupled guides permitting off-axis articulation through first, second, and third articulating sections, ending in an end effector including a tool.
Pivotable head with orthogonally oriented pivot axis and head-mounted tool coupler for multi-section coupled-guide tool articulation
A movable platform; a gross positioning mechanism supported on the movable platform including a vertical post extending upwardly defining a longitudinal axis, a plurality of pivot arms extending from the vertical post, and a head pivotably coupled to a distal end of a distal most arm, where the head is pivotable about a pivot axis oriented orthogonally relative to the longitudinal axis of the distal-most arm. A tool coupler supported on the head for movement therewith, configured to connect a plurality of tool controllers to the head. Each tool controller includes a substantially rigid conduit and a tool assembly with coupled guides permitting off-axis articulation through first, second, and third articulating sections, ending in an end effector.
Across the independent claims, the apparatus is defined by a movable platform and a gross positioning mechanism supporting a head with a tool coupler that selectively connects multiple tool controllers. Each tool controller provides a substantially rigid conduit and a tool assembly with coupled guides that enable off-axis articulation through first, second, and third articulating sections, ending in an end effector with a tool. The key differences among the independent claims are the geometric configuration of the gross positioning mechanism.
Stated Advantages
Documented Applications
Not explicitly described in patent.
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