Articulated tool positioner and system employing same

Patent metadata

Field	Value
Publication number	US-11607206-B2
Application number	US-202217887714-A
Country	US
Kind code	B2
Filing date	Aug 15, 2022
Priority date	Jun 19, 2013
Publication date	Mar 21, 2023
Grant date	Mar 21, 2023

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.

First claim

The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:

1. An apparatus for performing laparoscopic surgery, the apparatus comprising:
a movable platform;
a gross positioning mechanism supported on the movable platform, the gross positioning mechanism including:
a vertical post extending upwardly from the movable platform, wherein the vertical post defines a longitudinal axis;
a first pivot arm having a proximal end pivotally connected to the vertical post, wherein the first pivot arm pivots about a first pivot axis coincident with the longitudinal axis defined by the vertical post;
a second pivot arm having a proximal end pivotally connected to first pivot arm, wherein the second pivot arm pivots about a second pivot axis which is substantially parallel to the first pivot axis; and
a head movably coupled to a distal end of the second pivot arm;

a tool coupler supported on the head for movement therewith, the tool coupler configured to connect a plurality of tool controllers to the head;
a first tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the first tool controller including:
a substantially rigid conduit of the first tool controller having a distal end; and
a tool assembly supported at the distal end of the substantially rigid conduit of the first tool controller, the tool assembly of the first tool controller including:
a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the first tool controller, wherein the plurality of coupled guides of the tool assembly of the first tool controller includes:
a first articulating section supported at a distal end of the substantially rigid conduit, whereby the first articulating section enables the tool assembly to articulate relative to the substantially rigid conduit;
a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and
a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and

an end effector supported at a distal end of the plurality of coupled guides of the first tool controller, wherein the end effector of the first tool controller includes a tool; and

a second tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the second tool controller including:
a substantially rigid conduit of the second tool controller having a distal end; and
a tool assembly supported at the distal end of the substantially rigid conduit of the second tool controller, the tool assembly of the second tool controller including:
a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the second tool controller, wherein the plurality of coupled guides of the tool assembly of the second tool controller includes:
a first articulating section supported at a distal end of the substantially rigid conduit, whereby the first articulating section enables the tool assembly to articulate relative to the substantially rigid conduit;
a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section;
a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and

an end effector supported at a distal end of the plurality of coupled guides of the second tool controller, wherein the end effector of the second tool controller includes a tool.

2. The apparatus according to claim 1 , wherein the head defines a pivot axis about which the head is pivotable to vary at least one of a pitch or yaw of a longitudinal axis of the tool assembly relative to a longitudinal axis of the second pivot arm.

3. The apparatus according to claim 1 , wherein each of the plurality of coupled guides defines a respective articulating section.

4. The apparatus according to claim 1 , wherein the end effector is supported at a distal end of a respective one of the third articulating sections.

5. The apparatus according to claim 1 , further comprising a respective flexible tool control link connected to each end effector and extending along the plurality of coupled guides, wherein actuation of the respective flexible tool control link results in operation of the tool of the respective end effector.

6. The apparatus according to claim 1 , further comprising:
a camera assembly including:
a support tube defining a longitudinal axis extending substantially parallel to a longitudinal axis of the rigid conduit of the first tool controller and extending substantially parallel to a longitudinal axis of the rigid conduit of the second tool controller; and
a camera movably supported on a distal end of the support tube.

7. The apparatus according to claim 6 , wherein the camera is axially translatable relative to the of the first tool controller and the second tool controller upon axial reciprocation of the support tube.

8. The apparatus according to claim 1 , wherein the tool of the tool assembly of either the first tool controller or the second tool controller is selected from the group consisting of a gripper having opposing jaws, a cauterizing device, a suctions device, a retraction device and a grasping device.

9. An apparatus for performing laparoscopic surgery, the apparatus comprising:
a movable platform;
a gross positioning mechanism supported on the movable platform, the gross positioning mechanism including:
a vertical post extending upwardly from the movable platform, wherein the vertical post defines 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, the tool coupler configured to connect a plurality of tool controllers to the head;
a first tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the first tool controller including:
a tool assembly supported at a distal end of a conduit of the first tool controller, wherein the conduit of the first tool controller is substantially rigid, the tool assembly of the first tool controller including:
a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the first tool controller, wherein the plurality of coupled guides of the tool assembly of the first tool controller includes:
a first articulating section supported at the distal end of the conduit of the first tool controller;
a second articulating section supported at a distal end of the first articulating section; and
a third articulating section supported at a distal end of the second articulating section; and

an end effector supported at a distal end of the plurality of cou

Assignees

• Titan Med Inc

Inventors

• Robert Rene
• Zitnick David Allen
• Cameron Peter John Kenneth
• Faria Leonard M
• Bajo Andrea

Classifications

• A61B50/13

  Trolleys{, e.g. carts} · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B2017/00323

  Cables or rods · CPC title

• A61B2017/2905

  flexible · CPC title

• A61B2034/306

  Wrists with multiple vertebrae · CPC title