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-11786230-B2
Publication Date
2023-10-17
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 provides a laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body, including a gross positioning arm supported on a moveable platform. The gross positioning arm includes a head positioned to facilitate insertion of at least one articulated tool positioning apparatus through the incision into the patient's body. The head includes at least a first motor and a first gear segment drivable by the first motor, and at least a second motor and a second gear segment drivable by the second motor, where the first gear segment and the second gear segment are spaced apart and coaxial with one another.
An articulated tool positioning apparatus is coupled via a tool controller to an underside of the head. The tool controller is actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations. The articulated tool positioning apparatus is configured to receive the tool and couple the tool to the first gear segment and the second gear segment of the head.
The articulated tool positioning apparatus includes a portion enclosed by a delivery tube that is coupled to an underside of the head, having a distal end. The delivery tube is configured to receive the articulated tool positioning apparatus through the delivery tube such that the tool protrudes beyond the distal end of the delivery tube.
Claims Coverage
The document provides two independent claims (clm-00001 and clm-00011). Both claims share the same core inventive structure: a gross positioning arm with a head having spaced-apart coaxial gear segments driven by first and second motors, and an articulated tool positioning apparatus coupled via a tool controller to an underside of the head, where movement of the articulated tool positioning apparatus performs surgical operations through a single incision. Across the two independent claims, an additional defining feature is the delivery tube configuration that encloses a portion of the articulated tool positioning apparatus so the tool protrudes beyond a distal end of the delivery tube.
Gross positioning head with spaced-apart coaxial gear segments driven by first and second motors
A head including at least a first motor and a first gear segment drivable by the first motor to actuate a tool for surgical operations; at least a second motor and a second gear segment drivable by the second motor to actuate the tool for additional surgical operations, wherein the first gear segment and the second gear segment are spaced apart and coaxial with one another.
Articulated tool positioning apparatus coupled via a tool controller to the underside of the head
At least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, configured to receive the tool and couple the tool to the first gear segment and the second gear segment of the head, wherein the tool controller is actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations.
Gross positioning arm permits head positioning for insertion through the single incision
The gross positioning arm is configured to permit the head to be positioned to facilitate insertion of the at least one articulated tool positioning apparatus through the incision into the patient's body.
Delivery tube encloses a portion of the articulated tool positioning apparatus with the tool protruding beyond the distal end
The articulated tool positioning apparatus has a portion enclosed by a delivery tube, the delivery tube coupled to an underside of the head and having a distal end, where the delivery tube is configured to receive the articulated tool positioning apparatus through the delivery tube such that the tool protrudes beyond the distal end of the delivery tube.
Independent claim coverage centers on a laparoscopic single-incision apparatus combining (i) a head with first and second spaced-apart coaxial gear segments driven by first and second motors, (ii) an articulated tool positioning apparatus coupled via a tool controller to the underside of the head for tool-coupled movement, and (iii) gross positioning that permits insertion through the single incision, with one independent claim additionally requiring a delivery tube that encloses a portion of the articulated tool positioning apparatus so the tool protrudes beyond the delivery tube distal end.
Stated Advantages
Documented Applications
No documented applications found
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